Scheduling Method, Device, Equipment and Storage Medium for Vehicle Formation

Abstract

An embodiment of the present application provides a method, device, equipment and storage medium for vehicle formation scheduling, belonging to the field of cooperative driving technology. This method can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic. The method includes: obtaining the travel information of multiple vehicles; determining at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity; generating formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to instruct the target vehicles to drive in formation; and sending the formation scheduling information to the at least two target vehicles. The method of the embodiment of the present application can improve the vehicle formation efficiency.

Description

Technical Field

[0001] This application relates to the field of cooperative driving technology, and particularly to a scheduling method, device, equipment and storage medium for vehicle formation, which can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic. Background Art

[0002] Platoon driving means that multiple vehicles drive in the form of a convoy, and the following vehicles in the formation automatically follow the leading vehicle, enabling the vehicles in the formation to accelerate, decelerate, turn and brake almost synchronously, so as to achieve the effects of energy conservation, emission reduction and safe driving.

[0003] Currently, the creation of a formation is that the leading vehicle broadcasts formation information outward, and when other vehicles receive the broadcast formation information, they apply to join the formation. When the leading vehicle confirms that other vehicles can join the formation, it sends information such as inter-vehicle distance and vehicle speed to other vehicles, so that other vehicles follow the leading vehicle to drive synchronously.

[0004] However, the formation time consumed by this formation creation method is relatively long, resulting in low formation efficiency. Summary of the Invention

[0005] Embodiments of this application provide a scheduling method, device, equipment and storage medium for vehicle formation, which are used to solve the problem that the formation time consumed by the existing formation creation method is relatively long, resulting in low formation efficiency.

[0006] In a first aspect, embodiments of this application provide a scheduling method for vehicle formation, including: obtaining travel information of multiple vehicles; determining at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity; generating formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to instruct the target vehicles to drive in formation; sending the formation scheduling information to the at least two target vehicles.

[0007] In this embodiment, by obtaining travel information of multiple vehicles; determining at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; among the at least two target vehicles, the similarity of the travel information of any two target vehicles is greater than or equal to the preset similarity; generating formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to guide each target vehicle to drive in formation; sending the formation scheduling information to each target vehicle among the at least two target vehicles. Since at least two target vehicles with the similarity of travel information greater than or equal to the first preset similarity are determined among the multiple vehicles according to the travel information of the multiple vehicles to drive in formation, compared with the method of real-time formation in the road network, the waiting time for formation can be shortened and the formation efficiency can be improved.

[0008] In some embodiments, the travel information includes the departure time, the departure location, and the destination. Determining at least two target vehicles from the multiple vehicles according to the travel information of the multiple vehicles includes: determining whether there are at least two first vehicles among the multiple vehicles whose departure time, departure location, and destination are all the same; if so, obtaining a second vehicle based on the travel information of the first vehicle, where the similarity between the travel information of the first vehicle and the second vehicle is greater than or equal to a first preset similarity and less than a second preset similarity; and determining at least two target vehicles according to the first vehicle and the second vehicle.

[0009] In this embodiment, by obtaining the first vehicles among the multiple vehicles whose departure time, departure location, and destination are all the same, and obtaining the second vehicles whose similarity to the travel information of the first vehicles is greater than or equal to the preset similarity, and jointly determining the first vehicles and the second vehicles as the target vehicles for creating a formation, more vehicles can be made to drive in formation, achieving the effect of energy conservation and emission reduction.

[0010] In some embodiments, obtaining the second vehicle based on the travel information of the first vehicle includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that satisfies a first preset condition; the first preset condition includes: the departure time is the same as the departure time of the first vehicle, the departure location is the same as the departure location of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than a preset length with the driving route of the first vehicle to the destination; if there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that satisfies the first preset condition, determining the at least one remaining vehicle as the second vehicle.

[0011] In this embodiment, when the number of the first vehicles is less than the first preset number, a second vehicle is obtained whose departure time is the same as that of the first vehicle, the departure location is the same as that of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than the preset length with the driving route of the first vehicle to the destination. Since the departure time of the second vehicle is the same as that of the first vehicle, the departure location is the same as that of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than the preset length with the driving route of the first vehicle to the destination, the second vehicle and the first vehicle have a partially identical driving route. When the number of the first vehicles is less than the first preset number, adding the second vehicle to the formation can, on the premise of ensuring the stability of formation driving, achieve the effect of adding more vehicles to the formation for formation driving to achieve energy conservation and emission reduction.

[0012] In some embodiments, obtaining a second vehicle based on the travel information of the first vehicle includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles that meets a second preset condition; the second preset condition includes: the departure time is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the coincidence degree of the driving route to the destination with the driving route of the first vehicle to the destination is greater than a preset coincidence degree; if there is at least one remaining vehicle that meets the second preset condition among the remaining vehicles other than the at least two first vehicles, determining the at least one remaining vehicle as the second vehicle.

[0013] In this embodiment, when the number of the first vehicles is less than the first preset number, a second vehicle is obtained, the departure time of which is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the coincidence degree of the driving route to the destination with the driving route of the first vehicle to the destination is greater than the preset coincidence degree. Since the departure time of the second vehicle is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the coincidence degree of the driving route to the destination with the driving route of the first vehicle to the destination is greater than the preset coincidence degree, the second vehicle and the first vehicle have partially the same driving route. When the number of the first vehicles is less than the first preset number, adding the second vehicle to the formation can, on the premise of ensuring the stability of the formation driving, add more vehicles to the formation for formation driving so as to achieve the effect of energy conservation and emission reduction.

