Vehicle control method, device, equipment and computer storage medium

Abstract

The present disclosure discloses a vehicle control method, device, equipment and computer storage medium, which relate to the field of autonomous driving and intelligent transportation technology. The specific implementation scheme is: determine the vehicles in a preset geographical fence area; determine the vehicle weight of the vehicle according to the vehicle type and waiting time; estimate the waiting time required for each lane according to the vehicle weight of the vehicles contained in each lane in the geographical fence area and the position of the vehicle in the lane; generate control instructions for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane, and the control instructions include state instructions and / or target speed instructions. The present disclosure can make global scheduling decisions for vehicles in the geographical fence area to alleviate traffic congestion.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of autonomous driving and intelligent transportation technology. Background Art

[0002] Convenient transportation is not only conducive to people's travel, but also provides an important foundation for social and economic growth. With the continuous increase in the number of vehicles, the continuous rise in travel demand, and the continuous expansion of urban scale, congestion has become a major problem that cannot be ignored in the process of urban development. On the one hand, traffic congestion makes people spend a lot of time on travel, increasing people's travel costs. On the other hand, vehicles competing for the right of way cause car rear-end collisions, causing traffic congestion, and may even cause serious traffic safety accidents, resulting in casualties and huge economic losses.

[0003] Therefore, how to alleviate traffic congestion has become an urgent problem to be solved in the field of intelligent transportation and autonomous driving. Summary of the invention

[0004] In view of this, the present disclosure provides a vehicle control method, device, equipment and computer storage medium to alleviate the traffic congestion problem.

[0005] According to a first aspect of the present disclosure, there is provided a vehicle control method, comprising:

[0006] Identify vehicles within a pre-set geo-fenced area;

[0007] Determining a vehicle weight of the vehicle according to the vehicle type and the waiting time;

[0008] estimating the waiting time required for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area and the positions of the vehicles in the lanes;

[0009] According to the waiting time required for each lane and the position of the vehicle in the lane, a control instruction is generated for each vehicle, wherein the control instruction includes a state instruction and / or a target speed instruction.

[0010] According to a second aspect of the present disclosure, there is provided a vehicle control device, comprising:

[0011] A decision trigger unit, used to determine vehicles within a preset geo-fenced area;

[0012] A first decision unit, configured to determine a vehicle weight of the vehicle according to the vehicle type and the waiting time;

[0013] A second decision unit, configured to estimate the waiting time required for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area and the positions of the vehicles in the lanes;

[0014] The third decision unit is used to generate a control instruction for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane, wherein the control instruction includes a state instruction and / or a target speed instruction.

[0015] According to a third aspect of the present disclosure, there is provided a vehicle control system, comprising: an on-board unit, a roadside unit and a mobile edge computing device arranged in a vehicle;

[0016] The on-board unit is used to send the vehicle information to the roadside unit after establishing a connection with the roadside unit; receive the control command sent by the roadside unit, and send it to the control system of the vehicle to execute the control command;

[0017] The roadside unit is used to send the received information of the vehicle to the mobile edge computing device after establishing a connection with the vehicle-mounted unit; and forward the control command sent by the mobile edge computing device to the vehicle-mounted unit of the corresponding vehicle;

[0018] The mobile edge computing device includes the above-mentioned vehicle control device.

[0019] According to a fourth aspect of the present disclosure, there is provided an electronic device, including:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described above.

[0023] According to a fifth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method as described above.

[0024] According to a sixth aspect of the present disclosure, a computer program product includes a computer program, and when the computer program is executed by a processor, the computer program implements the method as described above.

[0025] It can be seen from the above technical solutions that the present invention performs global planning and control of vehicles in the geographic fence area based on information such as vehicle type, waiting time, and position in the lane, and generates control instructions for the vehicles to effectively alleviate traffic congestion problems.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0028] Figure 1 is a system architecture diagram applicable to the embodiments of the present disclosure;

[0029] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0030] Figure 3 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present disclosure;

[0031] Figure 4 is a block diagram of an electronic device for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] Traffic congestion generally occurs at traffic bottlenecks, including intersections and merges. Currently, vehicle control at these traffic bottlenecks comes from traffic light control or relies on the behavior of individual drivers. The main problems caused by these methods include:

[0034] 1) Traffic lights have poor control flexibility, making it difficult to achieve high-quality regulation under traffic bottlenecks.

