CN113734184B - Method, device, and electronic equipment for teaming up on the road with self-driving vehicles - Google Patents

Abstract

The present invention provides a teaming method, device and electronic equipment for self-driving vehicles; wherein, the method includes: the RSU side obtains the information sent by the target self-driving vehicle, and periodically broadcasts the teaming request information to confirm the rest of the self-driving vehicles At least one teaming self-driving vehicle that applies for teaming in the vehicle; obtain the teaming vehicle attribute information of the teaming self-driving vehicle, and perform teaming planning according to the target vehicle attribute information and teaming vehicle attribute information, and obtain the target teaming strategy ; The target team strategy is sent to the target self-driving vehicle and the group self-driving vehicle respectively, so that the target self-driving vehicle and the team self-driving vehicle carry out teaming according to the target team strategy, thereby realizing long-distance (ie (beyond the vehicle-to-vehicle communication distance) information interaction between autonomous vehicles and team formation on the road, which improves the efficiency and safety of team formation on the road for autonomous vehicles.

Description

Method, device, and electronic equipment for teaming up on the road with self-driving vehicles

technical field

The invention relates to the technical fields of urban intelligent transportation and automatic driving, in particular to a teaming method, device and electronic equipment for automatic driving vehicles.

Background technique

Autonomous driving fleet operation means that during the driving process, multiple autonomous vehicles are taken as a whole, keeping an approximately constant distance between vehicles, and running forward at an almost constant driving speed. In practical applications, the operation of autonomous driving fleets has the following advantages: (1) The headway in the fleet is generally 0.5 to 1 second, so more vehicles can be driven on the lane, and the traffic capacity increases; (2) The fleet as a whole, Reduces the resistance of other vehicles except the first vehicle during driving, thereby reducing fuel consumption and exhaust emissions; (3) The automatic driving of vehicles in the fleet detects the distance between adjacent vehicles, and automatically adjusts the speed of the vehicle and The distance between vehicles to make team driving safer and more comfortable.

At present, self-driving vehicles team up on the road, mainly relying on the vehicle's own sensors and inter-vehicle communication. Due to the limitations of the coverage of the vehicle's own sensors, for example, the vehicle's own perception distance is about 200 meters, and the communication distance is about 400 meters. The distance from the information of the vehicles that need to form a team makes it impossible to realize the team formation of long-distance self-driving vehicles.

Contents of the invention

In view of this, the object of the present invention is to provide a teaming method, device and electronic equipment for self-driving vehicles on the road, so as to alleviate the above-mentioned problems, so as to realize information interaction and On-the-go teaming improves the efficiency and safety of self-driving vehicles on-the-go teaming.

In the first aspect, an embodiment of the present invention provides a teaming method for autonomous vehicles on the road, which is applied to the RSU side, and the RSU side communicates with the vehicle side; wherein, the vehicle side includes: multiple autonomous vehicles in the same driving direction, and , the distance between any two self-driving vehicles is not less than the vehicle-to-vehicle communication distance, the method includes: obtaining information sent by the target self-driving vehicle; wherein, the information includes: target vehicle attribute information and teaming request information; forming the teaming request The information is periodically broadcast to confirm at least one teaming self-driving vehicle among the remaining self-driving vehicles that applies for teaming; obtain the teaming vehicle attribute information of the teaming self-driving vehicles, and according to the target vehicle attribute information and the teaming vehicle attributes The information is used for team planning to obtain the target team strategy; the target team strategy is sent to the target autonomous vehicle and the team autonomous vehicle, so that the target autonomous vehicle and the team autonomous vehicle can be organized according to the target team strategy. team.

Further, the embodiment of the present invention provides a first possible implementation of the first aspect, wherein the vehicle attribute information of each self-driving vehicle includes: static information and dynamic information; wherein the static information includes: body parameters and vehicle engine The power and dynamic information include: real-time position and real-time speed; the above-mentioned steps of team planning according to the attribute information of the target vehicle and the attribute information of the team vehicles include: according to the target dynamic information of the target self-driving vehicle and the group of the team self-driving vehicles Team dynamic information, team planning with fuel consumption as the goal, and target team strategy; among them, the target team strategy includes: the team formation process, the first team speed corresponding to the target self-driving vehicle, and the corresponding speed of the team self-driving vehicle. The speed of the second team formation, and the team completion time.

Further, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the above-mentioned step of sending the target teaming strategy to the target autonomous vehicle and the teamed autonomous vehicle includes: sending the first group The team speed and team completion time are sent to the target self-driving vehicle, and the second team speed and team completion time are sent to the team self-driving vehicle, so that the target self-driving vehicle follows the first team speed, team formation The self-driving vehicles form teams according to the second team speed.

Further, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the method further includes: acquiring team formation information sent by the target self-driving vehicle; wherein the team formation information includes at least one of the following: Team ID information, ID information of the leading vehicle, driving direction of the team, current position of the team, information of each model in the team, cruising speed of the team, distance between cars of the team, number of members of the team, members of the team The ID list of the team, the length of the team and the driving route of the team; send the team information to the team's self-driving vehicles.

Further, the embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein each self-driving vehicle is also configured with a free cruising mode and a team cruising mode, and the method further includes: when it is detected that the team is completed , generate a mode switching instruction; send the mode switching instructions to the target autonomous vehicle and the team autonomous vehicle, so that the target autonomous vehicle and the team autonomous vehicle switch from the free cruising mode to the team according to the mode switching instruction cruise mode.

Further, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the above-mentioned team formation request information also carries priority information, and the method further includes: acquiring a team formation request information set; The request information set includes multiple teaming request information at the same time, and each teaming request information corresponds to a different autonomous vehicle; based on the priority information carried in the teaming request information, the target teaming request information is determined.