[0014] In some embodiments, obtaining a second vehicle based on the travel information of the first vehicle includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles that meets a third preset condition; the third preset condition includes that the departure place and the departure time are both the same, and the destination is located on the driving route of the first vehicle to the destination; if there is at least one remaining vehicle that meets the third preset condition among the remaining vehicles, determining the at least one remaining vehicle as the second vehicle.

[0015] In this embodiment, when the number of the first vehicles is less than the first preset number, a second vehicle is obtained, the departure place and the departure time of which are both the same, and the destination is located on the driving route of the first vehicle to the destination. Since the second vehicle is a vehicle passing by the formation driving destination, adding the second vehicle to the formation and traveling with the first vehicle can achieve the effect of adding more vehicles to the formation for formation driving and energy conservation and emission reduction.

[0016] In some embodiments, forming a formation based on the at least two target vehicles and generating formation scheduling information includes: determining the target vehicle farthest from the destination among the at least two target vehicles as the lead vehicle, and determining the target vehicle closest to the destination as the following vehicle at the end of the formation.

[0017] In this embodiment, by determining the target vehicle farthest from the destination as the lead vehicle and the target vehicle closest to the destination as the following vehicle at the end of the formation, it is possible to directly remove the target vehicle from the formation at the end when reaching the destination of the target vehicle closest to the destination, without affecting the effect of formation driving.

[0018] In some embodiments, obtaining the travel information of multiple vehicles includes: obtaining the travel information of multiple vehicles when a preset trigger condition is met; wherein, the preset trigger condition includes reaching a scheduled time or the number of vehicles sending travel information reaching a second preset number.

[0019] In this embodiment, by obtaining the travel information of multiple vehicles when reaching the scheduled time or the number of vehicles sending travel information reaches the second preset number, it is possible to achieve the effect of automatically scheduling vehicle formations. Additionally, obtaining the travel information of multiple vehicles for vehicle formation scheduling when the number of vehicles sending travel information reaches the second preset number can avoid the problem of the current formation being invalid when the number of vehicles sending travel information is insufficient.

[0020] In a second aspect, the present application provides a vehicle formation scheduling device, including: an obtaining module for obtaining the travel information of multiple vehicles; a determining module for determining at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; among the at least two target vehicles, the similarity of the travel information of any two target vehicles is greater than or equal to a preset similarity; a generating module for generating formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to guide each target vehicle to drive in formation; a sending module for sending the formation scheduling information to each target vehicle among the at least two target vehicles.

[0021] In some embodiments, the vehicle formation scheduling device is used to implement the method in any one of the first aspect embodiments.

[0022] In a third aspect, the present application provides an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described in the first aspect.

[0023] Fourthly, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect.

[0024] Fifthly, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method described in the first aspect.

[0025] The vehicle formation scheduling method, device, equipment and storage medium provided by the present application obtain the travel information of multiple vehicles; determine at least two target vehicles to be formed in the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity; generate formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to instruct the target vehicles to drive in formation; send the formation scheduling information to the at least two target vehicles. Since at least two target vehicles with the similarity of travel information greater than or equal to the first preset similarity are determined from multiple vehicles for formation driving according to the travel information of multiple vehicles, compared with the method of real-time formation in the road network, the waiting time for formation can be shortened and the formation efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a vehicle formation scheduling system provided by an embodiment of the present application;

[0027] Figure 2 It is a flowchart of the vehicle formation scheduling method provided by an embodiment of the present application Figure 1 ;

[0028] Figure 3 It is an example diagram of filling in travel information provided by an embodiment of the present application;

[0029] Figure 4 It is a flowchart of the vehicle formation scheduling method provided by an embodiment of the present application Figure 2 ;

[0030] Figure 5 It is a schematic diagram of the interaction between a truck driver and a dispatching platform provided by an embodiment of the present application;

[0031] Figure 6 It is a schematic diagram of the interaction between a leading vehicle and a following vehicle provided by an embodiment of the present application;

[0032] Figure 7 It is a schematic diagram of the structure of the vehicle formation scheduling device provided by an embodiment of the present application;

[0033] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0034] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0035] Platoon driving of vehicles means that at least two or more vehicles form a convoy and drive at a small inter-vehicle distance and a certain speed. Among them, the vehicle at the head of the convoy is the lead vehicle, and the remaining vehicles in the convoy except the lead vehicle are following vehicles, and the following vehicles follow the lead vehicle. When the vehicles are driving in a platoon, due to the small inter-vehicle distance between the vehicles, the air resistance borne by the following vehicles behind the lead vehicle or the following vehicles is also small, so that the energy consumption of the following vehicles can be reduced, and the effect of energy conservation and emission reduction can be achieved.

[0036] Before the vehicles drive in a platoon, a platoon needs to be created. Currently, the creation of a platoon is that the vehicle that wants to initiate a platoon in the real road network broadcasts platoon information outward. When other vehicles receive the platoon information broadcast by the vehicle that initiates the platoon, they send a request message to join the platoon to the vehicle that initiates the platoon. After the vehicle that initiates the platoon receives the request message to join the platoon sent by other vehicles, it determines whether to agree to the vehicle to join the platoon. If it agrees to the vehicle to join the platoon, it sends a message agreeing to join the platoon to the vehicle, and sends information such as the inter-vehicle distance and vehicle speed, so that the vehicle follows the lead vehicle in the platoon as a following vehicle.

[0037] This method belongs to real-time platooning. Whether it is for the lead vehicle or other vehicles, they all need to wait for a certain time to drive in a platoon, resulting in a low platooning efficiency.