[0035] 2) Relying on the behavior and judgment of the driver, it is very easy for individual driving behavior to cause vehicle rear-end collisions or traffic jams, and there is also the problem of unfair road access rights.

[0036] 3) Existing autonomous driving solutions are all based on single-vehicle intelligence and lack global control capabilities, and are unable to solve problems such as emergency vehicles having difficulty passing quickly.

[0037] In view of this, the present disclosure provides a novel vehicle control method for alleviating traffic congestion. In order to facilitate the understanding of the present disclosure, the system involved in the present disclosure is first briefly described.

[0038] Figure 1 The system architecture diagram applicable to the embodiments of the present disclosure. The vehicles involved in the present disclosure may be vehicles with automatic driving functions and assisted driving functions. These vehicles are equipped with on-board OBUs (On Board Units). Vehicles equipped with OBUs can communicate with RSUs (Road Side Units) installed on the roadside through V2X (Vehicle to Everything, wireless communication technology for vehicles) and obtain vehicle control instructions from RSUs. Communication chips and modules need to be integrated on the OBU, and interact with the vehicle's control unit.

[0039] RSU is installed on the roadside to collect information such as the current vehicle status, road status, and traffic status. The information is transmitted to MEC (Mobile Edge Computing) for processing through the communication network. After receiving the processing results from MEC, it is sent to OBU.

[0040] MEC provides service environment, computing and storage functions within the RAN (Radio Access Network).

[0041] Among them, the above-mentioned OBU and RSU can communicate through technologies such as DSRC (Dedicated Short Range Communication) or C-V2X (Cellular V2X).

[0042] In the present disclosure, geo-fenced areas can be set up in places where traffic congestion is likely to occur, such as intersections and confluences. An RSU can be responsible for one or more geo-fenced areas. Vehicles entering the geo-fenced area communicate with the RSU and are controlled by the instructions of the RSU. The RSU reports the vehicle information in the geo-fenced area to the MEC, which generates vehicle control instructions and returns them to the RSU, which sends them to the corresponding vehicles. In the present disclosure, the MEC implements global control of each vehicle in the geo-fenced area.

[0043] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present disclosure. The method execution subject may be a vehicle control device, which may be located in Figure 1 In the MEC shown in FIG, it can be an application in the MEC, or it can also be a functional unit such as a plug-in or a software development kit (SDK) in the MEC. Figure 2 As shown in , the method may include the following steps:

[0044] In 201 , vehicles within a preset geo-fenced area are determined.

[0045] In 202 , a vehicle weight of the vehicle is determined based on the vehicle type and the waiting time.

[0046] In 203 , the waiting time required for each lane is estimated based on the vehicle weights of the vehicles included in each lane in the geo-fenced area and the positions of the vehicles in the lanes.

[0047] In 204 , control instructions are generated for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane, wherein the control instructions include state instructions and / or target speed instructions.

[0048] It can be seen from the above technical solutions that the present invention performs global planning and control of vehicles in the geographic fence area based on information such as vehicle type, waiting time, and position in the lane, generates control instructions for the vehicles, reduces traffic congestion and other problems caused by individual lane-cutting behaviors, and is more flexible and global than traditional traffic light control methods.

[0049] The above steps are described in detail below in conjunction with embodiments.

[0050] First, the above step 201, namely "determining the vehicles within the preset geographic fence area", is described in detail in conjunction with the embodiment.