Further, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the above-mentioned step of confirming at least one teamed autonomous vehicle among the remaining autonomous vehicles that applies to form a team includes: When applying for team formation information, among the remaining self-driving vehicles, the self-driving vehicle corresponding to the confirmed application team information is confirmed as the team self-driving vehicle.

In the second aspect, the embodiment of the present invention also provides an on-road teaming device for autonomous vehicles, which is applied to the RSU side, and the RSU side communicates with the vehicle side; wherein, the vehicle side includes: multiple autonomous vehicles in the same driving direction, and , the distance between any two self-driving vehicles is not less than the vehicle-to-vehicle communication distance, the device includes: an acquisition module, used to acquire information sent by the target self-driving vehicle; wherein, the information includes: target vehicle attribute information and team formation request information ; The broadcast module is used to periodically broadcast the teaming request information to confirm at least one teaming self-driving vehicle among the remaining self-driving vehicles that applies for teaming; the planning module is used to obtain the teaming of the teaming self-driving vehicles Vehicle attribute information, and team planning according to the target vehicle attribute information and team vehicle attribute information to obtain the target team strategy; the sending module is used to send the target team strategy to the target autonomous vehicle and the team autonomous vehicle , so that the target autonomous vehicle and the team autonomous vehicle form a team according to the target team strategy.

In the third aspect, the embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, the method of the above-mentioned first aspect is implemented. step.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the above-mentioned method in the first aspect are executed.

Embodiments of the present invention bring the following beneficial effects:

The embodiment of the present invention provides a teaming method, device and electronic equipment for self-driving vehicles. The information sent by the target self-driving vehicle is obtained through the RSU side, and the teaming request information is broadcast periodically to confirm the application status of other self-driving vehicles. At least one teamed self-driving vehicle in the team; and, obtain the team vehicle attribute information of the teamed self-driving vehicle, and perform team planning to obtain the target team strategy; finally, send the target team strategy to the target Self-driving vehicles and grouping self-driving vehicles, so that the target self-driving vehicles and grouping self-driving vehicles are grouped according to the target teaming strategy, so as to realize long-distance (that is, beyond the vehicle-to-vehicle communication distance) self-driving vehicles through the RSU side Information exchange between vehicles and on-the-go teaming improve the efficiency and safety of autonomous vehicle on-the-go teaming.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and appended drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is an application scene diagram of a team of self-driving vehicles in transit provided by an embodiment of the present invention;

Fig. 2 is a flow chart of a method for forming a team of self-driving vehicles in transit according to an embodiment of the present invention;

FIG. 3 is an application scene diagram of another self-driving vehicle on-the-go team formation provided by the embodiment of the present invention;

FIG. 4 is a flow chart of another method for forming a team of self-driving vehicles in transit according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an in-transit teaming device for autonomous vehicles provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the teaming scenario, if the distance between autonomous vehicles is less than the vehicle-to-vehicle communication distance (such as 400 meters), the autonomous vehicles can form a team through vehicle-to-vehicle communication. For example, autonomous vehicle A broadcasts teaming request information, and in After the self-driving vehicle B and the self-driving vehicle C within the range of the vehicle-to-vehicle communication listen to the team formation request information, they directly send the reply information of the team application to the self-driving vehicle A. After receiving the reply information, the self-driving vehicle A communicates with Self-driving vehicle B and self-driving vehicle C form a team directly. But for the long-distance situation, that is, when the distance between vehicles is greater than the vehicle-to-vehicle communication distance, it is impossible to realize the problem of teaming up with long-distance self-driving vehicles.

In view of the above problems, the embodiments of the present invention provide a teaming method, device and electronic equipment for self-driving vehicles on the road, and realize information interaction between long-distance (that is, beyond the vehicle-to-vehicle communication distance) self-driving vehicles and teaming up on the road through the RSU side, thereby improving It ensures the efficiency and safety of self-driving vehicles on the road.

In order to facilitate the understanding of this embodiment, a method for forming a team of self-driving vehicles on the road provided by the embodiment of the present invention will firstly be introduced in detail below. An application scene diagram of a method for forming a team of self-driving vehicles on the road as shown in Figure 1, including: an RSU side 10 and a vehicle side 20 connected by communication; wherein, the RSU side 10 includes: a controller, and a communication connection with the controller A plurality of RSU (Road Side Unit, roadside unit), camera (not shown) and radar (not shown), etc., in practical application, a plurality of RSU is arranged on the roadside according to the preset spacing distance, and each RSU uses It is used to communicate with self-driving vehicles within the range to obtain vehicle information; cameras and radars are also used for real-time perception of traffic operation status, vehicle operation status, infrastructure operation status and weather status; The information and the vehicle information sent by RSU are processed in real time to generate real-time traffic operation status information, vehicle identity information and deduction information, etc. It should be noted that due to the different road sections where the autonomous vehicles are located, the RSUs communicating at different times may be different. Interaction of autonomous vehicle information; therefore, multiple RSUs on the above RSU side are the same, and the installation methods of RSUs, cameras and radars can be installed together or at preset intervals, which can be set according to the actual situation .