[0038] In view of the above technical problems, the embodiments of the present application provide a vehicle platoon scheduling method, including: obtaining the travel information of vehicles input by multiple users through terminal devices; and screening out target vehicles that can form a platoon according to the travel information of multiple vehicles for platoon driving. The vehicles do not need to form a platoon in the road network in real time, which can improve the platooning efficiency.

[0039] Next, the technical solutions of the present application will be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0040] Figure 1 It is a schematic diagram of the vehicle platoon scheduling system provided by the embodiments of the present application. As Figure 1 shown, the vehicle platoon scheduling system includes: a terminal device 11 and a scheduling platform 12; the terminal device 11 is communicatively connected to the scheduling platform 12.

[0041] Among them, the terminal device 11 can be a smart phone, an Ipad, a tablet computer, a desktop computer, or a car center console. The scheduling platform 12 can be a single server or a server cluster composed of multiple servers.

[0042] Users can log in to the scheduling platform 12 through the terminal device and fill in and submit the travel information of the vehicle. The travel information of the vehicle filled in by the users is saved in the scheduling platform 12. After that, the scheduling platform 12 can obtain the travel information of multiple vehicles and perform the scheduling of vehicle formation according to the travel information of multiple vehicles. The user here refers to the driver of the vehicle.

[0043] The specific implementation process of the scheduling of vehicle formation will be described in detail below in combination with the accompanying drawings and embodiments:

[0044] Figure 2 For the flow of the method for scheduling vehicle formation provided by the embodiments of the present application Figure 1 . As Figure 2 shown, the method for scheduling vehicle formation includes the following steps:

[0045] S201. Obtain the travel information of multiple vehicles.

[0046] The execution subject of the method in this embodiment can be the scheduling platform as Figure 1 shown.

[0047] The vehicles in this embodiment can be autonomous vehicles or vehicles equipped with Advanced Driver Assistance Systems (ADAS). Optionally, the vehicles in this embodiment can be trucks.

[0048] Figure 3 For the example diagram of filling in travel information provided by the embodiments of the present application. As Figure 3 shown, before step S201, when the vehicle plans to travel, the driver or manager of the vehicle can log in to the scheduling platform and fill in the travel information in the scheduling platform for formation reservation. The filled travel information is saved in the scheduling platform. The scheduling platform can obtain the travel information of multiple vehicles.

[0049] S202. Determine at least two target vehicles to be formed in the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity.

[0050] Optionally, the travel information of each vehicle includes the departure time, departure location, and destination; among them, the departure time includes the departure date and the specific time on the departure date, such as 10:00 on April 12, 2022. The specific time on the departure date can also be a time range, such as from 10:00 to 12:00 on April 12, 2022. The departure location can be a city or a region within a city. The destination can be a city.

[0051] Optionally, the travel information of each vehicle can also include the cargo category. The cargo category can be a category obtained by classifying according to the cargo classification standard.

[0052] Then, based on the travel information of multiple vehicles, determining at least two target vehicles to be formed into a formation among the multiple vehicles means determining at least two target vehicles among the multiple vehicles whose similarity of travel information is greater than or equal to the first preset similarity. The similarity of travel information being greater than or equal to the first preset similarity includes the following two optional implementation manners:

[0053] In an optional implementation manner, the similarity of travel information being greater than or equal to the first preset similarity includes: the similarity of travel information is 100%, that is, the departure time, departure location, and destination are all the same.

[0054] In another optional implementation manner, the similarity of travel information being greater than or equal to the first preset similarity includes: the similarity of travel information is greater than or equal to the first preset similarity and less than 100% (the second preset similarity). For example, the departure time and departure location are the same, but the destinations are different, and there are overlapping sections in the routes of the two target vehicles to their respective destinations.

[0055] In this embodiment, the first preset similarity can be understood as the similarity threshold corresponding to the situation where the departure time and departure location are the same, but the destinations are different, yet there are overlapping routes, and is used to determine the vehicles that meet the similarity conditions in the above another optional implementation manner as target vehicles for formation driving. Among them, the first preset similarity is less than 100%, and the first preset similarity can be 60%, 70%, 80%, 90%, etc. It should be understood that the first preset similarity here is for illustrative purposes and does not limit the first preset similarity. Those skilled in the art can choose any similarity less than 100% as the first preset similarity according to actual needs.

[0056] Among them, the similarity of travel information can be determined according to whether the travel time, departure location, and destination are the same. If the travel time and departure location are both the same, then the similarity of travel information is determined according to the length of the same driving sections in the driving routes of each vehicle to the destination and the driving routes of other vehicles to the destination.

[0057] S203. Generate formation scheduling information based on at least two target vehicles; the formation scheduling information is used to instruct the target vehicles to drive in formation.

[0058] When determining that at least two target vehicles can drive in formation, the scheduling platform may generate formation scheduling information according to the travel information of the at least two target vehicles.

[0059] Optionally, the formation scheduling information includes a formation number, the number of the vehicle in the formation (formation vehicle number), departure time, the position of the hub station at the departure place, the planned route, and the position of the destination hub station.

[0060] Among them, when the scheduling platform forms a formation, it may obtain multiple formations. By numbering each formation, each formation can be uniquely identified. The number of the vehicle in the formation determines the position of the vehicle in the formation. For example, the vehicles in the formation can be numbered in the order from the head to the tail of the formation. The departure time in the formation scheduling information is the specific determined departure time, and each vehicle in the formation needs to abide by the departure time in the formation scheduling information. The position of the hub station at the departure place is used to enable each vehicle in the formation to drive from its respective position to the position of the hub station at the departure place and join the formation for formation driving. The planned route is the route for formation driving. The position of the destination hub station is the end point for each vehicle in the formation to drive uniformly.