[0051] Geographic fences can be set up in advance for places prone to traffic congestion, such as intersections and merges where congestion is likely to occur and where vehicle dispatching is required. A geo-fenced area is a part of the area demarcated geographically, which can include N lanes, and the length of the lane is l. threshold Wherein, N is an integer greater than 1. Figure 1 As shown in the example, the geo-fenced area contains 3 lanes, and the length of the lane is l threshold According to the position of the vehicle, it can be determined whether the vehicle falls into the geo-fenced area. The vehicles in the geo-fenced area may be of various types, which may occupy the entire geo-fenced area or may have vacant positions.

[0052] Once the OBU on each vehicle establishes a connection with the RSU, it will send its own positioning results, vehicle identification, vehicle type and other information to the RSU. The RSU sends this information of these vehicles to the MEC. The MEC determines the vehicle that falls into the geo-fenced area corresponding to the RSU based on the vehicle's location information, that is, determines the correspondence between the geo-fenced area, the vehicle and the RSU.

[0053] Furthermore, after the MEC determines the vehicles that fall into the geo-fenced area, it needs to determine the lanes where these vehicles are located. This can be done in the following ways, but is not limited to:

[0054] The first method: MEC obtains the lane information of the vehicle determined by the vehicle's OBU and camera.

[0055] The vehicle's OBU can obtain pictures taken by the on-board camera and identify the lane information of the vehicle from the picture based on a certain algorithm, and then send the lane information to the RSU, which then sends it to the MEC.

[0056] The second method: MEC obtains the vehicle's lane information based on the vehicle positioning results and lane-level map data.

[0057] The vehicle can determine the lane information of the vehicle based on its own location information and the lane-level map deployed on the vehicle, and then send the lane information to the RSU, which then sends it to the MEC.

[0058] The third method: MEC obtains the positioning result of the vehicle and determines the lane information of the vehicle based on the lane-level map data deployed on MEC.

[0059] In this way, MEC matches the vehicle's location information with the lane-level map data to determine the lane the vehicle is in. The lane-level map data mentioned above refers to a map with lane division data, that is, a map that can clearly identify lane information from the map data.

[0060] The above step 202, namely "determining the vehicle weight of the vehicle according to the vehicle type and the waiting time", is described in detail below in conjunction with an embodiment.

[0061] Assume that the scenario is an intersection, and there is a limited length l threshold N lanes within {L 1 , L 2 , …, L N}. At the current time t, lane L i Contains N i Vehicles For each vehicle C i，j ={T i，j , t i，j，s , l i，j，t ,s i，j，t}, where T i，j is the vehicle type, which can include ordinary vehicles, buses, fire trucks, ambulances, police cars, etc. i，j，s For vehicles entering lane L i time. i，j，t is the current position coordinate of the vehicle, si，j，t is the current speed of the vehicle.

[0062] The vehicle weight of a vehicle reflects the priority of the vehicle's passage, which is mainly determined by the vehicle type and the waiting time (i.e. the waiting time). On the one hand, it is necessary to ensure that some special types of vehicles have priority, and on the other hand, it is also necessary to ensure that the waiting time of the vehicle is not too long to ensure fairness. Therefore, the higher the vehicle type weight, the greater the vehicle weight; the longer the waiting time of the vehicle, the greater the vehicle weight.

[0063] For example, vehicle C i，j Vehicle weight Can be:

[0064]

[0065] in, is the vehicle type weight, which is determined by the vehicle type. For example, the vehicle type weights of police cars, ambulances, and fire trucks are higher, ensuring their priority passage; the vehicle type weight of buses is second, and ordinary vehicles are third. i，j，s It reflects the waiting time of the vehicle. In addition to the above vehicle type and waiting time, other factors can also be combined to determine the vehicle weight, which will not be detailed here.

[0066] Incorporating vehicle type and waiting time into vehicle weights can ensure that specific types of vehicles pass quickly and in a timely manner through global regulation by vehicle type, and take into account the fair right of passage of each vehicle.

[0067] The above step 203, namely "estimating the waiting time for each lane based on the vehicle weights of the vehicles included in each lane within the geographic fence area and the position of the vehicle in the lane" is described in detail below in conjunction with the embodiments.