The above-mentioned vehicle side 20 includes a plurality of self-driving vehicles. Here, the self-driving vehicles can also be referred to as vehicle-road cooperative self-driving vehicles, which meet the requirements of level 3 and above in the Ministry of Industry and Information Technology's "Automotive Driving Automation Classification" or SAE J3016 "Standard Road Motor Vehicles". L3 and above capabilities in Classification and Definition of Driving Automation System; among them, each self-driving vehicle is equipped with a perception module, a communication module, a positioning module and a control module. In practical applications, the perception module is used to perceive the preset range of the vehicle For example, the traffic operation status within about 200 meters from the front and rear; the communication module is used to establish vehicle-to-vehicle and vehicle-to-road communication links through communication methods such as LTE-V; the positioning module is used to provide vehicle positioning information; the control module is used to control freedom Switching between the two driving modes of cruise and group cruise, etc.

In addition, in practical applications, vehicle-road coordination technology has the following advantages: (1) Vehicles can obtain traffic information at a long distance without being limited by the coverage of their own sensors; (2) Information can be transmitted between the vehicle and the road. Inter-transmission, which greatly improves the accuracy and quality of information acquisition; (3) More advanced cooperation strategies can be implemented through vehicle-road information interaction. Therefore, the on-road teaming method of autonomous vehicles provided by the embodiment of the present invention is based on the RSU side, based on the vehicle-road coordination technology, and utilizes information interaction between vehicles and roads to realize information interaction between long-distance automatic driving vehicles and on-road teaming. , to improve the efficiency and safety of self-driving vehicles in transit.

Based on the above-mentioned long-distance teaming scenario, that is, the vehicle side includes: multiple self-driving vehicles in the same driving direction, and the distance between any two self-driving vehicles is not less than the vehicle-to-vehicle communication distance, an embodiment of the present invention provides a The teaming method of self-driving vehicles on the road, the execution subject is the controller on the RSU side; as shown in Figure 2, the method includes the following steps:

Step S202, obtaining the information sent by the target self-driving vehicle; wherein, the information includes: target vehicle attribute information and team formation request information;

Specifically, during the driving process, if the target self-driving vehicle wants to drive in a team, since it cannot communicate with other self-driving vehicles, it needs to first send information to the RSU within the range of the road section, and the RSU will synchronize the information to A controller on the RSU side for periodic broadcasting through multiple RSUs.

Among them, the above information includes: target vehicle attribute information and team formation request information; target vehicle attribute information is divided into target static information and target dynamic information; here, the target static information includes but not limited to: body parameters of the target self-driving vehicle, vehicle engine power Such as the physical attribute information of the vehicle itself, the target dynamic information includes but is not limited to: the real-time position and real-time speed of the target self-driving vehicle, so that the controller can identify the vehicle identity information according to the target vehicle attribute information.

In addition, in practical applications, if there are multiple target self-driving vehicles sending team formation request information, one of the possible ways is: after the RSU corresponding to each target self-driving vehicle obtains the team formation request information, it synchronizes to The controller, the controller performs periodic broadcast processing according to the order of the received teaming request information, that is, according to the order in which the teaming request information is obtained; another possible way is: the teaming request information also carries priority information , the method further includes: acquiring a teaming request information set; wherein, the teaming request information set includes multiple teaming request information at the same moment, and each teaming request information corresponds to a different self-driving vehicle; based on the teaming request information carried Priority information to determine the target teaming request information, that is, when the controller obtains multiple teaming request information at the same time, it determines the target teaming request information according to the priority information carried in the teaming request information, so that the target teaming request information The information is periodically broadcast and processed to meet various teaming needs in actual scenarios.

Step S204, broadcasting the teaming request information periodically to confirm at least one teaming self-driving vehicle among the remaining self-driving vehicles that applies for teaming;

After the above-mentioned controller receives the teaming request information, it periodically broadcasts the teaming request information, such as determining multiple RSUs within a preset range according to the real-time position of the target self-driving vehicle, for example, determining that the target self-driving vehicle is 5 kilometers before and after Multiple RSUs in the network, and send teaming request information to multiple RSUs, so that multiple RSUs broadcast teaming request information periodically at the same time, thereby expanding the broadcasting range of teaming request information, thereby expanding the number of autonomous vehicles on the road. range of teams.

Specifically, after multiple RSUs periodically broadcast teaming request information, after multiple autonomous vehicles within the communication range of multiple RSUs listen to the teaming request information, if they agree to form a team, they will feed back the confirmation application to the corresponding RSU Team formation information, if you do not agree to form a team, you can not feedback or feedback rejection application team formation information, multiple RSUs will synchronize the feedback information to the controller, when the controller on the RSU side listens to confirm the team formation application information, it will Among the remaining self-driving vehicles, the self-driving vehicles corresponding to the application team information are confirmed as the teaming self-driving vehicles. Therefore, the embodiment of the present invention uses the RSU to periodically broadcast teaming request information. Compared with the existing vehicle-to-vehicle communication teaming method, the broadcasting range of the teaming request information is expanded, and the communication range and communication range of the autonomous vehicle are further expanded. The number of teams enables long-distance self-driving vehicles to form teams on the road.

Step S206, obtaining the grouping vehicle attribute information of the grouped self-driving vehicles, and performing grouping planning according to the target vehicle attribute information and the grouping vehicle attribute information, and obtaining the target grouping strategy;

After confirming the team autonomous vehicles participating in the team among the remaining autonomous vehicles, in practical applications, there may be one or more team autonomous vehicles, due to the location of each team autonomous vehicle different, therefore, the controller obtains the team vehicle attribute information of the team self-driving vehicles through the RSU where each team self-driving vehicle is located, so as to carry out team planning, thereby alleviating Vehicle communication distance, resulting in the inability to communicate between vehicles, so that the team cannot be formed.

