Method, device, electronic device and storage medium for controlling vehicle driving

Abstract

The embodiment of the present invention discloses a method, device, electronic device and storage medium for controlling vehicle driving, the method comprising: determining the initial driving path of a target vehicle in a target storage area; when controlling the target vehicle to drive according to the initial driving path, determining the target ground code of the target vehicle in the current straight sub-path and the to-be-processed driving vehicles associated with the target ground code according to the driving information of each driving vehicle; determining the target passage mode for the target vehicle to pass through the target ground code according to the ground code type of the target ground code, the driving attributes of the target vehicle and / or the driving information of the to-be-processed driving vehicle; after the target vehicle passes through the target ground code, controlling the target vehicle to drive to the target position according to the initial driving path. The technical solution of the embodiment of the present invention flexibly controls the vehicles in the storage area in a dynamic manner, avoids the problem of collisions between multiple transport vehicles during driving, and enhances the safety of the production process in the storage area.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of unmanned vehicles, and in particular to a method, device, electronic device, and storage medium for controlling vehicle travel. Background Art

[0002] Objective: In a warehouse production environment, various equipment such as automated guided vehicles (AGVs) or robots for cargo handling can be used to assist production. It can be understood that after the goods are placed on the AGV or robot, these equipment can transport the goods to the target location along a certain route.

[0003] When implementing the technical solution based on the above method, the inventors found the following problems:

[0004] When multiple transport vehicles travel through a warehouse, their paths are irregular and varied. Consequently, if a transport vehicle within the warehouse changes direction after reaching a certain location, and if there are other vehicles nearby at the same time, the two vehicles could collide, potentially causing production safety issues. Therefore, the solutions provided by related technologies lack effective control methods for vehicles within the warehouse, leaving much room for improvement in the operational efficiency of a large number of transport vehicles. Summary of the Invention

[0005] The present invention provides a method, device, electronic device and storage medium for controlling vehicle driving, which flexibly control transport vehicles in a storage area in a dynamic manner, avoid the problem of collisions between multiple transport vehicles during driving, and enhance the safety of the production process in the storage area.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling vehicle travel, which is applied to an unmanned vehicle. The method includes:

[0007] Determine an initial driving path of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes;

[0008] When controlling the target vehicle to travel according to the initial travel path, determining, based on the travel information of each vehicle, a target location code of the target vehicle in the current straight sub-path, and a to-be-processed vehicle associated with the target location code;

[0009] Determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed;

[0010] The target vehicle is controlled to pass through the target location based on the target traffic mode, and the target vehicle is controlled to travel to the target location according to the initial driving path.

[0011] Furthermore, the method for controlling vehicle travel further includes:

[0012] Determine the type of each ground code in the target storage area, and determine a target passage mode for the target vehicle to pass through the target ground code according to the ground code type.

[0013] Furthermore, the determining of the location code type of each location code in the target storage area includes:

[0014] Determine the location code to be processed that can be used as a rotation point from the location codes;

[0015] The ground code type of each ground code to be processed is determined according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and the body width.

[0016] Furthermore, the method of determining the type of each to-be-processed ground code according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent to-be-processed ground codes includes:

[0017] Determining a first distance value according to the vehicle body length and the vehicle body width;

[0018] determining a second distance value according to the first distance value and the vehicle body length;

[0019] determining a third distance value according to the first distance value and the vehicle body width;

[0020] The type of each ground code to be processed is determined according to the first distance value, the second distance value, and the third distance value.

[0021] Furthermore, determining the type of each to-be-processed ground code according to the first distance value, the second distance value, and the third distance value includes:

[0022] If the rotation point distance is between the first distance value and the second distance value, the ground code type of the adjacent ground code to be processed is determined to be a double-vehicle-to-single-vehicle rotatable type;

[0023] If the rotation point distance is less than the third distance value, determining that the ground code type of the adjacent ground code to be processed is a bicycle-to-bicycle-rotatable type;

[0024] If the rotation point distance is greater than or equal to the first distance value, it is determined that the ground code type of the adjacent ground code to be processed is a dual-vehicle-to-dual-vehicle-rotatable type.

[0025] Furthermore, determining the initial driving path of the target vehicle in the target storage area includes:

[0026] An initial driving path of the target vehicle is determined according to a starting position, an end position, and a passing position of the target vehicle in the target storage area.

[0027] Furthermore, the step of determining the target location code of the target vehicle in the current straight sub-path and the to-be-processed vehicles associated with the target location code based on the driving information of each driving vehicle includes:

[0028] Determining a target location code according to a straight travel area of ​​the target vehicle on the straight travel sub-path and a straight travel area of ​​the moving vehicle on the corresponding straight travel sub-path;

[0029] The running vehicle associated with the target location code is used as the running vehicle to be processed.

[0030] Furthermore, determining the target location code according to the straight travel area of ​​the target vehicle on the straight travel sub-path and the straight travel area of ​​the moving vehicle on the corresponding straight travel sub-path includes:

[0031] Determine a locking point set based on the current ground code and the straight travel area of ​​the target vehicle's current location; wherein the locking point set includes the ground code to be locked corresponding to the straight travel area;

[0032] If the ground code to be locked includes a target rotation point, updating the associated rotation point associated with the target rotation point to the lock point set;

[0033] The target location code is determined according to the locking point set and the driving information of each vehicle to be driven.

[0034] Furthermore, the determining of the target location code according to the locking point set and the driving information of each vehicle to be driven includes:

[0035] When the target rotation point and the associated rotation point have an overlapping neighborhood, the rotation point corresponding to the overlapping neighborhood is determined to be the target ground code.

[0036] Furthermore, determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed includes:

[0037] If the target ground code type is a two-vehicle-to-one-vehicle-rotatable type, the target passage mode is determined based on the vehicle head direction information of the target vehicle and the vehicle to be processed; wherein the target passage mode includes a waiting passage mode or an immediate passage mode;

[0038] Accordingly, controlling the target vehicle to pass through the target location code based on the target traffic mode includes:

[0039] If the target passage mode is the waiting passage mode, after the pending vehicle passes, a rotation instruction is sent to the target vehicle to pass through the target ground code;

[0040] If the passage mode is the immediate passage mode, a rotation instruction is sent to the target vehicle to pass through the target ground code.