[0068] The reason why the waiting time of each lane needs to be estimated in the present disclosure, rather than estimating the waiting time of each vehicle directly based on the vehicle weight, is because vehicles are restricted by each lane and can only pass in their respective lanes in turn. Therefore, it is necessary to determine the waiting time required for each lane, which is actually the waiting time required for the first vehicle in each lane, and then determine the status or target speed of each vehicle at the current moment in turn.

[0069] In this step, the weight of each lane can be determined first based on the vehicle weights of the vehicles contained in each lane within the geographic fence area; then, the waiting time required for each lane can be estimated based on the weight of each lane, the vehicle weight, and the position of the vehicle in the lane.

[0070] As one implementation, when determining the weight of each lane, the average weight of the vehicles contained in the lane (within the geo-fenced area) can be used as the weight of the lane. i Weight Can be:

[0071]

[0072] Among them, N i For lane L i The number of vehicles contained within the geofenced area.

[0073] In addition to the above implementation methods, other methods may also be used, such as using the median value or the sum of the vehicle weights of the vehicles included in the lane as the lane weight, and so on.

[0074] When estimating the waiting time required for each lane, the lanes can be sorted according to their weights, and the waiting time required for the lane with the highest weight is zero, that is, the first vehicle in the lane with the highest weight can pass.

[0075] For other lanes, the following steps can be used to determine how long the lane needs to wait:

[0076] Step S1: Determine the queue weight of each vehicle included in the lane according to the vehicle weight of the vehicles included in the lane.

[0077] Since the vehicles in the lane will affect the passage of the following vehicles, if there are vehicles with higher weights, in order to ensure that the vehicles with higher weights can pass as quickly as possible, the vehicles before them also need to have higher sorting weights. For example, if there is an ambulance in a lane, in order for the ambulance to pass as quickly as possible, the vehicles before it need to have higher queue weights. Therefore, the sorting weight of a vehicle is not only related to its own vehicle weight, but also to the vehicle weights of the vehicles after it.

[0078] As one implementation method, the average weight of the vehicle and the vehicles behind the lane where the vehicle is located can be used as the queue weight of the vehicle. ij The queue weight for:

[0079]

[0080] In addition to the above implementations, other methods may also be used, such as taking the median value or sum of the vehicle weights of the vehicle and the subsequent vehicles as the weight of the vehicle.

[0081] Step S2: Determine the number of vehicles that the first vehicle in the lane needs to wait for based on the queue weights of the vehicles in the lane.

[0082] After knowing the queue weight of each vehicle, the number of vehicles that the first vehicle in the lane needs to wait for can be known, that is, how many vehicles the first vehicle in the lane needs to wait for before it can pass. For example, sort the queue weights of all vehicles, and lane L i The first car is ranked kth, then the number of cars it needs to wait for is for:

[0083]

[0084] Step S3: Determine the waiting time for the lane based on the number of vehicles that the first vehicle in the lane needs to wait for and the unit time for vehicles to pass.

[0085] The product of the number of vehicles that the first vehicle in the lane needs to wait for and the unit time of the vehicle passing can be used as the waiting time of the lane. i How long do you need to wait? Can be:

[0086]

[0087] Wherein, Δt is the unit time of vehicle passing, which can adopt empirical value or experimental value.

[0088] The following is a detailed description of step 204, namely "generating a control instruction for each vehicle based on the waiting time required for each lane and the position of the vehicle in the lane".

[0089] In this step, the control instructions generated for each vehicle may include only a state instruction, that is, an instruction indicating what state the vehicle adopts, such as start, hold, decelerate, and stop. It may also include only a target speed instruction, that is, an instruction indicating what speed the vehicle reaches. It may also include both a state instruction and a target speed instruction.

[0090] For vehicle C i,j Generate status command C I i,j and target speed The following situations may be included:

[0091] The first case: If the vehicle's current speed is s i,j,t If it is zero, the vehicle in the lane needs to wait for a certain amount of time. If j is zero and the vehicle is at the head of the lane, that is, j is 0, a start command is generated for the vehicle to determine the target speed of the vehicle. is a preset normal speed, for example, the average speed of a city road.