Among them, the vehicle attribute information of each self-driving vehicle includes: static information and dynamic information; static information includes but not limited to: body parameters and vehicle engine power, dynamic information includes but not limited to: real-time position and real-time speed; therefore, according to the target The team planning process of vehicle attribute information and team vehicle attribute information is as follows: According to the target dynamic information of the target autonomous driving vehicle and the team dynamic information of the team autonomous driving vehicle, the team planning is carried out with fuel consumption as the goal, and the target group Team strategy; for example, according to the real-time position and real-time speed of the target self-driving vehicle, as well as the real-time position and real-time speed of the team-up self-driving vehicle, the team planning is carried out with the goal of fuel consumption during the team formation process, and the optimal target group is obtained. Team strategy, that is, during the team formation process, the fuel consumption of the target self-driving vehicle and the team self-driving vehicle is the smallest.

Among them, the target teaming strategy includes: during the teaming process, the first teaming speed corresponding to the target self-driving vehicle, the second teaming speed corresponding to the teaming self-driving vehicle, and the teaming completion time; in addition, in some scenarios, For example, if the target self-driving vehicles are eager to form a team, it can also be based on the real-time position and real-time speed of the target self-driving vehicle, as well as the real-time position and real-time speed of the team-up self-driving vehicles, with the team formation time as the target during the team formation process. Team planning, that is, plan with the minimum team time as the goal, and get the corresponding target team strategy. It should be noted that if there are multiple self-driving vehicles in the team, the corresponding second team speed is a set, including the second team sub-speeds corresponding to each team of self-driving vehicles. situation is set.

Step S208, sending the target teaming strategy to the target autonomous vehicle and the teaming autonomous vehicle respectively, so that the target autonomous vehicle and the teaming autonomous vehicle form a team according to the target teaming strategy.

After the target teaming strategy is generated above, the controller sends the target teaming strategy to the target self-driving vehicle and the teaming self-driving vehicle respectively through the corresponding RSU; specifically, the first teaming speed and teaming completion time are sent to the target The self-driving vehicle, and sending the second team speed and team completion time to the team self-driving vehicle, so that the target self-driving vehicle proceeds at the first team speed and the team self-driving vehicle at the second team speed Teaming, so as to realize the on-the-go teaming of the target self-driving vehicle and the teaming self-driving vehicle under the long-distance situation, that is, when the distance between the self-driving vehicles far exceeds the vehicle's own perception distance (such as 200 meters) and communication range (such as 400 meters), using roadside perception, communication, computing and other capabilities, starting from the overall planning and optimization of road sections, with the goal of minimizing fuel consumption during the teaming process of autonomous vehicles, to achieve efficient and safe long-distance vehicles based on vehicle-road coordination Team up on the go.

The method for forming a team of self-driving vehicles in the embodiment of the present invention obtains the information sent by the target self-driving vehicle through the RSU side, and periodically broadcasts the teaming request information to confirm the teaming of the self-driving vehicles; and, acquires the teaming The attribute information of the teamed vehicles of the autonomous vehicles, and the team planning is carried out to obtain the target team strategy; finally, the target team strategy is sent to the target autonomous vehicle and the team autonomous vehicle respectively, so that the target autonomous vehicle and the team Grouping autonomous vehicles to form teams according to the target teaming strategy, so that through the RSU side, information interaction between autonomous vehicles and on-the-go teaming can be realized through the RSU side, which improves the teaming efficiency of autonomous vehicles on the road Efficiency and safety.

Preferably, the method further includes: acquiring team formation information sent by the target self-driving vehicle; wherein, sending the team formation information to the team self-driving vehicle. Specifically, when the teaming is completed, the controller also obtains the teaming information sent by the target self-driving vehicle through the corresponding RSU, and sends the teaming information to the teaming self-driving vehicle through the RSU; or, when the teaming is completed, When the inter-vehicle distance between the target self-driving vehicle and the group self-driving vehicles, that is, the inter-vehicle distance of the group is less than the vehicle-to-vehicle communication distance, at this time, the target self-driving vehicle can also directly send the team information to the team through vehicle-to-vehicle communication. Self-driving vehicles realize the sharing of team information.

Wherein, the team information includes at least one of the following: team ID (Identity Document, identity card) information, ID information of the pilot vehicle, the driving direction of the team, the current position of the team, information on each vehicle model in the team, and The cruising speed of the team, the inter-vehicle distance of the team, the number of members of the team, the ID list of the team members, the length of the team and the driving route of the team can be set according to the actual situation.

It should be noted that the above-mentioned ID information of the pilot vehicle can be directly the ID information of the target autonomous vehicle, that is, the target autonomous vehicle that initiates the formation request information is the pilot vehicle; The ID order of the driving vehicle is determined. For example, the first or last position in the ID list is the ID information of the leading vehicle, which can be set according to the actual situation. The embodiments of the present invention are not limited here.

Optionally, each self-driving vehicle is also configured with a free cruising mode and a team cruising mode, and the method also includes: generating a mode switching instruction when the team is detected to be completed; sending the mode switching instructions to the target self-driving vehicle respectively and team autonomous driving vehicles, so that both the target autonomous driving vehicle and the team autonomous driving vehicles switch from the free cruising mode to the team cruising mode according to the mode switching instruction. Specifically, when it is detected that the team formation is completed, that is, when the controller obtains the team formation information, since the vehicle-to-vehicle distance of the formation may not be less than the vehicle-to-vehicle communication distance at this time, the controller also generates a mode switching instruction, and through the corresponding The RSU sends the mode switching instructions to the target autonomous vehicle and the team autonomous vehicle, so that both the target autonomous vehicle and the team autonomous vehicle switch from the free cruising mode to the team cruising mode according to the mode switching command; or, for When the inter-vehicle distance of the team is smaller than the vehicle-to-vehicle communication distance, the target autonomous vehicle and the team autonomous vehicle communicate with each other through the communication module, and switch from the free cruising mode to the team cruising mode through the corresponding control module.