[0041] Furthermore, determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed includes:

[0042] If the ground code type of the target ground code is a single-vehicle-accessible and single-vehicle-rotatable type, and the target vehicle's straight-ahead area is covered at the earliest time, the target passage mode is determined to be controlling the target vehicle to rotate.

[0043] In a second aspect, an embodiment of the present invention further provides a device for controlling vehicle travel, the device comprising:

[0044] An initial driving path determination module is used to determine an initial driving path of a target vehicle in a target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes;

[0045] a target location code determination module, configured to determine, when controlling the target vehicle to travel along the initial travel path, the target location code of the target vehicle in the current straight sub-path to which it belongs, and the to-be-processed vehicles associated with the target location code, based on the travel information of each traveling vehicle;

[0046] a target passage mode determination module, configured to determine a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed;

[0047] A vehicle driving control module is used to control the target vehicle to pass through the target location based on the target passage mode, and control the target vehicle to travel to the target location according to the initial driving path.

[0048] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0049] one or more processors;

[0050] a storage device for storing one or more programs,

[0051] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling vehicle driving as described in any one of the embodiments of the present invention.

[0052] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the method for controlling vehicle driving as described in any one of the embodiments of the present invention.

[0053] The technical solution of the embodiment of the present invention determines the initial driving path of the target vehicle in the target storage area, that is, determines which straight sub-paths the target vehicle needs to pass through during driving, and at the same time determines the ground codes in each sub-path; when controlling the target vehicle to travel according to the initial driving path, the target ground code of the target vehicle in the current straight sub-path and the to-be-processed driving vehicles associated with the target ground code are determined according to the driving information of each driving vehicle; further, the target passage mode of the target vehicle through the target ground code is determined according to the ground code type of the target ground code, the driving attributes of the target vehicle and / or the driving information of the to-be-processed driving vehicle; finally, based on the target passage mode, the target vehicle is controlled to pass through the target ground code, and the target vehicle is controlled to travel to the target position according to the initial driving path; in the case where there are a large number of irregular ground codes in the warehouse, the transport vehicles in the storage area are flexibly controlled in a dynamic form, thereby avoiding the problem of collision of multiple transport vehicles during driving, and enhancing the safety of the production process in the storage area. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings introduced here only illustrate some of the embodiments to be described by the present invention, and are not exhaustive. A person skilled in the art can derive other drawings based on these drawings without inventive effort.

[0055] Figure 1 A schematic flow chart of a method for controlling vehicle travel provided by an embodiment of the present invention;

[0056] Figure 2 A top view of a target vehicle provided by an embodiment of the present invention;

[0057] Figure 3 Schematic diagram of four possible situations that may occur between a target vehicle and a vehicle to be processed provided by an embodiment of the present invention;

[0058] Figure 4A structural block diagram of a device for controlling vehicle travel provided by an embodiment of the present invention;

[0059] Figure 5 The present invention provides a schematic structural diagram of an electronic device. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0061] Example

[0062] Figure 1 This is a flow chart of a method for controlling vehicle travel provided by an embodiment of the present invention. This embodiment is applicable to situations where there are a large number of irregular ground yards in the warehouse area and vehicles are flexibly controlled based on a scheduling system. The method can be executed by a device for controlling vehicle travel, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, PC or server.

[0063] like Figure 1 As shown, the method specifically includes the following steps:

[0064] S110: Determine an initial driving path of the target vehicle in the target storage area.

[0065] The target vehicle may be an automated guided vehicle (AGV) used for cargo transportation or delivery. This type of vehicle is suitable for situations where cargo loading and unloading locations frequently change. The vehicle may be equipped with wired / wireless communication devices, positioning devices, and electromagnetic or optical automatic navigation devices, based on which the vehicle can travel along a specified navigation path. The target storage area may be a warehouse area for storing goods. It is understood that when vehicles used to assist production are introduced into the storage area, multiple paths may be planned in advance for these vehicles in order to efficiently manage the production process within the area. For example, a vehicle driving route may be planned on the ground of the target storage area using paint of a specific color.

[0066] In this embodiment, when a target vehicle is performing tasks such as delivery and retrieval within a target storage area, it first needs to determine the vehicle's initial driving path. This initial driving path can be the theoretical path required for the vehicle to deliver goods. It will be appreciated that in actual use, the vehicle may need to adjust its driving direction multiple times within the storage area to deliver goods to the target location. Therefore, the initial driving path includes at least one straight sub-path. While on a straight sub-path, the vehicle must maintain a straight path. When the vehicle reaches the endpoint of a straight sub-path, it must adjust its driving direction and enter the next straight sub-path, continuing until it reaches the endpoint of the initial driving path.

[0067] For example, when the initial driving path of an AGV in the target storage area indicates that the vehicle needs to transport goods from point A to point D, the vehicle needs to first drive east from point A to point B, then drive north from point B to point C, and finally drive west from point C to reach point D. Therefore, in the initial driving path of the AGV, the three straight paths AB, BC, and CD are all straight sub-paths in the initial driving path; of course, there can be only one straight sub-path in the initial driving path. For example, the AGV only needs to drive east from point A to point B, so its initial driving path only includes the straight sub-path AB. Those skilled in the art should understand that in actual application, the number of straight sub-paths included in the AGV's initial driving path is determined by the route corresponding to the handling task, and the embodiments of the present disclosure do not specifically limit this.

[0068] In this embodiment, if a camera device is also installed on the AGV, multiple ground codes can be pre-set in the target storage area to further enhance the accuracy of each vehicle's positioning. A ground code is a QR code used to assist in vehicle identification and correction. It can be understood that after the AGV scans the ground code at its current location through the camera device, it can determine its own location information, thereby ensuring the accuracy of the driving route. At the same time, as can be seen from the above description, the target vehicle needs to transport goods according to the initial driving path. Therefore, at least one straight sub-path of the initial driving path includes multiple ground codes.

[0069] Optionally, the initial driving path of the target vehicle is determined based on the starting position, the ending position and the passing position of the target vehicle in the target storage area.