[0092] Case 2: If the vehicle's estimated starting speed is Greater than or equal to the preset maximum speed threshold s max , a start command is generated for the vehicle, and the target speed of the vehicle is determined to be a preset normal speed.

[0093] Estimated startup speed Refers to the maximum speed that a vehicle can take if it starts, the speed and the distance to the vehicle in front and the waiting time required for the lane where the vehicle is located That is, assuming the vehicle starts to move now, The maximum speed that can be used to ensure that the vehicle does not exceed the stop line or collide with the vehicle in front. For example:

[0094]

[0095] If vehicle C i,j It is lane L i If the vehicle is the first vehicle in the lane, Δl is the distance between the current position of the vehicle and the lane stop line. Otherwise, Δl is the distance between the current position of the vehicle and the lane stop line. i,j The distance between you and the vehicle ahead.

[0096] s max It is a preset value, for example, 15m / s can be used for urban roads.

[0097] The third case: If the front distance Δl of the vehicle is greater than or equal to the preset maximum distance threshold l max , a start command is generated for the vehicle, and the target speed of the vehicle is determined to be a preset normal speed.

[0098] That is, if the distance in front of the vehicle is too large, the vehicle can start to move forward to avoid wasting resources in the lane. max An empirical value or experimental value may be adopted, for example, set to 3 times of Δl.

[0099] Fourth case: If the estimated starting speed of the vehicle Greater than or equal to the vehicle's current speed s i,j,t , a keep command is generated for the vehicle, and the target speed of the vehicle is determined to be the current speed. In other words, in this case, the vehicle can maintain the current speed.

[0100] Fifth case: If the estimated starting speed of the vehicle Less than the vehicle's current speed s i,j,t and is greater than the preset minimum speed threshold s min , a deceleration command is generated for the vehicle, and the target speed of the vehicle is determined to be the estimated starting speed of the vehicle

[0101] Case 6: If the estimated starting speed of the vehicle Less than or equal to the preset minimum speed threshold s min , a stop command is generated for the vehicle, and the target speed of the vehicle is determined to be zero.

[0102] The seventh case: If the front distance Δl of the vehicle is less than or equal to the preset minimum distance threshold l min , then in order to ensure safety, a stop command is generated for the vehicle and the target speed of the vehicle is determined to be zero.

[0103] Then the MEC sends the control command to the RSU (i.e. the RSU corresponding to the geographic location fence area), which is then sent to the OBU of the corresponding vehicle. The OBU of the vehicle provides the control command to the vehicle's control system, which executes the control command. That is, the vehicle is started, maintained, decelerated or stopped according to the status command, and adjusted to the target speed.

[0104] The above is a detailed description of the method provided by the present disclosure. The following is a detailed description of the device provided by the present disclosure in conjunction with an embodiment.

[0105] Figure 3 FIG. 1 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present disclosure, and the device is arranged in a MEC. Figure 3 As shown in , the device 300 may include: a decision triggering unit 301, a first decision unit 302, a second decision unit 303 and a third decision unit 304, and may also include a command sending unit 305 and a lane determination unit 306. The main functions of each component unit are as follows:

[0106] The decision triggering unit 301 is used to determine the vehicles within the preset geographic fence area.

[0107] The first decision unit 302 is used to determine the vehicle weight of the vehicle according to the vehicle type and the waiting time.

[0108] The second decision unit 303 is used to estimate the waiting time required for each lane according to the vehicle weights of the vehicles included in each lane in the geo-fenced area and the positions of the vehicles in the lanes.

[0109] The third decision unit 304 is used to generate a control instruction for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane. The control instruction includes a state instruction and / or a target speed instruction.

[0110] As one implementation method, after determining the vehicle position, the decision trigger unit 301 can determine whether the vehicle position falls into a preset geo-fenced area, and determine the roadside unit corresponding to the geo-fenced area.