Further, after the formation is completed, if the vehicle-to-vehicle distance of the formation is not less than the vehicle-to-vehicle communication distance, the target autonomous vehicle and the formation of autonomous vehicles can communicate through the RSU side; or, if the vehicle-to-vehicle distance of the formation is less than the vehicle-to-vehicle communication distance If the distance is greater than the distance that can be sensed by the vehicle's own sensors, the target autonomous vehicle and the group autonomous vehicle can directly communicate with each other, and during the driving process, combined with the RSU side, they can perceive the traffic operation status, vehicle operation status, and infrastructure. Information such as operating status and weather status to ensure the safety of team driving; or, if the distance between vehicles in the team is smaller than the distance that the vehicle’s own sensors can perceive, the target autonomous vehicle and the team autonomous vehicle can directly communicate with each other , and sense information such as traffic operation status and road conditions through the corresponding self-sensors respectively, so as to ensure the safety of driving in groups, which can be set according to the actual situation.

For ease of understanding, autonomous vehicle A, autonomous vehicle B, and autonomous vehicle C in the same driving direction are taken as examples for illustration. Among them, the self-driving vehicle A, the self-driving vehicle B and the self-driving vehicle C are all vehicle-road cooperative self-driving vehicles, and all of them can execute the free cruising mode and the group cruising mode, and can switch between the two modes. As shown in Figure 3, the distances between autonomous vehicle A, autonomous vehicle B, and autonomous vehicle C are all greater than the vehicle-to-vehicle communication distance (about 400 meters), and at the same time greater than the sensory distance of the vehicle itself (about 200 meters), that is: L _AB >L, L _AC >L, where L is the vehicle-to-vehicle communication distance.

Based on the scenario in Figure 3, the embodiment of the present invention provides another method for forming a team of autonomous vehicles on the road, the execution subject is the controller on the RSU side, as shown in Figure 4, the method includes the following steps:

Step S402, obtaining the information sent by the self-driving vehicle A; wherein, the information includes: vehicle attribute information A and team formation request information;

Specifically, the information sent by the autonomous vehicle A to the RSU includes two parts: vehicle attribute information A and teaming request information; wherein, the vehicle attribute information A includes static information and dynamic information, and the static information includes the body parameters of the autonomous vehicle A, The physical attribute information of the vehicle itself, such as the engine power of the vehicle; the dynamic information includes the real-time position, real-time speed of the self-driving vehicle A, and the permitted formation of the vehicle.

Step S404, periodically broadcasting the team formation request information, and confirming the self-driving vehicle B and the self-driving vehicle C applying for team formation;

Specifically, after the controller receives the team formation request information, it periodically broadcasts the team formation request information, and obtains the confirmation application team formation information fed back by the self-driving vehicle B and the self-driving vehicle C, that is, confirms that the self-driving vehicle B and the automatic driving vehicle Driving vehicle C is a self-driving vehicle that can be formed into a team; or, the controller can also determine the adjacent front and back of self-driving vehicle A on the same road section according to the real-time position of self-driving vehicle A, combined with RSU, camera, radar and positioning device, etc. Self-driving vehicle B and self-driving vehicle C, and periodically broadcast teaming request information to self-driving vehicle B and self-driving vehicle C, when listening to the confirmation application teaming information fed back by self-driving vehicle B and self-driving vehicle C, Confirm that self-driving vehicle B and self-driving vehicle C are self-driving vehicles that can be teamed; or, it is also possible to determine that there are multiple self-driving vehicles on the same road segment of self-driving vehicle A, and periodically broadcast teaming requests to multiple self-driving vehicles information, when only listening to the confirmation application teaming information fed back by self-driving vehicle B and self-driving vehicle C, it is confirmed that self-driving vehicle B and self-driving vehicle C are self-driving vehicles that can be teamed, and the details can be determined according to the actual situation is set.

Step S406, obtain the vehicle attribute information B of the self-driving vehicle B and the vehicle attribute information C of the self-driving vehicle C respectively, and perform team planning according to the vehicle attribute information A, vehicle attribute information B and vehicle attribute information C, and obtain the target team formation Strategy;

Specifically, for the situation where there are only autonomous vehicle A, autonomous vehicle B, and autonomous vehicle C on the vehicle side, the teaming strategies of autonomous vehicle A include four types: ① no teaming; ② autonomous vehicle A and autonomous vehicle Vehicle B forms a team; ③Autonomous driving vehicle A and self-driving vehicle C form a team; ④Automatic driving vehicle A, self-driving vehicle B, and self-driving vehicle C form a three-vehicle team. A team strategy is described as follows:

(1) Self-driving vehicle A and self-driving vehicle B form a team

Based on vehicle attribute information A and vehicle attribute information B, and by integrating information such as roadside perception and positioning, the controller generates a target teaming strategy with the goal of minimizing fuel consumption during the vehicle teaming process. Specifically: when autonomous driving vehicle A and automatic driving vehicle When the speed of vehicle B satisfies V _A > V _B , calculate the minimum fuel consumption of autonomous vehicle A and autonomous vehicle B to achieve the team's operating speed V _A1 and V _B1 , and predict autonomous vehicle A and autonomous vehicle B The time T _AB1 from the start of the team formation to the success of the team formation; or, when the speeds of the self-driving vehicle A and the self-driving vehicle B satisfy V _A < V _B , calculate the minimum fuel consumption of the self-driving vehicle A and the self-driving vehicle B Realize the running vehicle speeds V _A2 and V _B2 of the team, and predict the time T _AB2 from the start of the team formation to the successful team formation of the self-driving vehicle A and the self-driving vehicle B;