[0070] In this embodiment, the driving paths of multiple vehicles in the storage area can be controlled by the scheduling system. Taking an AGV as an example, the scheduling system can use the current position of the vehicle or the position of the vehicle after loading the goods as the starting position, and the final position or unloading position of the vehicle as the end position. At the same time, it determines the ground codes that the vehicle passes through from the starting position to the end position, and uses the positions corresponding to these ground codes as the path positions. Based on the above three types of position information, the initial driving path of the vehicle is obtained. For example, the scheduling system can determine the starting position of an AGV based on the ground code corresponding to point A, and determine the end position based on the ground code corresponding to the vehicle's end point D. At the same time, it can determine the path positions based on multiple ground codes between points A and D, thus obtaining the initial driving path of the vehicle.

[0071] It can be understood that after the dispatching system determines the initial driving path containing many ground code information, it is necessary to further send this information to the vehicle in combination with information such as driving speed or acceleration. Based on this, every time the vehicle passes a ground code, it can be determined whether it needs to go straight or change the driving direction at the next moment based on the information obtained by scanning the current ground code and the initial driving path. At the same time, during the vehicle's driving process, the vehicle can travel according to the speed or acceleration issued by the dispatching system. The embodiments of the present disclosure will not be repeated here.

[0072] In this embodiment, since the distances between the various ground codes are irregular and there are many vehicles within the storage area, to avoid collisions between multiple vehicles while driving, the dispatch system needs to pre-acquire the ground code types of each ground code within the storage area during initialization and determine the rotation point corresponding to the vehicle among the multiple irregularly arranged ground codes. In subsequent processes, the system then determines the passage mode for the vehicle when passing through the ground code serving as the rotation point based on the ground code type. Optionally, before flexibly controlling vehicles within the storage area, the ground code types of each ground code within the target storage area are determined, so that the target passage mode for the target vehicle passing through the target ground code is determined based on the ground code type.

[0073] Among them, the target passage mode is the mode when the vehicle passes through a certain position in the target storage area, including a direct passage mode and a passage mode of waiting for the action of other vehicles next to it before executing its own action. For example, when the passage mode of a certain ground code is a direct passage mode, the vehicle can pass directly after driving to the ground code and continue to move forward according to the initial driving path. When the passage mode of a certain ground code is a passage mode of waiting for the action of other vehicles next to it before executing its own action, after the vehicle drives to the ground code, if there are other vehicles next to it, it needs to wait for the other vehicles to pass before continuing to move forward according to the initial driving path. Those skilled in the art should understand that due to the complexity of the terrain in the storage area, there can be multiple target passage modes selected by the vehicle at each position, and the embodiments of the present disclosure do not make specific limitations here. Accordingly, the ground code type is the information that determines which of the above-mentioned passage modes the vehicle needs to use to pass through the ground code. The process of determining the ground code type is described in detail below.

[0074] Optionally, a pending land code that can be used as a rotation point is determined from each land code; and the land code type of each pending land code is determined according to the vehicle attributes of the traveling vehicle and the rotation point distance between two adjacent pending land codes.

[0075] In this embodiment, when the vehicle is in different types of ground codes, the actions that can be performed are also different. For example, the vehicle can only keep going straight at the position corresponding to some ground codes, but can also perform a rotation action at the position corresponding to some ground codes, that is, adjust the vehicle's driving direction at this position. Based on this, the ground code to be processed is the position where the vehicle can perform a rotation action, and this position can also be called a rotation point. Furthermore, after determining the rotation point in multiple ground codes, it is also necessary to comprehensively consider the area occupied by the vehicle and the distance between the rotation points of two adjacent ground codes to be processed in order to determine the ground code type. Among them, the vehicle attributes include body length and body width. The following is combined with Figure 2 The top view of the target vehicle illustrates the process of determining the ground code type.

[0076] Specifically, the first distance value is determined according to the vehicle body length and the vehicle body width; the second distance value is determined according to the first distance value and the vehicle body length; and the third distance value is determined according to the first distance value and the vehicle body width. Figure 2 For example, a rectangle is used to represent the top view of the target vehicle, and the target vehicle has a body length of 1.74m and a body width of 1m. Determine the diagonal length of the target vehicle to be 1.85m, and use this value as the first distance value; further, Determine that the sum of half the vehicle length and half the diagonal length is 1.795m, and use this value as the second distance value. It is determined that the sum of half the width of the vehicle body and half the length of the diagonal is 1.425 m, and this value is used as the third distance value.

[0077] In this embodiment, after determining the above data, the ground code type of each ground code to be processed can be determined based on the first distance value, the second distance value, and the third distance value. Optionally, if the rotation point distance is between the first distance value and the second distance value, the ground code type of the adjacent ground code to be processed is determined to be a two-vehicle-accessible, single-vehicle rotatable type; if the rotation point distance is less than the third distance value, the ground code type of the adjacent ground code to be processed is determined to be a single-vehicle-accessible, single-vehicle rotatable type; and if the rotation point distance is greater than or equal to the first distance value, the ground code type of the adjacent ground code to be processed is determined to be a two-vehicle-accessible, two-vehicle rotatable type.

[0078] Specifically, if the distance x between two adjacent rotation points satisfies Then we can determine that both rotation points are of the type that can be rotated from two cars to one car, that is, Figure 3 This corresponds to scenario A, where the two plus signs in the figure represent two rotation points within the warehouse area, the two rectangles correspond to one AGV, and the circles reflect the area covered by the corresponding vehicle when performing a 360° rotation at the rotation point. It can be understood that for these two rotation points, the target vehicle and the other vehicle can reach the corresponding positions of the two rotation points at the same time. However, because the distance between the two rotation points is less than the diagonal distance between the two vehicles, only one of the two vehicles can perform the rotation at the current rotation point. If both vehicles perform the rotation, a collision will occur.

[0079] If the distance x between two adjacent rotation points satisfies Then we can determine that both rotation points are of the bicycle-to-bicycle rotation type, that is, Figure 3 Scenario B corresponds to the situation in which the information represented by each element in the figure is consistent with the above description and will not be further described in detail in the embodiments of the present disclosure. It can be understood that for the two rotation points, because the distance between the two rotation points is less than the sum of half the vehicle diagonal and half the vehicle width, only one of the two vehicles can reach the corresponding rotation point at the same time. If the other vehicle also reaches its corresponding rotation point at the same time, a collision will occur between the two vehicles.