[0111] The instruction sending unit 305 is used to send the control instruction to the corresponding vehicle through the roadside unit corresponding to the geographical fence area.

[0112] The lane determination unit 306 is used to determine the lane in which the vehicle is located. The following three methods may be used, but are not limited to:

[0113] Obtaining the lane information of the vehicle determined by the vehicle-mounted unit and the camera; or,

[0114] Obtaining the lane information of the vehicle determined by the vehicle positioning result and the lane-level map data; or,

[0115] Obtain the vehicle's positioning results and determine the vehicle's lane information based on the lane-level map data deployed on the mobile edge computing device.

[0116] As one of the implementation methods, the second decision unit 303 can determine the weight of each lane based on the vehicle weight of the vehicles contained in each lane within the geographic fence area; and estimate the waiting time required for each lane based on the weight of each lane, the vehicle weight and the position of the vehicle in the lane.

[0117] As a preferred implementation, when the second decision unit 303 estimates the waiting time required for each lane based on the weight of each lane, the vehicle weight and the position of the vehicle in the lane, for the lane with the highest weight, the waiting time for the lane is determined to be zero; for other lanes, the queue weight of each vehicle contained in the lane is determined based on the vehicle weight of the vehicles contained in the lane; the number of vehicles that the first vehicle in the lane needs to wait for is determined based on the queue weight of each vehicle contained in the lane; and the waiting time for the lane is determined based on the number of vehicles that the first vehicle in the lane needs to wait for and the unit time for the vehicles to pass.

[0118] As one implementation, the third decision unit 304 may use the following situations to generate the status instruction:

[0119] If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, a start command is generated for the vehicle;

[0120] If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, a starting instruction is generated for the vehicle;

[0121] If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, a start command is generated for the vehicle;

[0122] If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, a hold instruction is generated for the vehicle;

[0123] If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than a preset minimum speed threshold, a deceleration instruction is generated for the vehicle;

[0124] If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, a stop command is generated for the vehicle;

[0125] If the front distance of the vehicle is less than or equal to a preset minimum distance threshold, a stop command is generated for the vehicle;

[0126] The estimated starting speed of the vehicle is determined by the front distance of the vehicle and the waiting time required in the lane where the vehicle is located.

[0127] As another implementation, the third decision unit 304 may use the following situations to generate the target speed instruction:

[0128] If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, then the target speed of the vehicle is determined to be the preset normal speed;

[0129] If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, determining the target speed of the vehicle to be a preset normal speed;

[0130] If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, determining the target speed of the vehicle to be a preset normal speed;

[0131] If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, then determining the target speed of the vehicle to be the current speed;

[0132] If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than the preset minimum speed threshold, the target speed of the vehicle is determined to be the estimated starting speed of the vehicle, and the estimated starting speed of the vehicle is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located;

[0133] If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, determining the target speed of the vehicle to be zero;

[0134] If the front distance of the vehicle is less than or equal to a preset minimum distance threshold, the target speed of the vehicle is determined to be zero.

[0135] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0137] like Figure 4 , is a block diagram of an electronic device according to a vehicle control method according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0138] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0139] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0140] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as a vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 408.

[0141] In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via the ROM 802 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to execute the vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0142] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0144] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0146] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0147] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPs, Virtual Private Server) services. The server may also be a server for a distributed system, or a server combined with a blockchain.

[0148] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in this disclosure can be achieved, and this document is not limited here.