[0061] In addition, the scheduling platform also needs to determine the leading vehicle and the following vehicle among the at least two vehicles. Optionally, the scheduling platform may determine the target vehicle with the farthest distance from the destination among the at least two target vehicles as the leading vehicle, and determine the target vehicle with the closest distance to the destination as the following vehicle at the end of the team. In this way, when the target vehicle with the closest distance to the destination reaches its destination, it can directly withdraw from the formation at the end of the team without affecting the formation driving of other vehicles in the formation.

[0062] The hub station in this embodiment is used for the scheduling platform to specify the departure place and the destination of the formation, and the hub station is generally set near the entrance and exit of the highway to facilitate freight traffic.

[0063] S204. Send the formation scheduling information to at least two target vehicles.

[0064] Please continue to refer to Figure 3 , when generating the formation scheduling information, the scheduling platform will feedback the formation scheduling information to each target vehicle. Correspondingly, at least two target vehicles receive the formation scheduling information and drive in formation according to the formation scheduling information.

[0065] In addition, the sending time of the formation scheduling information of each target vehicle can be set such that the time difference from the departure time in the travel information of each target vehicle is greater than or equal to a preset time, such as 2 hours.

[0066] In this embodiment, the travel information of multiple vehicles is obtained; at least two target vehicles to be formed into a formation are determined from the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity; formation scheduling information is generated according to the at least two target vehicles; the formation scheduling information is used to guide each target vehicle to travel in formation; and the formation scheduling information is sent to each target vehicle among the at least two target vehicles. Since at least two target vehicles with a similarity of travel information greater than or equal to the preset similarity are determined from the multiple vehicles according to the travel information of the multiple vehicles for formation travel, the waiting time for formation can be shortened and the formation efficiency can be improved compared with the method of forming a formation in real time on the road network.

[0067] In practice, the travel information of multiple vehicles obtained by the scheduling platform may not be exactly the same. That is, among the multiple vehicles, there may be a part of vehicles with the same travel information and another part of vehicles with different travel information. In order to enable more vehicles to travel in formation, the embodiments of the present application also provide the following vehicle formation scheduling method.

[0068] Figure 4 is the flow of the vehicle formation scheduling method provided by the embodiments of the present application Figure 2 . As Figure 4 shown, the vehicle formation scheduling method includes the following steps:

[0069] S401. Determine whether there are at least two first vehicles among the multiple vehicles whose departure time, departure place, and destination are all the same.

[0070] In this embodiment, step S401 is to determine vehicles with a similarity of travel information of a second preset similarity among the multiple vehicles, that is, vehicles with a similarity of travel information of 100%.

[0071] Among them, the same departure time does not require the departure time to be exactly the same. When the time difference between the departure times of two vehicles is within a preset time difference range, it is determined that the departure times of the two vehicles are the same.

[0072] If the departure places of two vehicles are the same city or the same area of the same city, it is determined that the departure places of the two vehicles are the same.

[0073] If the destinations of two vehicles are the same city or the same area of the same city, it is determined that the destinations of the two vehicles are the same.

[0074] S402. If so, obtain a second vehicle based on the travel information of the first vehicle, and the similarity of the travel information of the first vehicle and the second vehicle is greater than or equal to the first preset similarity and less than the second preset similarity.

[0075] Among them, the similarity of the travel information between any two of the at least two determined first vehicles is a second preset similarity.

[0076] Through step S401, at least two first vehicles with the same departure time, departure place, and destination can be obtained, and these first vehicles can form a formation. However, the number of first vehicles may be small, and thus, a good energy-saving and emission-reduction effect cannot be achieved. Therefore, based on the travel information of the first vehicles, second vehicles with a similarity of the travel information to the first vehicles greater than or equal to a first preset similarity can be obtained, and a formation can be created according to the first vehicles and the second vehicles. That is, vehicles with the same departure time and departure place, different destinations, and a repeated section in the routes to their respective destinations are obtained as the second vehicles.

[0077] There are at least three optional implementation manners for obtaining the second vehicles based on the travel information of the first vehicles:

[0078] In an optional implementation manner, obtaining the second vehicles based on the travel information of the first vehicles includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that satisfies a first preset condition; the first preset condition includes: the departure time is the same as the departure time of the first vehicle, the departure place is the same as the departure place of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than a preset length compared with the driving route of the first vehicle to the destination; if there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that satisfies the first preset condition, the at least one remaining vehicle is determined as the second vehicle.

[0079] In this implementation manner, the first preset number may be the maximum number of vehicles in the formation. The first preset number can ensure the stable and safe driving of the vehicles in the formation and will not affect the traffic of other surrounding vehicles. The destinations of the first vehicle and the second vehicle are different, but the length of the overlapping section of the driving route of the first vehicle to the destination and the driving route of the second vehicle to the destination is greater than the preset length.

[0080] Optionally, the preset length may be 100 km. The following introduces steps S401 and S402 through an example:

[0081] For example, assuming that the first preset number is 10, the preset length is 100km, and the dispatching platform obtains the travel information of 20 vehicles. After determining the five first vehicles according to step S401, it is also possible to determine the second vehicles from the remaining 15 vehicles according to step S402, which have the same departure place and departure time as the five first vehicles, but different destinations, but the length of the overlapping section of the route to the destination with the route to the destination of the first vehicle is greater than the preset length. Assuming that there are three vehicles that meet the first preset condition among the remaining 15 vehicles, the three vehicles are determined as the second vehicles.