[0080] If the distance x between two adjacent rotation points satisfies Then we can determine that both rotation points are of the double-car to double-car rotation type, that is Figure 3The corresponding situation of scenario D in the figure, where the information represented by each element in the figure is consistent with the above description, is not repeated here in the embodiment of the present disclosure. It can be understood that for these two rotation points, because the distance between the two rotation points is greater than the diagonal of the vehicle, even if the two vehicles drive to the corresponding rotation points at the same time and perform rotation operations at the rotation points, the two vehicles will still not collide.

[0081] In actual application, there are also Figure 3 Scenario C in the middle illustrates a situation where two adjacent points only allow vehicles to travel straight and cannot change direction. In this case, if the distance between the two points is less than or equal to the vehicle width, both points are single-vehicle-only. Therefore, only one vehicle can reach either point at a time. If both vehicles reach the corresponding point at the same time, a collision will occur.

[0082] It should be noted that after determining the ground code type of each ground code to be processed, the dispatching system can also store each ground code and the corresponding ground code type in the form of a mapping table, so that the required information can be directly called from the mapping table during the subsequent control of vehicle driving, avoiding the problem of low vehicle control efficiency and waste of computing resources caused by multiple determinations of the ground code type.

[0083] S120: When controlling the target vehicle to travel according to the initial travel path, determine the target location code of the target vehicle in the current straight sub-path and the to-be-processed vehicles associated with the target location code based on the travel information of each vehicle.

[0084] In this embodiment, in order to achieve dynamic scheduling of target vehicles in the storage area, when the vehicle travels along the straight sub-path in the initial driving path, the target ground code can be determined based on the straight area of ​​the target vehicle on the straight sub-path and the straight area of ​​the traveling vehicle on the corresponding straight sub-path.

[0085] The target ground code is the ground code that needs to determine the target vehicle's mode of passage at that location to prevent collisions with other vehicles. In actual application, the lock point set can be first determined based on the current ground code and straight-through area of ​​the target vehicle's current location. If the ground code to be locked includes the target rotation point, the associated rotation point associated with the target rotation point is updated to the lock point set.

[0086] The locking point set includes the ground codes to be locked corresponding to the straight-line area. In other words, the locking point set includes not only the ground codes of the target vehicle on the current straight-line sub-path, but also the ground codes covered by the vehicle's travel area. These ground codes are the ground codes to be locked. For example, when the AGV travels to a straight-line sub-path according to the initial travel path, the scheduling system can determine which ground codes are included in the straight-line sub-path. At the same time, it can also pre-calculate the area covered by the vehicle when traveling along the straight-line sub-path based on the area occupied by the vehicle in the storage area, i.e., the straight-line area of ​​the target vehicle. This can then determine which ground codes the AGV will cover along the entire road section. Finally, the ground codes determined above are integrated to construct the locking point set.

[0087] In this embodiment, there are other vehicles in motion within the storage area. Therefore, when the target vehicle travels along the straight sub-path of the initial travel path, it is necessary to consider whether the target vehicle will collide with other rotating vehicles nearby. To address this, the dispatch system can determine whether the target vehicle's location code is the vehicle's target rotation point—that is, whether the vehicle will rotate at that point according to the initial travel path. If the target vehicle is determined to rotate at that point, the associated rotation points adjacent to that point are added to the lock point set to update the lock point set. As can be understood, an associated rotation point is a point at which other vehicles are allowed to rotate.

[0088] Continuing with the above example, when the dispatching system identifies point B as the target rotation point in the lock point set corresponding to the AGV vehicle, this means that after the vehicle reaches point B, it needs to perform a rotation action to adjust the vehicle's driving direction. At this time, the dispatching system also needs to use points B1 and B2 on the left and right sides of point B as associated rotation points. It can be understood that when other vehicles reach points B1 or B2, they can also perform a rotation action to adjust their own driving direction. Furthermore, points B1 and B2 are added to the lock point set, thereby updating the lock point set.

[0089] In this embodiment, after the dispatching system obtains the lock point set corresponding to the target vehicle, it can determine the target location code based on the lock point set and the driving information of each vehicle to be driven. It can be understood that when the target vehicle performs a rotation action at a point in the lock point set, this point is the target rotation point. At the same time, when the target vehicle reaches the target rotation point, it can be determined based on the driving information of other nearby vehicles (such as the initial driving path, driving speed, and driving acceleration of other vehicles) that other vehicles will also arrive at points adjacent to the target rotation point at the same time. These points are the associated rotation points. Based on the above information, the target location code in the lock point set can be determined. In actual application, when the target rotation point and the associated rotation point have an overlapping neighborhood, the rotation point corresponding to the overlapping neighborhood is determined to be the target location code.

[0090] by Figure 3 Taking the case corresponding to scenario A in the figure as an example, when the rotation point on the right side of the figure is the target rotation point and the rotation point on the left side is the associated rotation point, it can be determined that if the vehicle performs a 360° rotation at each point, there is an overlapping part in the two covered areas. This part is the overlapping neighborhood between the target rotation point and the associated rotation point. Therefore, it can be determined that the target rotation point is the target ground code corresponding to the target vehicle, and the associated rotation point is the target ground code corresponding to other vehicles.

[0091] In this embodiment, once the target location code is determined, the vehicle associated with the target location code is identified as a pending vehicle. It is understood that a pending vehicle is one that could potentially collide with the target vehicle during travel. Therefore, to avoid such a collision, the dispatch system subsequently determines a target traffic mode for the target vehicle.

[0092] S130: Determine a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed.

[0093] When the dispatch system determines the target traffic mode for the target vehicle to pass through the target code, it needs to refer to the code type of the determined target code. At the same time, the vehicle's top view presents a rectangle with a certain length-to-width ratio. Therefore, it is also necessary to combine the driving direction of the target vehicle and / or the driving direction of the vehicle to be processed to finally determine whether the target vehicle can drive directly to the target code and whether it can perform a rotation action at the target code. Optionally, if the code type of the target code is a two-vehicle-to-single-vehicle rotation type, the target traffic mode is determined based on the vehicle head direction information of the target vehicle and the vehicle to be processed.