[0149] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, include: Determine the vehicles in the preset geo-fenced area, where the geo-fenced area contains N lanes, and the length of the lane is l thresjold , N is an integer greater than 1; Determine the vehicle weight of the vehicle according to the vehicle type and the waiting time; wherein the vehicle weight of the vehicle reflects the priority of vehicle passage; estimating the waiting time required for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area and the positions of the vehicles in the lanes; Generate control instructions for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane, wherein the control instructions include a state instruction and / or a target speed instruction, wherein the state instruction indicates the state to be in by the vehicle, wherein the state includes starting, holding, decelerating and stopping, and the target speed instruction indicates the speed to be reached by the vehicle; The estimating of the waiting time for each lane according to the vehicle weights of the vehicles contained in each lane in the geo-fenced area and the positions of the vehicles in the lanes includes: Determining a weight for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area; For the lane with the highest weight, the waiting time for the lane is determined to be zero; For other lanes, the queuing weight of each vehicle in the lane is determined based on the vehicle weight of the vehicles in the lane. The queuing weight of the vehicle is the average, median or sum of the vehicle weight of the vehicle and the vehicle weights of the vehicles behind the lane where the vehicle is located; the number of vehicles that the first vehicle in the lane needs to wait for is determined based on the queuing weight of each vehicle in the lane; the waiting time in the lane is determined based on the number of vehicles that the first vehicle in the lane needs to wait for and the unit time for the vehicles to pass.

2. The method according to claim 1, in, The determining that the vehicle is in the preset geo-fenced area includes: determining the vehicle position, determining whether the vehicle position falls within the preset geo-fenced area, and determining the roadside unit corresponding to the geo-fenced area; The method further includes: The control instruction is sent to the corresponding vehicle through the roadside unit corresponding to the geographic fence area.

3. The method according to claim 1, further comprising: include: Obtaining lane information of the vehicle determined by the vehicle's onboard unit and camera; or, Obtaining the lane information of the vehicle determined by the vehicle positioning result and the lane-level map data; or, Obtain the vehicle's positioning results and determine the vehicle's lane information based on the lane-level map data deployed on the mobile edge computing device.

4. The method according to claim 1, in, The generating of control instructions for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane includes: If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, a start command is generated for the vehicle; If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, a starting instruction is generated for the vehicle; If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, a start command is generated for the vehicle; If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, a hold instruction is generated for the vehicle; If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than a preset minimum speed threshold, a deceleration instruction is generated for the vehicle; If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, a stop command is generated for the vehicle; If the front distance of the vehicle is less than or equal to a preset minimum distance threshold, a stop command is generated for the vehicle; The estimated starting speed of the vehicle refers to the maximum speed that the vehicle can adopt when starting, which is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located.

5. The method according to claim 1, in, The generating of control instructions for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane includes: If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, then the target speed of the vehicle is determined to be the preset normal speed; If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, determining the target speed of the vehicle to be a preset normal speed; If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, determining the target speed of the vehicle to be a preset normal speed; If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, then determining the target speed of the vehicle to be the current speed; If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than a preset minimum speed threshold, the target speed of the vehicle is determined to be the estimated starting speed of the vehicle, where the estimated starting speed of the vehicle is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located; If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, determining the target speed of the vehicle to be zero; If the front distance of the vehicle is less than or equal to the preset minimum distance threshold, determining the target speed of the vehicle to be zero; The estimated starting speed of the vehicle refers to the maximum speed that the vehicle can adopt when starting, which is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located.

6. A vehicle control device, include: A decision triggering unit is used to determine a vehicle in a preset geo-fenced area, wherein the geo-fenced area includes N lanes, and the length of the lane is l threshold , N is an integer greater than 1; A first decision unit is used to determine the vehicle weight of the vehicle according to the vehicle type and the waiting time; wherein the vehicle weight of the vehicle reflects the priority of the vehicle passing; A second decision unit, configured to estimate the waiting time required for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area and the positions of the vehicles in the lanes; A third decision unit is used to generate a control instruction for each vehicle according to the waiting time required for each lane and the position of the vehicle in the lane, wherein the control instruction includes a state instruction and / or a target speed instruction, wherein the state instruction indicates the state to be in by the vehicle, wherein the state includes starting, holding, decelerating and stopping, and the target speed instruction indicates the speed to be reached by the vehicle; The second decision unit, when estimating the waiting time required for each lane according to the vehicle weights of the vehicles included in each lane in the geo-fenced area and the positions of the vehicles in the lanes, specifically performs: Determining a weight for each lane according to the vehicle weights of the vehicles contained in each lane within the geo-fenced area; For the lane with the highest weight, the waiting time for the lane is determined to be zero; For other lanes, the queuing weight of each vehicle in the lane is determined based on the vehicle weight of the vehicles in the lane. The queuing weight of the vehicle is the average, median or sum of the vehicle weight of the vehicle and the vehicle weights of the vehicles behind the lane where the vehicle is located; the number of vehicles that the first vehicle in the lane needs to wait for is determined based on the queuing weight of each vehicle in the lane; the waiting time in the lane is determined based on the number of vehicles that the first vehicle in the lane needs to wait for and the unit time for the vehicles to pass.

