Collision relieving method and device between vehicles in hybrid vehicle queue

The invention discloses a collision relieving method and device between vehicles in a hybrid vehicle queue. The collision relieving method between the vehicles in the hybrid vehicle queue includes the following steps that firstly, vehicle condition information of the network-connection vehicles and vehicle condition information of the non-network-connection vehicles in front of and behind the network-connection vehicles are acquired; secondly, the head vehicle and the rear vehicles in the hybrid vehicle queue are sequentially judged, if the corresponding network-connection vehicle is the head vehicle or the rear vehicles, the third step is executed, and if the corresponding network-connection vehicle is neither the head vehicle nor the rear vehicles, the first step is executed again, wherein the head vehicle is the network-connection vehicle with the braking working condition exceeding a set threshold value, and the rear vehicles are vehicles meeting the queue collision relieving requirement behind the head vehicle; thirdly, the vehicle condition information of the network-connection vehicles is received; fourthly, the expected acceleration of each network-connection vehicle in the rear vehicles is planned; fifthly, each network-connection vehicle in the rear vehicles travels according to the planned expected acceleration, and the each network-connection vehicle in the rear vehicles travels according to a vehicle following mode; and sixthly, whether each of the rear vehicles is parked or not is judged, if certain rear vehicles are parked, control is stopped, and if no rear vehicles are parked, the third step is executed again. By the adoption of the method and device, the braking space between the vehicles in the hybrid vehicle queue can be used for control.