(2) Self-driving vehicle A and self-driving vehicle C form a team

Based on vehicle attribute information A and vehicle attribute information C, and by integrating information such as roadside perception and positioning, the controller generates a target teaming strategy with the goal of minimizing fuel consumption during the vehicle teaming process. Specifically: when autonomous driving vehicle A and automatic driving vehicle When the speed of vehicle C satisfies V _A > V _C , calculate the minimum fuel consumption of autonomous vehicle A and autonomous vehicle C to realize the operating speed V _A1 and V _C1 of the team, and predict autonomous vehicle A and autonomous vehicle C The time T _AC1 from the start of the team formation to the success of the team formation; or, when the speeds of the self-driving vehicle A and the self-driving vehicle C satisfy V _A < V _C , calculate the minimum fuel consumption of the self-driving vehicle A and the self-driving vehicle C Realize the running vehicle speeds V _A2 and V _C2 of the team, and predict the time T _AC2 from the start of the team formation to the successful team formation of the self-driving vehicle A and the self-driving vehicle C;

(3) Autonomous vehicle A, autonomous vehicle B, and autonomous vehicle C form a three-vehicle team

Specifically, based on vehicle attribute information A, vehicle attribute information B, and vehicle attribute information C, and by integrating information such as roadside perception and positioning, the controller generates a target teaming strategy with the goal of minimizing fuel consumption during the vehicle teaming process, including: automatic Driving vehicle A, self-driving vehicle B and self-driving vehicle C realize the running speeds V _A3 , V _B3 and V _C3 of the team, and self-driving vehicle A, self-driving vehicle B and self-driving vehicle C form the team from the beginning to the team The successful time T _ABC3 is the specific process of the above step S406.

Step S408, send the target teaming strategy to the automatic driving vehicle A, the automatic driving vehicle B and the automatic driving vehicle C, so that the automatic driving vehicle A, the automatic driving vehicle B and the automatic driving vehicle C form a team according to the target teaming strategy .

Specifically, the controller sends V _A3 and T _ABC3 to autonomous vehicle A, V _B3 and T _ABC3 to autonomous vehicle B, and V _C3 and T _ABC3 to autonomous vehicle C through corresponding RSUs, So that autonomous vehicle A is formed according to V _A3 and T _ABC3 , autonomous vehicle B is formed according to V _B3 and T _ABC3 , and autonomous vehicle C is formed according to V _C3 and T _ABC3 .

In addition, when self-driving vehicle A, self-driving vehicle B, and self-driving vehicle C run within the vehicle-to-vehicle communication range, that is, after the formation of the team is completed, self-driving vehicle A also transmits the vehicle attribute information at this time through the corresponding RSU A sends to the controller, the self-driving vehicle B also sends the current vehicle attribute information B to the controller through the corresponding RSU, and the self-driving vehicle C also sends the current vehicle attribute information C to the controller through the corresponding RSU device, so that the controller can generate a team operation based on the latest received vehicle attribute information A, vehicle attribute information B, and vehicle attribute information C, and integrate information such as roadside perception and positioning, with the goal of minimizing fuel consumption during the vehicle team formation process. strategy; wherein, the team operation strategy: during the team driving process, the speed V _A4 of the automatic driving vehicle A, the speed V _B4 of the automatic driving vehicle B and the speed V _C4 of the automatic driving vehicle C, so that during the team driving process, The self-driving vehicle A travels at a speed V _A4 , the self-driving vehicle B travels at a speed V _B4 , and the self-driving vehicle C travels at a speed V _C4 .

After the team formation is completed, the autonomous driving vehicle A sends the team formation information to the RSU side, so that the team formation information can be sent to the automatic driving vehicle B and the automatic driving vehicle C through the RSU side; and, the automatic driving vehicle A, the automatic driving vehicle B and the automatic driving vehicle Autopilot vehicle C is switched from free cruising mode to group cruising mode. Here, according to the driving direction, autopilot vehicle C is the leading vehicle, and autopilot vehicle A and autopilot vehicle B are changed to following vehicles. For the specific mode switching process, please refer to For the foregoing embodiments, the embodiments of the present invention will not be described in detail here.

Therefore, when the above-mentioned teaming method of self-driving vehicles on the road, when the distance between the vehicles in the team is far beyond the vehicle's own perception and communication range, it uses roadside perception, communication, computing and other capabilities, starting from the overall optimization of the road section, to realize vehicle-based Coordinated long-distance self-driving vehicles efficiently and safely team up on the road; this teaming method can not only expand the perception range of autonomous vehicles, reduce vehicle-side communication and calculation delays, improve the responsiveness of vehicle teaming control strategies, but also It can reduce fuel consumption and reduce emissions in the process of vehicle platooning; and, with the continuous maturity of technology, through the information interaction between vehicles and roads, it can also reduce the distance between vehicles and improve road traffic capacity, which has good practical value and is convenient in implementation in practical applications.

On the basis of the above-mentioned method embodiments, an embodiment of the present invention also provides an on-road teaming device for autonomous vehicles, which is applied to the RSU side, and the RSU side communicates with the vehicle side; wherein, the vehicle side includes: multiple vehicles in the same driving direction self-driving vehicles, and the distance between any two self-driving vehicles is not less than the vehicle-to-vehicle communication distance. As shown in Figure 5, the device includes sequentially connected: an acquisition module 51, a broadcast module 52, a planning module 53 and a sending module 54, wherein the functions of each module are as follows:

The obtaining module 51 is used to obtain the information sent by the target self-driving vehicle; wherein, the information includes: target vehicle attribute information and teaming request information;

The broadcast module 52 is configured to periodically broadcast teaming request information to confirm at least one teaming self-driving vehicle that applies for teaming among the remaining self-driving vehicles;

The planning module 53 is used to obtain the group vehicle attribute information of the grouped self-driving vehicles, and perform group planning according to the target vehicle attribute information and the group vehicle attribute information, and obtain the target group strategy;

The sending module 54 is configured to send the target teaming strategy to the target autonomous vehicle and the teamed autonomous vehicles, so that the target autonomous vehicle and the teamed autonomous vehicles form a team according to the target teaming strategy.