[0082] When obtaining the second vehicle based on the first vehicle, the number of the obtained second vehicles may be large, resulting in a large formation length, which affects the stable driving of the formation. Therefore, the number of the second vehicles may also be limited. Optionally, when obtaining the second vehicle based on the first vehicle, if the number of the second vehicles is greater than a third preset number, the second vehicles may be sorted according to the length of the overlapping section of the route to the destination with the first vehicle, and the top-ranked vehicles are determined as the second vehicles, so that the sum of the number of the second vehicles and the first vehicles is equal to the first preset number.

[0083] Following the above example, assuming that there are 8 vehicles that meet the first preset condition among the remaining 15 vehicles, it is necessary to select 5 vehicles from the 8 vehicles as the second vehicles. The rule for selecting 5 vehicles from the 8 vehicles can be based on the length of the overlapping section of the route of each of the 8 vehicles to the destination and the route of the first vehicle to the destination. For example, the top 5 vehicles are selected in descending order of the length of the overlapping section to be determined as the second vehicles.

[0084] In another optional embodiment, obtaining a second vehicle based on the travel information of the first vehicle includes: if the number of first vehicles is less than a first preset number, determining whether there is at least one second vehicle that meets a second preset condition among the remaining vehicles other than at least two first vehicles in the multiple vehicles; the second preset condition includes: the departure time is the same as the departure time of the first vehicle, the departure place is the same as the departure place of the first vehicle, and the degree of overlap between the driving route to the destination and the driving route to the destination of the first vehicle is greater than a preset degree of overlap; if there is at least one remaining vehicle that meets the second preset condition among the remaining vehicles other than at least two first vehicles in the multiple vehicles, the at least one remaining vehicle is determined as the second vehicle.

[0085] The difference between this embodiment and the previous one is that in the previous embodiment, the second vehicle is determined based on the length of the overlapping section of the driving route to the destination and the driving route of the first vehicle to the destination, while in this embodiment, the second vehicle is determined based on the degree of overlap between the driving route to the destination and the driving route of the first vehicle to the destination.

[0086] In this embodiment, the length of the driving route of the remaining vehicle to the destination may be greater than or less than the length of the driving route of the first vehicle to the destination. For these two cases, when determining the degree of overlap between the driving route of the remaining vehicle to the destination and the driving route of the first vehicle to the destination, the following two optional determination methods may be included:

[0087] For the case where the length of the driving route of the remaining vehicle to the destination is less than the length of the driving route of the first vehicle to the destination, optionally, the degree of overlap can be determined according to the ratio of the length of the overlapping section of the driving route of the first vehicle to the destination and the driving route of the remaining vehicle to the destination to the length of the section of the driving route of the first vehicle to the destination.

[0088] For the case where the length of the driving route of the remaining vehicle to the destination is greater than the length of the driving route of the first vehicle to the destination, optionally, the degree of overlap can be determined according to the ratio of the length of the overlapping section of the driving route of the first vehicle to the destination and the driving route of the remaining vehicle to the destination to the length of the section of the driving route of the remaining vehicle to the destination.

[0089] In another optional embodiment, obtaining the second vehicle based on the travel information of the first vehicle includes: if the number of the first vehicles is less than the first preset number, determining whether there is at least one second vehicle among the remaining vehicles that meets the third preset condition; the third preset condition includes that the departure place and the departure time are the same, and the destination is located on the driving route of the first vehicle to the destination; if there is at least one remaining vehicle among the remaining vehicles that meets the third preset condition, then determining the at least one remaining vehicle as the second vehicle.

[0090] The difference between this embodiment and the above two embodiments is that in this embodiment, the second vehicle is determined based on whether the driving route of the first vehicle to the destination passes through the destination of the remaining vehicle. When the driving route of the first vehicle to the destination passes through the destination of the remaining vehicle, the remaining vehicle is determined as the second vehicle. In the first two embodiments, the driving route of the first vehicle to the destination may not pass through the destination of the remaining vehicle, but there is a section of overlapping route between the driving route of the first vehicle to the destination and the driving route of the remaining vehicle to the destination.

[0091] S403. Determine at least two target vehicles based on the first vehicle and the second vehicle.

[0092] Specifically, both the first vehicle and the second vehicle are determined as at least two target vehicles, that is, at least two target vehicles include the first vehicle and the second vehicle.

[0093] In another alternative embodiment, a priority can also be set for each of the three preset conditions, namely the first preset condition, the second preset condition, and the third preset condition. When the number of the first vehicles is less than the first preset number, the second vehicle is determined in sequence according to the priority order of the first preset condition, the second preset condition, and the third preset condition until the sum of the number of the first vehicle and the second vehicle is equal to the first preset number. Specifically, obtaining the second vehicle based on the travel information of the first vehicle includes:

[0094] Step a1. If the number of the first vehicles is less than the first preset number, determine whether there is at least one remaining vehicle among the remaining vehicles other than at least two first vehicles in the multiple vehicles that satisfies the preset condition with the first priority.

[0095] Step a2. If there is at least one remaining vehicle among the remaining vehicles other than at least two first vehicles in the multiple vehicles that satisfies the preset condition with the first priority, determine whether the sum of the number of the first vehicle and at least one remaining vehicle that satisfies the preset condition with the first priority is less than the first preset number.