[0094] The vehicle's head direction information reflects the vehicle's current direction of travel. The target pass mode includes either a waiting pass mode or an immediate pass mode. This means that when the target location is set to the waiting pass mode, after the target vehicle reaches the location, it must wait for the vehicles waiting to be processed at the adjacent location to complete their rotation before executing its own rotation. When the target location is set to the immediate pass mode, after the target vehicle reaches the location, it does not need to yield right of way to vehicles at the adjacent location and can directly execute its rotation at that location according to its initial travel path.

[0095] by Figure 3 Taking the situation corresponding to scene A as an example, the vehicle on the left is used as the target vehicle, and the corresponding ground code on the left is used as the target rotation point. It can be determined that the target rotation point and the adjacent associated rotation point on the right are both of the two-vehicle to single-vehicle rotation type. On this basis, if the target vehicle travels from south to north to the target rotation point and needs to adjust the vehicle's head direction to travel east, and the vehicle to be processed travels from east to west to the associated rotation point and needs to adjust the vehicle's head direction to travel north, it can be determined that the target vehicle's passage mode is waiting mode. In other words, the target vehicle can only perform the rotation action after the waiting vehicle has completed its rotation and adjusted its head direction to north, thereby adjusting its own head direction to east, thereby avoiding a collision between the target vehicle and the vehicle to be processed.

[0096] It can be understood that in the above example, if the information corresponding to the target vehicle and the information corresponding to the vehicle to be processed are exchanged, that is, the vehicle on the right side of scene A is the target vehicle, and the vehicle on the left side is the vehicle to be processed. At the same time, the target vehicle needs to adjust the direction of the front of the vehicle to travel north, and the vehicle to be processed needs to adjust the direction of the front of the vehicle to travel east. It can be determined that the passage mode of the target vehicle is the immediate passage mode, that is, the target vehicle does not need to wait for the action of the vehicle to be processed, and can directly perform the rotation action, thereby adjusting the direction of its own front of the vehicle to the north. Correspondingly, the vehicle to be processed needs to wait for the target vehicle to complete its rotation before performing the rotation action, thereby avoiding a collision between the two vehicles.

[0097] Optionally, if the target ground code type is a single-vehicle-accessible and single-vehicle-rotatable type, and the target vehicle's straight-ahead area is covered at the earliest time, the target passage mode is determined to be controlling the target vehicle to rotate.

[0098] by Figure 3Taking the situation corresponding to scene B as an example, the vehicle on the left is used as the target vehicle, and the corresponding ground code on the left is used as the target rotation point. It can be determined that the target rotation point and the adjacent associated rotation point on the right are both single-vehicle-to-single-vehicle-rotatable types. On this basis, if the target vehicle travels from south to north to the target rotation point and needs to adjust the vehicle's head direction to travel east, and the vehicle to be processed travels from east to west to the associated rotation point and needs to adjust the vehicle's head direction to travel north, it is also necessary to determine whether the target vehicle's straight-through area coverage moment takes precedence over the time when the vehicle to be processed covers its corresponding straight-through area. In other words, it is necessary to determine which of the target vehicle and the vehicle to be processed reaches the corresponding rotation point first. When the target vehicle arrives at the target rotation point first, the scheduling system can control the target vehicle to perform a rotation action, thereby adjusting its own head direction to the east. Accordingly, the vehicle to be processed can only travel to the associated rotation point after the target vehicle has completed its rotation, thereby avoiding a collision between the two vehicles. It is understandable that in this case, if the vehicle to be processed arrives at the associated rotation point first, the target vehicle needs to wait until the processing vehicle has completed its rotation before traveling to the target rotation point. The disclosed embodiments will not be described in detail here.

[0099] S140: Control the target vehicle to pass through the target location based on the target traffic mode, and control the target vehicle to travel to the target location according to the initial driving path.

[0100] In this embodiment, if the target passage mode is the waiting passage mode, a rotation instruction is sent to the target vehicle after the pending vehicle passes through the target ground code; if the passage mode is the immediate passage mode, a rotation instruction is sent to the target vehicle to pass through the target ground code.

[0101] Continue with Figure 3 Taking the situation corresponding to scene A as an example, the vehicle on the left is taken as the target vehicle, and the corresponding ground code on the left is taken as the target rotation point. The target rotation point and the adjacent associated rotation point on the right are both of the type that can rotate from two vehicles to one vehicle. At the same time, when the target vehicle travels from south to north to the target rotation point and needs to adjust the vehicle head direction to travel east, and when the vehicle to be processed travels from east to west to the associated rotation point and needs to adjust the vehicle head direction to travel north, it can be determined that the target vehicle's mode of passage is the waiting mode of passage. At this time, the dispatching system needs to send a rotation instruction to the vehicle to be processed, thereby controlling the vehicle to be processed to adjust the vehicle head direction to north, and wait until the vehicle to be processed leaves the associated rotation point, and then send a rotation instruction to the target vehicle, thereby controlling the target vehicle to adjust the vehicle head direction to east, so that the target vehicle continues to travel according to the next straight sub-path in the initial driving path.

[0102] It can be understood that if the information corresponding to the target vehicle and the information corresponding to the vehicle to be processed are exchanged in the manner described above, the scheduling system can determine that the target vehicle is the vehicle that requires priority action. At this time, the system can directly send a rotation instruction to the target vehicle, thereby controlling the target vehicle to adjust the front direction to north. Only after the target vehicle leaves the target rotation point will a rotation instruction be issued to the vehicle to be processed, thereby guiding the action of the vehicle to be processed. This embodiment of the present disclosure will not be repeated here.

[0103] It should be noted that the above-described scheme is not limited to a straight sub-path in the target vehicle's initial driving path. That is, after the target vehicle performs the corresponding action at the target rotation point according to the rotation instruction issued by the scheduling system, the corresponding target ground code can be determined according to the scheme of the embodiment of the present disclosure on each subsequent straight sub-path. At the same time, the target passage mode for the target ground code on each straight sub-path segment can be determined. For example, the target vehicle's initial driving path includes three straight sub-paths AB, BC, and CD. After the target vehicle adjusts its head direction at point B and enters the straight sub-path BC segment according to the scheme of this embodiment, before driving to point C, it can also determine its target passage mode when passing through point C according to the scheme of this embodiment. That is, the scheduling system issues a command to the target vehicle to determine whether the target vehicle can directly adjust its head direction at point C and enter the straight sub-path CD segment, or whether the target vehicle can wait for the pending vehicle at the rotation point adjacent to point C to complete its action before performing the rotation action after arriving at point C. The present embodiment of the present disclosure will not be further described in detail.