The in-transit teaming device for autonomous vehicles provided by the embodiments of the present invention realizes information interaction and in-transit teaming between long-distance (that is, beyond the vehicle-to-vehicle communication distance) automatic driving vehicles through the RSU side, and improves the efficiency of in-transit teaming for autonomous vehicles. Efficiency and safety.

In one possible embodiment, the vehicle attribute information of each self-driving vehicle includes: static information and dynamic information; wherein, the static information includes: vehicle body parameters and vehicle engine power, and the dynamic information includes: real-time position and real-time speed; The above-mentioned planning module 53 is also used for: according to the target dynamic information of the target self-driving vehicle and the team dynamic information of the team-up self-driving vehicles, the fuel consumption is used as the target for team planning to obtain the target team strategy; wherein, the target team strategy Including: during the team formation process, the first team speed corresponding to the target self-driving vehicle, the second team speed corresponding to the team self-driving vehicle, and the team completion time.

In another possible embodiment, the sending module 54 is configured to: send the first team speed and team completion time to the target self-driving vehicle, and send the second team speed and team completion time to The self-driving vehicles are formed into a team, so that the target self-driving vehicles form a team according to the first team speed, and the team self-driving vehicles form a team according to the second team speed.

In another possible embodiment, the device further includes: acquiring team information sent by the target self-driving vehicle; wherein the team information includes at least one of the following: team ID information, pilot vehicle ID information, team The driving direction of the team, the current position of the team, the information of each vehicle in the team, the cruising speed of the team, the distance between cars of the team, the number of members of the team, the ID list of the team members, the length of the team and the Driving route; send team information to the team's self-driving vehicles.

In another possible embodiment, each self-driving vehicle is also configured with a free cruising mode and a team cruising mode, and the device further includes: generating a mode switching instruction when it is detected that the team is completed; Send to the target self-driving vehicle and the group self-driving vehicle, so that both the target self-driving vehicle and the group self-driving vehicle switch from the free cruising mode to the group cruising mode according to the mode switching instruction.

In another possible embodiment, the above-mentioned team formation request information also carries priority information, and the apparatus further includes: acquiring a team formation request information set; wherein, the team formation request information set includes multiple team formation requests at the same time Information, each teaming request information corresponds to a different self-driving vehicle; based on the priority information carried in the teaming request information, determine the target teaming request information.

In another possible embodiment, the above-mentioned confirmation of at least one teaming self-driving vehicle among the remaining self-driving vehicles that applies for forming a team includes: when listening to the message of confirming the teaming application, confirming The self-driving vehicle corresponding to the application team information is confirmed as the team self-driving vehicle.

The self-driving vehicle teaming device provided by the embodiment of the present invention has the same technical features as the method for self-driving vehicle teaming provided by the above-mentioned embodiments, so it can also solve the same technical problems and achieve the same technical effect.

An embodiment of the present invention also provides an electronic device, including a processor and a memory, the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-mentioned on-the-go teaming method for self-driving vehicles.

As shown in FIG. 6, the electronic device includes a processor 60 and a memory 61, the memory 61 stores machine-executable instructions that can be executed by the processor 60, and the processor 60 executes the machine-executable instructions to realize the above-mentioned self-driving vehicle on the way. Team method.

Further, the electronic device shown in FIG. 6 further includes a bus 62 and a communication interface 63 , and the processor 60 , the communication interface 63 and the memory 61 are connected through the bus 62 .

Wherein, the memory 61 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used. The bus 62 may be an ISA (Industrial Standard Architecture, industry standard architecture bus) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Enhanced Industry Standard Architecture, extended industry standard architecture) bus, etc. The above bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 6 , but it does not mean that there is only one bus or one type of bus.

The processor 60 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 60 or an instruction in the form of software. The above-mentioned processor 60 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processor, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), Field Programmable Gate Array (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the methods disclosed in the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61, and completes the steps of the methods of the foregoing embodiments in combination with its hardware.

This embodiment also provides a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor, the machine-executable instructions prompt the processor to implement the above-mentioned self-driving vehicle. On-the-go team formation method.

The computer program product of the self-driving vehicle teaming method, device, and electronic equipment provided by the embodiments of the present invention includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the preceding method embodiments The specific implementation of the method described in may refer to the method embodiments, and details are not repeated here.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system and device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In addition, in the description of the embodiments of the present invention, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (8)