[0096] Step a3. If the sum of the number of the first vehicle and at least one remaining vehicle that satisfies the preset condition with the first priority is equal to the first preset number, determine at least one remaining vehicle that satisfies the preset condition with the first priority as at least one second vehicle.

[0097] Step a4. If the sum of the number of the first vehicle and at least one remaining vehicle that satisfies the preset condition with the first priority is greater than the first preset number, sort at least one remaining vehicle that satisfies the preset condition with the first priority according to the length of the overlapping section of the driving routes to the destination with the first vehicle, and determine multiple remaining vehicles with the front ranks as multiple second vehicles so that the sum of the number of multiple second vehicles and at least two first vehicles is equal to the first preset number.

[0098] Step a5. If the sum of the number of the first vehicle and at least one remaining vehicle that satisfies the preset condition with the first priority is less than the first preset number, determine whether there is at least one remaining vehicle among the remaining vehicles other than at least two first vehicles and at least one second vehicle in the multiple vehicles that satisfies the preset condition with the second priority.

[0099] Step a6: If there is at least one remaining vehicle that meets the preset conditions of the second priority among the remaining vehicles other than at least two first vehicles and at least one second vehicle among the multiple vehicles, determine whether the sum of the number of first vehicles, second vehicles and at least one remaining vehicle that meets the preset conditions of the second priority is less than the first preset number.

[0100] Step a7: If the sum of the number of the first vehicle, the second vehicle and at least one remaining vehicle satisfying the preset condition of the second priority is equal to the first preset number, then the at least one remaining vehicle satisfying the preset condition of the second priority is determined as at least one third vehicle.

[0101] Step a8: If the sum of the number of the first vehicle, the second vehicle and at least one remaining vehicle that meets the preset conditions of the second priority is greater than the first preset number, the at least one remaining vehicle that meets the preset conditions of the second priority will be sorted according to the length of the overlapping section of the route of the first vehicle to the destination, and the multiple remaining vehicles with the highest sorting will be determined as multiple third vehicles, so that the sum of the multiple third vehicles, at least one second vehicle and at least two first vehicles is equal to the first preset number.

[0102] Step a9: If the sum of the number of first vehicles, second vehicles and at least one remaining vehicle that meets the preset conditions of the second priority is less than the first preset number, determine whether there is at least one remaining vehicle that meets the preset conditions of the third priority among the remaining vehicles other than at least two first vehicles, at least one second vehicle and at least one third vehicle in the multiple vehicles.

[0103] Step a10: If there is at least one remaining vehicle that meets the preset conditions of the third priority among the remaining vehicles other than at least two first vehicles, at least one second vehicle and at least one third vehicle among the multiple vehicles, it is determined whether the sum of the number of first vehicles, second vehicles and at least one remaining vehicle that meets the preset conditions of the third priority is less than the first preset number.

[0104] Step a11: If the sum of the numbers of the first vehicle, the second vehicle and at least one remaining vehicle satisfying the preset conditions of the third priority is equal to the first preset number, then at least one remaining vehicle satisfying the preset conditions of the third priority is determined as the fourth vehicle.

[0105] Step a12: If the sum of the number of the first vehicle, the second vehicle, and at least one remaining vehicle that meets the preset conditions of the third priority is greater than the first preset number, then sort at least one remaining vehicle that meets the preset conditions of the third priority according to the length of the overlapping section of the driving route to the destination with that of the first vehicle, and determine multiple remaining vehicles with a higher ranking as multiple fourth vehicles, so that the sum of the number of multiple fourth vehicles, multiple third vehicles, at least one second vehicle, and at least two first vehicles is equal to the first preset number.

[0106] Step a13: If the sum of the number of the first vehicle, the second vehicle, and at least one remaining vehicle that meets the preset conditions of the third priority is less than the first preset number, then determine at least one remaining vehicle that meets the preset conditions of the third priority as at least one fourth vehicle.

[0107] Optionally, based on steps a1 to a13, the method of this embodiment further includes: determining at least one target vehicle according to the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle.

[0108] Among them, the preset conditions of the first priority can be the first preset condition, the second preset condition, or the third preset condition; the preset conditions of the second priority can be the first preset condition, the second preset condition, or the third preset condition; the preset conditions of the third priority can be the first preset condition, the second preset condition, or the third preset condition; and the preset conditions of the first priority, the second priority, and the third priority are different preset conditions.

[0109] Based on the above embodiments, when obtaining the travel information of multiple vehicles, it can be when a preset trigger condition is met, obtain the travel information of multiple vehicles; among them, the preset trigger conditions include reaching the scheduled time or the number of vehicles sending travel information reaching the second preset number.

[0110] Exemplarily, a timer is set in the scheduling platform. Whenever the scheduled time is reached, the scheduling platform obtains the travel information of multiple vehicles received in the current cycle. Alternatively, a counter is set in the scheduling platform for counting the travel information of the received vehicles, and when the count reaches the second preset number, the scheduling platform obtains the travel information of the second preset number of vehicles.

[0111] Based on the above embodiments, when the scheduling platform determines that the formation condition is not met, for example, when the number of target vehicles in the created formation is less than 2, a prompt message indicating that the formation is not met can be sent to each vehicle among the multiple vehicles.

