The invention provides a vehicle formation driving control method and related equipment. The method comprises the following steps: a pilot vehicle determines to change from a current driving lane to a target driving lane; the pilot vehicle sends a lane change negotiation message to surrounding vehicles; the pilot vehicle receives a lane change permission reply message returned by a target vehicle; and the pilot vehicle is controlled to change from the current driving lane to the target driving lane according to the lane change permission reply message. The target vehicle is located in the target driving lane, the lane change permission reply message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission reply message is sent, and the lane change permission reply message is sent after the target vehicle is located outside the lane change area. The method can be applied to the automatic driving technology in the traffic field.

    本公开提供了一种车辆编队行驶控制方法及相关设备。该方法包括:领航车确定从当前行驶车道变更至目标行驶车道;领航车向其周边车辆发送变道协商消息;领航车接收目标车辆返回的允许变道应答消息;领航车根据允许变道应答消息,控制领航车从当前行驶车道变更至目标行驶车道。其中,目标车辆处于目标行驶车道,允许变道应答消息是目标车辆根据变道协商消息生成的,在发送允许变道应答消息之前目标车辆处于领航车从当前行驶车道变更至目标行驶车道的变道区域内,在目标车辆处于变道区域外之后发送允许变道应答消息。可应用于交通领域的自动驾驶技术中。


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    Titel :

    Vehicle formation driving control method and related equipment


    Weitere Titelangaben:

    车辆编队行驶控制方法及相关设备


    Beteiligte:
    ZHANG ZHUOYUN (Autor:in)

    Erscheinungsdatum :

    2021-09-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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