1. The method is characterized by being applied to an RSU side, wherein the RSU side is in communication connection with a vehicle side; wherein the vehicle side includes: a plurality of autonomous vehicles in a same driving direction, and a distance between any two of the autonomous vehicles is not less than a vehicle-to-vehicle communication distance, the method comprising:

acquiring information sent by a target autonomous vehicle; wherein the information comprises: target vehicle attribute information and team formation request information;

periodically broadcasting the team formation request information to confirm at least one team automatic driving vehicle applying team formation in the rest automatic driving vehicles; determining a plurality of RSUs within a preset range according to the real-time position of the target automatic driving vehicle, and sending the team formation request information to the RSUs, so that the RSUs broadcast the team formation request information periodically at the same time;

obtaining team vehicle attribute information of the team automatic driving vehicles, and carrying out team planning according to the target vehicle attribute information and the team vehicle attribute information to obtain a target team strategy;

respectively sending the target team forming strategy to the target automatic driving vehicle and the team automatic driving vehicle so as to enable the target automatic driving vehicle and the team automatic driving vehicle to form a team according to the target team forming strategy;

wherein the vehicle attribute information of each of the autonomous vehicles includes: static information and dynamic information; wherein the static information includes: body parameters and vehicle engine power, the dynamic information including: real-time position and real-time velocity;

the step of performing a formation planning according to the target vehicle attribute information and the formation vehicle attribute information includes:

according to the target dynamic information of the target automatic driving vehicle and the team forming dynamic information of the team automatic driving vehicle, carrying out team forming planning by taking the minimum oil consumption of the target automatic driving vehicle and the team forming automatic driving vehicle as a target in a vehicle team forming process to obtain a target team forming strategy; wherein the target team forming strategy comprises: in the team forming process, a first team forming speed corresponding to the target automatic driving vehicle, a second team forming speed corresponding to the team automatic driving vehicle and team forming completion time;

the team formation request information also carries priority information, and the method further comprises:

acquiring a team formation request information set; the team formation request information set comprises a plurality of team formation request information at the same time, and each team formation request information corresponds to different automatic driving vehicles;

and determining target team forming request information based on the priority information carried by the team forming request information.

2. The method of claim 1, wherein the step of sending the target fleet strategy to the target autonomous vehicle and the fleet autonomous vehicle, respectively, comprises:

and sending the first team formation speed and the team formation completion time to the target automatic driving vehicle, and sending the second team formation speed and the team formation completion time to the team automatic driving vehicle, so that the target automatic driving vehicle forms a team according to the first team formation speed and the team formation automatic driving vehicle according to the second team formation speed.

3. The method of claim 1, further comprising:

acquiring team formation information sent by the target automatic driving vehicle; wherein the formation information comprises at least one of: the method comprises the following steps of (1) forming a team ID information, a pilot vehicle ID information, a forming traveling direction, a forming current position, each vehicle type information in the team, a cruising speed of the team, a vehicle interval of the team, the number of members of the team, an ID list of the members of the team, the length of the team and a traveling route of the team;

and sending the team formation information to the team automatic driving vehicle.

4. The method of claim 1, wherein each of the autonomous vehicles is further configured with a free cruise mode and a fleet cruise mode, the method further comprising:

when the completion of team formation is monitored, a mode switching instruction is generated;

and respectively sending the mode switching instruction to the target automatic driving vehicle and the team automatic driving vehicle, so that the target automatic driving vehicle and the team automatic driving vehicle are switched from the free cruise mode to the team cruise mode according to the mode switching instruction.

5. The method of claim 1, wherein the step of identifying at least one of the remaining autonomous vehicles for which a fleet is requested comprises:

and when the confirmation application team formation information is monitored, the automatic driving vehicles corresponding to the confirmation application team formation information in the rest automatic driving vehicles are confirmed as the automatic driving vehicles for the team.

6. The on-road team forming device for the automatic driving vehicles is characterized by being applied to an RSU side, wherein the RSU side is in communication connection with a vehicle side; wherein the vehicle side includes: a plurality of autonomous vehicles in the same driving direction, and a distance between any two of the autonomous vehicles is not less than a vehicle-to-vehicle communication distance, the apparatus including:

the acquisition module is used for acquiring information sent by the target automatic driving vehicle; wherein the information comprises: target vehicle attribute information and team formation request information;

the broadcasting module is used for periodically broadcasting the team formation request information so as to confirm at least one team automatic driving vehicle applying for team formation in the rest automatic driving vehicles; determining a plurality of RSUs within a preset range according to the real-time position of the target automatic driving vehicle, and sending the team formation request information to the RSUs, so that the RSUs broadcast the team formation request information periodically at the same time;

the planning module is used for acquiring the grouping vehicle attribute information of the automatic driving vehicles for grouping, and carrying out grouping planning according to the target vehicle attribute information and the grouping vehicle attribute information to obtain a target grouping strategy;

the sending module is used for sending the target team formation strategy to the target automatic driving vehicle and the team automatic driving vehicle respectively so as to enable the target automatic driving vehicle and the team automatic driving vehicle to form a team according to the target team formation strategy;

wherein the vehicle attribute information of each of the autonomous vehicles includes: static information and dynamic information; wherein the static information includes: body parameters and vehicle engine power, the dynamic information including: real-time position and real-time velocity;

the performing of the formation planning according to the target vehicle attribute information and the formation vehicle attribute information includes:

according to the target dynamic information of the target automatic driving vehicle and the team forming dynamic information of the team automatic driving vehicle, carrying out team forming planning by taking the minimum oil consumption of the target automatic driving vehicle and the team forming automatic driving vehicle as a target in a vehicle team forming process to obtain a target team forming strategy; wherein the target team grouping policy comprises: in the team forming process, a first team forming speed corresponding to the target automatic driving vehicle, a second team forming speed corresponding to the team forming automatic driving vehicle and team forming completion time;

the formation request information also carries priority information, and the apparatus further includes:

acquiring a team formation request information set; the team formation request information set comprises a plurality of team formation request information at the same time, and each team formation request information corresponds to different automatic driving vehicles;

and determining target team forming request information based on the priority information carried by the team forming request information.

7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1-5 are implemented when the computer program is executed by the processor.

8. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, is adapted to carry out the steps of the method according to any of the claims 1-5.

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