[0104] In the actual application process of this embodiment, on the one hand, when a ground code serving as a rotation point in the storage area is locked, the scheduling system needs to first determine whether there are multiple AGVs that identify it as a locking point at the same time. Furthermore, when it is determined that two AGVs have identified the ground code as a locking point, the scheduling system needs to control the vehicle movement according to the priority of locking the ground code, that is, control the vehicle that locks the ground code first to pass through the location, and then control the vehicle that locks the ground code later to pass through the location.

[0105] On the other hand, when the ground code of the target rotation point and its adjacent ground code as the associated rotation point are locked at the same time, the dispatching system also needs to determine the ground code type of the above-mentioned rotation point, so as to determine the way for the vehicle to pass through the position according to the ground code type and the vehicle driving information. Specifically, when the ground code type of the target rotation point and the associated rotation point is determined to be a two-car-reachable, one-car-rotatable type, the target vehicle and the vehicle to be processed can reach the position of the corresponding ground code at the same time, but only one vehicle can perform the rotation action at the same time; when the ground code type of the target rotation point and the associated rotation point is determined to be a one-car-reachable, one-car-rotatable type, only one vehicle of the target vehicle and the vehicle to be processed can drive to the position of the corresponding ground code at the same time, and after its rotation action is completed, the other vehicle can drive to the position of the corresponding ground code; when the ground code type of the target rotation point and the associated rotation point is determined to be a two-car-reachable, two-car-rotatable type, the target vehicle and the vehicle to be processed can reach the position of the corresponding ground code at any time and perform the rotation action according to their own needs. It can be understood that in this case, there will be no collision between the two vehicles.

[0106] The technical solution of this embodiment determines the initial driving path of the target vehicle in the target storage area, that is, determines which straight sub-paths the target vehicle needs to pass through during driving, and at the same time determines the ground codes in each sub-path; when controlling the target vehicle to travel according to the initial driving path, the target ground code of the target vehicle in the current straight sub-path and the to-be-processed driving vehicles associated with the target ground code are determined based on the driving information of each driving vehicle; further, the target passage mode of the target vehicle through the target ground code is determined based on the ground code type of the target ground code, the driving attributes of the target vehicle and / or the driving information of the to-be-processed driving vehicle; finally, based on the target passage mode, the target vehicle is controlled to pass through the target ground code, and the target vehicle is controlled to travel to the target position according to the initial driving path; in the case where there are a large number of irregular ground codes in the warehouse, the transport vehicles in the storage area are flexibly controlled in a dynamic manner, thereby avoiding the problem of collision of multiple transport vehicles during driving, and enhancing the safety of the production process in the storage area.

[0107] Example

[0108] Figure 4 This is a structural block diagram of a device for controlling vehicle travel provided by an embodiment of the present invention, which can execute the method for controlling vehicle travel provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 4 As shown, the device specifically includes: an initial driving path determination module 210, a target location code determination module 220, a target traffic mode determination module 230 and a vehicle driving control module 240.

[0109] The initial driving path determination module 210 is used to determine the initial driving path of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes.

[0110] The target location code determination module 220 is used to determine the target location code of the target vehicle in the current straight sub-path to which it belongs, and the to-be-processed vehicles associated with the target location code based on the driving information of each driving vehicle when controlling the target vehicle to travel according to the initial driving path.

[0111] The target passage mode determination module 230 is used to determine the target passage mode of the target vehicle passing through the target ground code according to the ground code type of the target ground code, the driving attributes of the target vehicle and / or the driving information of the vehicle to be processed.

[0112] The vehicle driving control module 240 is used to control the target vehicle to pass through the target location based on the target traffic mode, and control the target vehicle to travel to the target location according to the initial driving path.

[0113] On the basis of the above technical solutions, the device for controlling vehicle travel further includes a ground code type determination module.

[0114] The ground code type determination module is used to determine the ground code type of each ground code in the target storage area, so as to determine the target passage mode for the target vehicle to pass through the target ground code according to the ground code type.

[0115] On the basis of the above technical solutions, the land code type determination module includes a land code determination unit to be processed and a land code type determination unit.

[0116] The unit for determining the land code to be processed is used to determine the land code to be processed that can be used as a rotation point from the land codes.

[0117] The ground code type determination unit is used to determine the ground code type of each ground code to be processed according to the vehicle attributes of the moving vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and body width.

[0118] Optionally, the ground code type determination unit is also used to determine a first distance value based on the vehicle body length and vehicle body width; determine a second distance value based on the first distance value and the vehicle body length; determine a third distance value based on the first distance value and the vehicle body width; and determine the ground code type of each ground code to be processed based on the first distance value, the second distance value and the third distance value.

[0119] Optionally, the ground code type determination unit is also used to determine that the ground code type of the adjacent ground code to be processed is a two-vehicle-to-single-vehicle-rotatable type if the rotation point distance is between the first distance value and the second distance value; if the rotation point distance is less than the third distance value, determine that the ground code type of the adjacent ground code to be processed is a single-vehicle-to-single-vehicle-rotatable type; if the rotation point distance is greater than or equal to the first distance value, determine that the ground code type of the adjacent ground code to be processed is a two-vehicle-to-two-vehicle-rotatable type.

[0120] Optionally, the initial driving path determination module 210 is further configured to determine the initial driving path of the target vehicle according to the starting position, the ending position, and the passing positions of the target vehicle in the target storage area.

[0121] On the basis of the above technical solutions, the target location code determination module 220 includes a target location code determination unit and a to-be-processed vehicle determination unit.

[0122] The target location code determining unit is configured to determine the target location code according to the straight travel area of ​​the target vehicle on the straight travel sub-path and the straight travel area of ​​the traveling vehicle on the corresponding straight travel sub-path.

[0123] The to-be-processed traveling vehicle determining unit is configured to take the traveling vehicle associated with the target location code as the to-be-processed traveling vehicle.

