Intelligent cooperative control method and system for connected vehicle fleet, electronic device and storage medium

An electronic device, comprising:

• a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when executing the computer program the processor performs a method for controlling a coupled vehicle fleet, the method comprising:
• acquiring environment perception information and vehicle status information, wherein the environment perception information indicates both a distance between a current vehicle and a lane sideline and a longitudinal distance between the current vehicle and a preceding vehicle;
• fusing the environment perception information which indicates the distance between the current vehicle and the lane sideline and the longitudinal distance between the current vehicle and a preceding vehicle with the vehicle status information;
• calculating a vehicle safety control instruction based on the environment perception information fused with the vehicle status information;
• acquiring a vehicle fleet cooperative control instruction sent by a vehicle;
• calculating a vehicle motion control instruction based on the vehicle fleet cooperative control instruction and the vehicle status information;
• comparing the vehicle motion control instruction with the vehicle safety control instruction;
• controlling the vehicle according to the vehicle motion control instruction in response to the vehicle motion control instruction being consistent with the vehicle safety control instruction or a difference between the vehicle motion control instruction and the vehicle safety control instruction being within an allowable range;
• and
• controlling the vehicle according to the vehicle safety control instruction in response to the vehicle motion control instruction being inconsistent with the vehicle safety control instruction or a difference between the vehicle motion control instruction and the vehicle safety control instruction exceeding the allowable range.

A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions configured to make a computer perform an intelligent cooperative control method for a coupled vehicle fleet, the method comprising:

• acquiring environment perception information and/or vehicle status information, wherein the environment perception information indicates both a distance between a current vehicle and a lane sideline and a longitudinal distance between the current vehicle and a preceding vehicle;
• fusing the environment perception information which indicates the distance between the current vehicle and the lane sideline and the longitudinal distance between the current vehicle and a preceding vehicle with the vehicle status information;
• calculating a vehicle safety control instruction based on the environment perception information fused with the vehicle status information;
• acquiring a vehicle fleet cooperative control instruction sent by a vehicle;
• calculating a vehicle motion control instruction based on the vehicle fleet cooperative control instruction and the vehicle status information;
• comparing the vehicle motion control instruction with the vehicle safety control instruction;
• controlling the vehicle according to the vehicle motion control instruction in response to the vehicle motion control instruction being consistent with the vehicle safety control instruction or a difference between the vehicle motion control instruction and the vehicle safety control instruction being within an allowable range;
• and
• controlling the vehicle according to the vehicle safety control instruction in response to the vehicle motion control instruction being inconsistent with the vehicle safety control instruction or a difference between the vehicle motion control instruction and the vehicle safety control instruction exceeding the allowable range.