7. The device according to claim 6, in, The decision trigger unit is specifically used to determine the vehicle position, determine whether the vehicle position falls into a preset geo-fenced area, and determine the roadside unit corresponding to the geo-fenced area; The device also includes: The instruction sending unit is used to send the control instruction to the corresponding vehicle through the roadside unit corresponding to the geographical fence area.

8. The device according to claim 6, further comprising: include: A lane determination unit, used to obtain the lane information of the vehicle determined by the vehicle's onboard unit and camera; or, Obtaining the lane information of the vehicle determined by the vehicle positioning result and the lane-level map data; or, Obtain the vehicle's positioning results and determine the vehicle's lane information based on the lane-level map data deployed on the mobile edge computing device.

9. The device according to claim 6, in, The third decision unit is specifically used for: If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, a start command is generated for the vehicle; If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, a starting instruction is generated for the vehicle; If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, a start command is generated for the vehicle; If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, a hold instruction is generated for the vehicle; If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than a preset minimum speed threshold, a deceleration instruction is generated for the vehicle; If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, a stop command is generated for the vehicle; If the front distance of the vehicle is less than or equal to a preset minimum distance threshold, a stop command is generated for the vehicle; The estimated starting speed of the vehicle refers to the maximum speed that the vehicle can adopt when starting, which is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located.

10. The device according to claim 6, in, The third decision unit is specifically used for: If the current speed of the vehicle is zero, the waiting time of the lane where the vehicle is located is zero, and the vehicle is at the head of the lane, then the target speed of the vehicle is determined to be the preset normal speed; If the estimated starting speed of the vehicle is greater than or equal to a preset maximum speed threshold, determining the target speed of the vehicle to be a preset normal speed; If the front distance of the vehicle is greater than or equal to a preset maximum distance threshold, determining the target speed of the vehicle to be a preset normal speed; If the estimated starting speed of the vehicle is greater than or equal to the current speed of the vehicle, then determining the target speed of the vehicle to be the current speed; If the estimated starting speed of the vehicle is less than the current speed of the vehicle and greater than a preset minimum speed threshold, the target speed of the vehicle is determined to be the estimated starting speed of the vehicle, where the estimated starting speed of the vehicle is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located; If the estimated starting speed of the vehicle is less than or equal to a preset minimum speed threshold, determining the target speed of the vehicle to be zero; If the front distance of the vehicle is less than or equal to the preset minimum distance threshold, determining the target speed of the vehicle to be zero; The estimated starting speed of the vehicle refers to the maximum speed that the vehicle can adopt when starting, which is determined by the front distance of the vehicle and the waiting time required for the lane where the vehicle is located.

11. A vehicle control system, include: On-board units, roadside units and mobile edge computing devices installed in vehicles; The on-board unit is used to send the vehicle information to the roadside unit after establishing a connection with the roadside unit; receive the control command sent by the roadside unit, and send it to the control system of the vehicle to execute the control command; The roadside unit is used to send the received information of the vehicle to the mobile edge computing device after establishing a connection with the vehicle-mounted unit; and forward the control command sent by the mobile edge computing device to the vehicle-mounted unit of the corresponding vehicle; The mobile edge computing device comprises a vehicle control apparatus as claimed in any one of claims 6 to 10.

12. An electronic device, include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

13. A non-transitory computer-readable storage medium storing computer instructions, in, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 5.

14. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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