[0124] Optionally, the target ground code determination unit is further used to determine a locking point set based on the current ground code and straight-ahead area of ​​the target vehicle's current location; wherein the locking point set includes the ground code to be locked corresponding to the straight-ahead area; if the ground code to be locked includes a target rotation point, the associated rotation point associated with the target rotation point is updated to the locking point set; and the target ground code is determined based on the locking point set and the driving information of each vehicle to be driven.

[0125] Optionally, the target location code determining unit is further configured to, when the target rotation point and the associated rotation point have an overlapping neighborhood, determine that the rotation point corresponding to the overlapping neighborhood is the target location code.

[0126] Optionally, the target passage mode determination module 230 is also used to determine the target passage mode according to the vehicle head orientation information of the target vehicle and the vehicle to be processed if the ground code type of the target ground code is a two-vehicle-to-single-vehicle-rotatable type; wherein the target passage mode includes a waiting passage mode or an immediate passage mode.

[0127] Optionally, the vehicle driving control module 240 is also used to send a rotation instruction to the target vehicle to pass the target ground code after the pending vehicle passes if the target passage mode is a waiting passage mode; if the passage mode is an immediate passage mode, send a rotation instruction to the target vehicle to pass the target ground code.

[0128] Optionally, the target traffic mode determination module 230 is also used to determine that the target traffic mode is to control the rotation of the target vehicle if the ground code type of the target ground code is a single-vehicle-to-single-vehicle-rotatable type and the coverage time of the straight-line area of ​​the target vehicle is the earliest.

[0129] The technical solution provided in this embodiment determines the initial driving path of the target vehicle in the target storage area, that is, determines which straight sub-paths the target vehicle needs to pass through during driving, and at the same time determines the ground codes in each sub-path; when controlling the target vehicle to travel according to the initial driving path, the target ground code of the target vehicle in the current straight sub-path and the pending driving vehicles associated with the target ground code are determined based on the driving information of each driving vehicle; further, the target passage mode for the target vehicle to pass through the target ground code is determined based on the ground code type of the target ground code, the driving attributes of the target vehicle and / or the driving information of the pending driving vehicle; finally, based on the target passage mode, the target vehicle is controlled to pass through the target ground code, and the target vehicle is controlled to travel to the target position according to the initial driving path; in the case where there are a large number of irregular ground codes in the warehouse, the transport vehicles in the storage area are flexibly controlled in a dynamic manner, thereby avoiding the problem of collision between multiple transport vehicles during driving, and enhancing the safety of the production process in the storage area.

[0130] The device for controlling vehicle travel provided by the embodiment of the present invention can execute the method for controlling vehicle travel provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0131] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the embodiments of the present invention.

[0132] Example

[0133] Figure 5 The present invention provides a schematic structural diagram of an electronic device. Figure 5 A block diagram of an exemplary electronic device 30 suitable for implementing exemplary embodiments of the present invention is shown. Figure 5The electronic device 30 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0134] like Figure 5 As shown, electronic device 30 is a general-purpose computing device. Components of electronic device 30 may include, but are not limited to, one or more processors or processing units 301, system memory 302, and a bus 303 connecting various system components (including system memory 302 and processing unit 301).

[0135] Bus 303 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0136] The electronic device 30 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 30, including volatile and non-volatile media, removable and non-removable media.

[0137] System memory 302 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 304 and / or cache memory 305. Electronic device 30 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 306 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 Not shown, often called a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 303 via one or more data medium interfaces. Memory 302 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0138] A program / utility 308 having a set (at least one) of program modules 307 may be stored, for example, in memory 302. Such program modules 307 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 307 generally implement the functions and / or methods of the embodiments described herein.

[0139] The electronic device 30 may also communicate with one or more external devices 309 (e.g., keyboard, pointing device, display 310, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 30, and / or any device that enables the electronic device 30 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 311. Furthermore, the electronic device 30 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 312. As shown, the network adapter 312 communicates with other modules of the electronic device 30 via the bus 303. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 30, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0140] The processing unit 301 executes various functional applications and data processing by running programs stored in the system memory 302, such as implementing the method for controlling vehicle driving provided by an embodiment of the present invention.

[0141] Example

[0142] An embodiment of the present invention further provides a storage medium comprising computer-executable instructions, wherein the computer-executable instructions are used to execute a method for controlling vehicle driving when executed by a computer processor.

[0143] The method includes:

[0144] Determine an initial driving path of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes;

[0145] When controlling the target vehicle to travel according to the initial travel path, determining, based on the travel information of each vehicle, a target location code of the target vehicle in the current straight sub-path, and a to-be-processed vehicle associated with the target location code;

[0146] Determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed;

[0147] The target vehicle is controlled to pass through the target location based on the target traffic mode, and the target vehicle is controlled to travel to the target location according to the initial driving path.

[0148] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, 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 thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0149] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0150] Project code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0151] Computer program code for performing the operations of embodiments of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0152] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Determine an initial driving path of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes; When controlling the target vehicle to travel according to the initial travel path, determining, based on the travel information of each vehicle, a target location code of the target vehicle in the current straight sub-path, and a to-be-processed vehicle associated with the target location code; Determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; Controlling the target vehicle to pass through the target location based on the target traffic mode, and controlling the target vehicle to travel to the target location according to the initial driving path; The location code types of the location codes in the target storage area are determined based on the following method: Determine the location code to be processed that can be used as a rotation point from the location codes; The ground code type of each ground code to be processed is determined according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and the body width.

2. The method according to claim 1, characterized in that The method of determining the type of each to-be-processed ground code according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent to-be-processed ground codes includes: Determining a first distance value according to the vehicle body length and the vehicle body width; determining a second distance value according to the first distance value and the vehicle body length; determining a third distance value according to the first distance value and the vehicle body width; The type of each ground code to be processed is determined according to the first distance value, the second distance value, and the third distance value.

3. The method according to claim 2, characterized in that The determining the type of each to-be-processed ground code according to the first distance value, the second distance value, and the third distance value includes: If the rotation point distance is between the first distance value and the second distance value, the ground code type of the adjacent ground code to be processed is determined to be a double-vehicle-to-single-vehicle rotatable type; If the rotation point distance is less than the third distance value, determining that the ground code type of the adjacent ground code to be processed is a bicycle-to-bicycle-rotatable type; If the rotation point distance is greater than or equal to the first distance value, it is determined that the ground code type of the adjacent ground code to be processed is a dual-vehicle-to-dual-vehicle-rotatable type.

