The invention provides a vehicle formation driving control method and related equipment. The method comprises the following steps: a pilot vehicle confirms that there is a non-team vehicle between the pilot vehicle and a following vehicle; the pilot vehicle sends a driving-away request message to a roadside unit, the driving-away request message comprises vehicle formation information of the vehicle formation and non-team vehicle information of the non-team vehicle, so that the roadside unit sends a forced driving-away request message to the non-team vehicle according to the driving-away request message; and the pilot vehicle receives a driving-away confirmation reply message returned by the roadside unit, wherein the driving-away confirmation reply message is used for indicating that the non-team vehicle has driven away from the current driving lane of the vehicle formation. The driving-away confirmation reply message is generated by the roadside unit according to a driving-away confirmation response message returned by the non-team vehicle, and the driving-away confirmation response message is generated after the non-team vehicle drives away from the current driving lane according to the forced driving-away request message. 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:领航车确认在领航车和跟随车之间中存在非队内车辆;领航车向路侧单元发送驶离请求消息,驶离请求消息包括车辆编队的车辆编队信息以及非队内车辆的非队内车辆信息,以便路侧单元根据驶离请求消息向非队内车辆发送强制驶离请求消息;领航车接收路侧单元返回的确认驶离应答消息,确认驶离应答消息用于指示非队内车辆已经驶离车辆编队的当前行驶车道。其中,确认驶离应答消息是路侧单元根据非队内车辆返回的确认驶离响应消息生成的,确认驶离响应消息是非队内车辆根据强制驶离请求消息驶离当前行驶车道后生成的。可应用于交通领域的自动驾驶技术中。


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    Title :

    Vehicle formation driving control method and related equipment


    Additional title:

    车辆编队行驶控制方法及相关设备


    Contributors:

    Publication date :

    2021-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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