[0112] Figure 5 This is a schematic diagram of the interaction between the truck driver and the scheduling platform provided by the embodiments of the present application. As Figure 5As shown, when a truck driver or manager fills in travel information on the dispatching platform through a terminal device, and the dispatching platform determines that formation is possible, it feeds back formation dispatching information to the terminal device corresponding to the truck driver or manager, so that the truck corresponding to the truck driver or manager arrives at the departure hub according to the departure time in the formation dispatching information. Alternatively, when the dispatching platform determines that formation is not possible, it sends a prompt message indicating that the formation condition is not met to the terminal device corresponding to the truck driver or manager, and the truck driver or manager can cancel the formation.

[0113] Based on the above embodiments, each target vehicle arrives at the departure hub before the departure time in the formation dispatching information, and after all the target vehicles arrive at the departure hub, they form a formation and drive in formation according to the formation number and formation vehicle number; and when arriving at the destination hub according to the planned route, the lead vehicle disbands the formation, or when the destinations of the second vehicle, the third vehicle, or the fourth vehicle are closer to the destination of the first vehicle, when the second vehicle, the third vehicle, or the third vehicle arrives at the destination hub, the second vehicle, the third vehicle, or the third vehicle exits the formation.

[0114] Figure 6 It is a schematic diagram of the interaction between the lead vehicle and the following vehicle provided by the embodiment of the present application. As Figure 6 shown, when the lead vehicle and the following vehicle arrive at the departure hub, the lead vehicle and the following vehicle create a formation and drive in formation according to the driving route in the formation dispatching information, arrive at the destination hub, and the lead vehicle disbands the formation.

[0115] The above embodiments introduce the technical solution for the dispatching platform to perform dispatching within the same city. Optionally, the dispatching platform can also perform cross-city dispatching, that is, after the formation departs from the first city and passes through the hub station of the second city, the dispatching platform can add the vehicles at the second hub station to the formation, or re-form the formation according to the vehicles at the second hub station. Exemplarily, when the formation departs from the first departure place and drives in formation, and passes through the hub station that is not the departure place, the number of vehicles in the formation does not reach the first preset number. At this time, the travel information of multiple vehicles at the non-departure place can be obtained, and it is determined whether the similarity between the travel information of the multiple vehicles at the non-departure place and the travel information of the vehicles in the formation is greater than or equal to the preset similarity according to the vehicle formation dispatching method introduced in the above embodiments. If so, N vehicles at the non-departure place are added to the formation.

[0116] Based on the above method embodiments, Figure 7 It is a schematic structural diagram of the vehicle formation dispatching device provided by the embodiment of the present application. As Figure 7As shown in the figure, the dispatching device for the vehicle formation includes: an acquisition module 71, a determination module 72, a generation module 73, and a transmission module 74; among them, the acquisition module 71 is used to acquire the travel information of multiple vehicles; the determination module 72 is used to determine at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; the similarity of the travel information of the at least two target vehicles is greater than or equal to a first preset similarity; the generation module 73 is used to generate formation dispatching information according to the at least two target vehicles; the formation dispatching information is used to instruct the target vehicles to drive in formation; the transmission module 74 is used to send the formation dispatching information to the at least two target vehicles.

[0117] In some alternative embodiments, the travel information includes a departure time, a departure place, and a destination. The determination module 72 determines at least two target vehicles among the multiple vehicles according to the travel information of the multiple vehicles, and specifically includes: determining whether there are at least two first vehicles among the multiple vehicles whose departure time, departure place, and destination are all the same; if so, acquiring a second vehicle based on the travel information of the first vehicle, where the similarity of the travel information of the first vehicle and the second vehicle is greater than or equal to a first preset similarity and less than a second preset similarity; determining at least two target vehicles according to the first vehicle and the second vehicle.

[0118] In some alternative embodiments, the acquisition module 71 acquires a second vehicle based on the travel information of the first vehicle, and specifically includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one remaining vehicle that meets a first preset condition among the remaining vehicles other than the at least two first vehicles among the multiple vehicles; the first preset condition includes: the departure time is the same as the departure time of the first vehicle, the departure place is the same as the departure place of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than a preset length compared with the driving route of the first vehicle to the destination; if there is at least one remaining vehicle that meets the first preset condition among the remaining vehicles other than the at least two first vehicles among the multiple vehicles, determining the at least one remaining vehicle as the second vehicle.

[0119] In some alternative embodiments, the obtaining module 71 obtains a second vehicle based on the travel information of the first vehicle. Specifically, it includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets a second preset condition; the second preset condition includes: the departure time is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the coincidence degree of the driving route to the destination with the driving route of the first vehicle to the destination is greater than a preset coincidence degree; if there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets the second preset condition, determining the at least one remaining vehicle as the second vehicle.

[0120] In some alternative embodiments, the obtaining module 71 obtains a second vehicle based on the travel information of the first vehicle. Specifically, it includes: if the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets a third preset condition; the third preset condition includes that the departure place and the departure time are both the same, and the destination is located on the driving route of the first vehicle to the destination; if there is at least one remaining vehicle among the remaining vehicles that meets the third preset condition, determining the at least one remaining vehicle as the second vehicle.

[0121] In some alternative embodiments, the generating module 73 forms a formation according to the at least two target vehicles and generates formation scheduling information. Specifically, it includes: determining the target vehicle farthest from the destination among the at least two target vehicles as the leading vehicle, and determining the target vehicle closest to the destination as the following vehicle at the end of the formation.

[0122] In some alternative embodiments, the obtaining module 71 obtains the travel information of multiple vehicles. Specifically, it includes: when a preset triggering condition is met, obtaining the travel information of multiple vehicles; wherein, the preset triggering condition includes reaching a scheduled time or the number of vehicles sending travel information reaching a second preset number.