4. A method for controlling vehicle travel, characterized in that: include: Determining an initial driving path of the target vehicle based on the starting position, the ending position, and the passing positions of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple location codes; When controlling the target vehicle to travel according to the initial travel path, determining, based on the travel information of each vehicle, a target location code of the target vehicle in the current straight sub-path, and a to-be-processed vehicle associated with the target location code; Determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; Controlling the target vehicle to pass through the target location based on the target traffic mode, and controlling the target vehicle to travel to the target location according to the initial driving path; The location code type is determined based on the following method: Determine the location code to be processed that can be used as a rotation point from the location codes; The ground code type of each ground code to be processed is determined according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and the body width.

5. A method for controlling vehicle travel, characterized in that: include: Determine an initial driving path of the target vehicle in the target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes; Determining a target location code based on a straight travel area of ​​the target vehicle on the straight travel sub-path and a straight travel area of ​​the moving vehicle on the corresponding straight travel sub-path; The moving vehicle associated with the target location code is used as the moving vehicle to be processed; Determining a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; The target vehicle is controlled to pass through the target location based on the target traffic mode, and the target vehicle is controlled to travel to the target location according to the initial driving path.

6. The method according to claim 5, characterized in that The determining of the target location code according to the straight travel area of ​​the target vehicle on the straight travel sub-path and the straight travel area of ​​the moving vehicle on the corresponding straight travel sub-path includes: Determine a locking point set based on the current ground code and the straight travel area of ​​the target vehicle's current location; wherein the locking point set includes the ground code to be locked corresponding to the straight travel area; If the ground code to be locked includes a target rotation point, updating the associated rotation point associated with the target rotation point to the lock point set; The target location code is determined according to the locking point set and the driving information of each vehicle to be driven.

7. The method according to claim 6, characterized in that The determining the target location code according to the locking point set and the driving information of each vehicle to be driven includes: When the target rotation point and the associated rotation point have an overlapping neighborhood, the rotation point corresponding to the overlapping neighborhood is determined to be the target ground code.

8. The method according to claim 6, characterized in that The determining, based on the location code type of the target location code, the driving attributes of the target vehicle and / or the driving information of the vehicle to be processed, a target passage mode for the target vehicle to pass through the target location code includes: If the target ground code type is a two-vehicle-to-one-vehicle-rotatable type, then the target passage mode is determined based on the vehicle head direction information of the target vehicle and the vehicle to be processed; wherein the target passage mode includes a waiting passage mode or an immediate passage mode; Accordingly, controlling the target vehicle to pass through the target location code based on the target traffic mode includes: If the target passage mode is the waiting passage mode, after the pending vehicle passes, a rotation instruction is sent to the target vehicle to pass through the target ground code; If the passage mode is the immediate passage mode, a rotation instruction is sent to the target vehicle to pass through the target ground code.

9. The method according to claim 6, characterized in that The determining, based on the location code type of the target location code, the driving attributes of the target vehicle and / or the driving information of the vehicle to be processed, a target passage mode for the target vehicle to pass through the target location code includes: If the ground code type of the target ground code is a single-vehicle-accessible and single-vehicle-rotatable type, and the target vehicle's straight-ahead area is covered at the earliest time, the target passage mode is determined to be controlling the target vehicle to rotate.

10. A device for controlling vehicle travel, characterized in that: include: An initial driving path determination module is used to determine an initial driving path of a target vehicle in a target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes; a target location code determination module, configured to determine, when controlling the target vehicle to travel along the initial travel path, the target location code of the target vehicle in the current straight sub-path to which it belongs, and the to-be-processed vehicles associated with the target location code, based on the travel information of each traveling vehicle; a target passage mode determination module, configured to determine a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; a vehicle driving control module, configured to control the target vehicle to pass through the target location based on the target traffic mode, and control the target vehicle to travel to the target location according to the initial driving path; The location code types of the location codes in the target storage area are determined based on the following method: Determine the location code to be processed that can be used as a rotation point from the location codes; The ground code type of each ground code to be processed is determined according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and the body width.

11. A device for controlling vehicle travel, characterized in that: include: An initial driving path determination module is configured to determine an initial driving path for a target vehicle based on the target vehicle's starting position, end position, and transit positions within a target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes a plurality of location codes; a target location code determination module, configured to determine, when controlling the target vehicle to travel along the initial travel path, the target location code of the target vehicle in the current straight sub-path to which it belongs, and the to-be-processed vehicles associated with the target location code, based on the travel information of each traveling vehicle; a target passage mode determination module, configured to determine a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; a vehicle driving control module, configured to control the target vehicle to pass through the target location based on the target traffic mode, and control the target vehicle to travel to the target location according to the initial driving path; The location code type is determined based on the following method: Determine the location code to be processed that can be used as a rotation point from the location codes; The ground code type of each ground code to be processed is determined according to the vehicle attributes of the traveling vehicle and the distance between the rotation points of two adjacent ground codes to be processed; wherein the vehicle attributes include the body length and the body width.

12. A device for controlling vehicle movement, characterized in that: include: An initial driving path determination module is used to determine an initial driving path of a target vehicle in a target storage area; wherein the initial driving path includes at least one straight sub-path, and the straight sub-path includes multiple ground codes; a target location code determining unit, configured to determine a target location code based on a straight travel area of ​​the target vehicle on the straight travel sub-path and a straight travel area of ​​the traveling vehicle on the corresponding straight travel sub-path; a to-be-processed traveling vehicle determining unit, configured to select a traveling vehicle associated with the target location code as a to-be-processed traveling vehicle; a target passage mode determination module, configured to determine a target passage mode for the target vehicle to pass through the target location code according to the location code type of the target location code, the driving attributes of the target vehicle, and / or the driving information of the vehicle to be processed; A vehicle driving control module is used to control the target vehicle to pass through the target location based on the target passage mode, and control the target vehicle to travel to the target location according to the initial driving path.

13. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling vehicle driving as described in any one of claims 1-3 or 4 or 5-9.

14. A storage medium comprising computer-executable instructions, wherein the computer-executable instructions are used to execute the method for controlling vehicle driving according to any one of claims 1 to 3 or 4 or 5 to 9 when executed by a computer processor.

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