[0123] The vehicle formation scheduling device provided by the embodiments of the present application can be used to execute the technical solutions of the vehicle formation scheduling method in the above embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0124] It should be noted that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the determination module 72 can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and the function of the above determination module 72 can be called and executed by a certain processing element of the above device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or can be independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the processor element or the instruction in the form of software.

[0125] Figure 8 It is a schematic structural diagram of the electronic device provided by the embodiment of the present application. As Figure 8 shown, the electronic device may include: a transceiver 81, a processor 82, and a memory 83.

[0126] The processor 82 executes the computer execution instructions stored in the memory, so that the processor 82 executes the solution in the above embodiment. The processor 82 can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0127] The memory 83 is connected to the processor 82 through the system bus and completes the communication therebetween. The memory 83 is used to store computer program instructions.

[0128] The transceiver 81 can be used to obtain the travel information of multiple vehicles.

[0129] The system bus can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to implement the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include Random Access Memory (RAM), and may also include non-volatile memory.

[0130] The embodiment of the present application also provides a chip for running instructions, and this chip is used to execute the technical solution of the vehicle formation scheduling method in the above embodiment.

[0131] The embodiment of the present application also provides a computer-readable storage medium, in which computer instructions are stored. When these computer instructions run on a computer, the computer is enabled to execute the technical solution of the vehicle formation scheduling method in the above embodiment.

[0132] The embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when at least one processor executes the computer program, the technical solution of the vehicle formation scheduling method in the above embodiment can be implemented.

[0133] Those skilled in the art will readily think of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0134] It should be understood that the present application is not limited to the exact structure already described and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A scheduling method for vehicle formations, characterized in that, it includes: Obtaining the travel information of multiple vehicles; the travel information includes the departure time, departure place, and destination; Determining whether there are at least two first vehicles among the multiple vehicles with the same departure time, departure place, and destination; If so, obtaining a second vehicle based on the travel information of the first vehicle, where the similarity between the travel information of the first vehicle and the second vehicle is greater than or equal to a first preset similarity and less than a second preset similarity; Determining at least two target vehicles according to the first vehicle and the second vehicle; Generating formation scheduling information according to the at least two target vehicles; The formation scheduling information is used to instruct the target vehicles to drive in formation; Sending the formation scheduling information to the at least two target vehicles.

2. The method according to claim 1, characterized in that, The obtaining of the second vehicle based on the travel information of the first vehicle includes: If the number of the first vehicles is less than a first preset number, determining whether there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets a first preset condition; The first preset condition includes: the departure time is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the length of the overlapping section of the driving route to the destination is greater than a preset length compared with the driving route of the first vehicle to the destination; If there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets the first preset condition, then determining the at least one remaining vehicle as the second vehicle.

3. The method according to claim 1, characterized in that, The obtaining of the second vehicle based on the travel information of the first vehicle includes: If the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets a second preset condition; the second preset condition includes: the departure time is the same as that of the first vehicle, the departure place is the same as that of the first vehicle, and the degree of overlap of the driving route to the destination is greater than a preset overlap degree compared with the driving route of the first vehicle to the destination; If there is at least one remaining vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets the second preset condition, then determining the at least one remaining vehicle as the second vehicle.

4. The method according to claim 1, characterized in that, The obtaining of the second vehicle based on the travel information of the first vehicle includes: If the number of the first vehicles is less than a first preset number, determining whether there is at least one second vehicle among the remaining vehicles other than the at least two first vehicles in the multiple vehicles that meets a third preset condition; the third preset condition includes that the departure place and the departure time are both the same, and the destination is located on the driving route of the first vehicle to the destination. If there is at least one remaining vehicle among the remaining vehicles that meets the third preset condition, then determine the at least one remaining vehicle as the second vehicle.

5. The method according to any one of claims 2-4, wherein, the forming a formation according to the at least two target vehicles and generating formation scheduling information includes: determining, among the at least two target vehicles, the target vehicle farthest from the destination as the leading vehicle, and the target vehicle closest to the destination as the following vehicle at the end of the formation.

6. The method according to claim 1, wherein, the obtaining the travel information of multiple vehicles includes: obtaining the travel information of multiple vehicles when a preset trigger condition is met; wherein, the preset trigger condition includes reaching a scheduled time or the number of vehicles sending travel information reaching a second preset number.

7. A scheduling device for vehicle formation, wherein, comprising: an obtaining module, configured to obtain the travel information of multiple vehicles; a determining module, configured to determine at least two target vehicles to be formed into a formation among the multiple vehicles according to the travel information of the multiple vehicles; among the at least two target vehicles, the similarity of the travel information of any two target vehicles is greater than or equal to a preset similarity; a generating module, configured to generate formation scheduling information according to the at least two target vehicles; the formation scheduling information is used to guide each target vehicle to drive in formation; a sending module, configured to send the formation scheduling information to each target vehicle among the at least two target vehicles; the travel information includes a departure time, a departure place, and a destination; the determining module is specifically configured to determine whether there are at least two first vehicles among the multiple vehicles whose departure time, departure place, and destination are all the same; if so, obtain a second vehicle based on the travel information of the first vehicle, where the similarity of the travel information of the first vehicle and the second vehicle is greater than or equal to a first preset similarity and less than a second preset similarity; determine at least two target vehicles according to the first vehicle and the second vehicle.

8. An electronic device, wherein, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-6.

9. A computer-readable storage medium, wherein, computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1-6.

10. A computer program product, comprising a computer program, wherein, when the computer program is executed by a processor, it is used to implement the method according to any one of claims 1-6.

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