A vehicle control method, device and system

Abstract

The application discloses a vehicle control method, device and system, and relates to the technical field of automatic driving. The method comprises the following steps: determining a target vehicle, wherein the target vehicle is located at a first parking space; acquiring a topological relationship, wherein the topological relationship indicates an association relationship between multi-level parking spaces, the multi-level parking spaces comprise a first-level parking space and a second-level parking space, the first-level parking space comprises the first parking space, and the second-level parking space comprises at least one downstream parking space of the first parking space; assigning a second parking space to the target vehicle according to the topological relationship, wherein the second parking space is an idle parking space in the second-level parking space; and instructing the target vehicle to move from the first parking space to the second parking space. The method is helpful to reduce conflicts between vehicles and improve the passing efficiency between vehicles by flexibly scheduling vehicle resources, so as to help realize orderly operation or passing between vehicles.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle control method, device and system. Background Technology

[0002] With the rapid development of technology, autonomous driving technology is becoming increasingly widespread. Collaborative driving control technology among multiple vehicles is gradually being applied in scenarios such as ports and industrial parks to replace traditional manual driving control, thereby improving overall operational efficiency. In these scenarios, vehicles are typically assigned to production equipment, moving to the designated parking spaces and performing corresponding tasks based on the production resources available to that equipment. Since the number of production equipment is usually less than the number of vehicles, several vehicles may compete for the same resources, leading to conflicts and significantly impacting the operational efficiency of multiple vehicles. Therefore, how to achieve vehicle resource scheduling among multiple vehicles remains a crucial problem that urgently needs to be solved. Summary of the Invention

[0003] This application provides a vehicle control method, device, and system that, by flexibly scheduling parking resources for vehicles, helps reduce conflicts between vehicles, improves traffic efficiency, and thus helps achieve orderly operation or passage of vehicles, thereby improving operational efficiency.

[0004] In a first aspect, embodiments of this application provide a vehicle control method, which can be applied to a vehicle control device. The vehicle control device can be an independent device, a chip or component in the device, or software, and can be deployed in the cloud, on a roadside device, on a remote server, or on a local server, etc. This application does not limit the product form or deployment method of the vehicle control device.

[0005] The method may include: identifying a target vehicle located in a first parking space; obtaining a topology indicating the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first-level parking space and a second-level parking space, the first-level parking space including a first parking space, and the second-level parking space including at least one downstream parking space of the first parking space; allocating a second parking space to the target vehicle according to the topology, the second parking space being an available parking space in the second-level parking space; and instructing the target vehicle to move from the first parking space to the second parking space.

[0006] Using the above method, the vehicle control device can manage and schedule parking resources for target vehicles. Based on the first parking space where the target vehicle is located and the topological relationship associated with that first parking space, it determines the second parking space that the target vehicle needs to move to and instructs the target vehicle to move. For example, this solution can be applied to production scenarios such as ports, mines, and enclosed industrial parks to uniformly manage and schedule vehicles in a fleet awaiting operation within the corresponding site. This helps the fleet operate in an orderly manner, minimizing the problem of some vehicles queuing when competing for the same production equipment, reducing congestion caused by chaotic movement of some vehicles, improving the overall operational efficiency of the fleet, and significantly reducing manual operation costs. This solution can also be applied to passenger vehicle environments, such as highway toll stations, garages, and bus stations. It can uniformly manage and schedule multiple passenger vehicles (considered as belonging to a fleet) that need to queue or park, allowing each passenger vehicle to queue for passage / payment, enter the garage, and exit in an orderly manner, reducing long waiting times for some passenger vehicles and improving overall operational efficiency.

[0007] It should be noted that the foregoing is merely an illustrative description of the application scenarios of this application embodiment and not any limitation. In specific implementation, the vehicle control method of this application embodiment can also be applied to other environments involving vehicle resource competition, and the resources to be scheduled can be replaced with resources other than parking spaces. For example, a road intersection can be regarded as a resource that needs to be allocated to multiple vehicles waiting to pass through the road intersection. The vehicle control device decides whether and when to allocate the road intersection to the target vehicle so that multiple vehicles can pass through the road intersection in an orderly manner, reducing congestion or queuing at the road intersection. It should be understood that the embodiments of this application use vehicles as the target object and parking spaces as the scheduling resource as an example illustration. In another possible design, other objects, such as robots, robotic arms, luggage, etc., can also be used as target objects. By adopting the embodiments of this application, the corresponding resources can be uniformly managed and scheduled, thereby improving overall efficiency, which will not be elaborated here.

[0008] In conjunction with the first aspect, in one possible implementation, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

[0009] In conjunction with the first aspect, in one possible implementation, the multi-level parking space includes a third-level parking space, the third-level parking space includes at least one upstream parking space of the first-level parking space, and the target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space, or the vehicle that arrives first among multiple vehicles with the same task priority, or the vehicle that is closest to the first-level parking space.

[0010] Using the above method, the vehicle control device, as the main decision-making control device, can oversee the entire operation and flexibly select target vehicles for parking space resource scheduling and management. This reduces problems such as long waiting times for some vehicles and the need for some vehicles to circle around due to improper scheduling or planning, thereby improving the overall operational efficiency of the fleet. It should be understood that this is merely an illustrative description of the method for determining target vehicles in this embodiment, and not a limitation on the method used to determine target vehicles in this embodiment. In other embodiments, the vehicle control device may also use other decision factors to determine target vehicles, which will not be elaborated here.

[0011] In this embodiment, the vehicle control device can collect information in real time or periodically, and realize unified management and scheduling of different vehicles based on the obtained information.

[0012] In conjunction with the first aspect, in one possible design, determining the target vehicle may include: acquiring destination information of multiple vehicles, the destination information of the multiple vehicles indicating the same destination; and determining the target vehicle from the multiple vehicles.

[0013] Using the above method, the vehicle control device can determine whether there is resource competition among multiple vehicles by acquiring and analyzing the destination information of each vehicle. If resource competition exists, one or more vehicles requiring parking space allocation can be identified as target vehicles. These target vehicles can then be allocated a second parking space, helping to ensure that the competing vehicles can operate in an orderly manner and improving the overall operational efficiency of the vehicles.

[0014] Furthermore, in this embodiment, parking spaces may also be a resource that multiple vehicles compete for. The vehicle control device can also manage and schedule parking spaces for multiple vehicles to flexibly park different vehicles in suitable parking spaces, so as to facilitate vehicles to perform corresponding work tasks and improve work efficiency.

[0015] In conjunction with the first aspect, in one possible design, the method may further include: determining the order in which the plurality of vehicles arrive at the destination; and determining the parking order of the plurality of vehicles based on the order in which they arrive at the destination.

[0016] In conjunction with the first aspect, in one possible design, the method may further include: determining the parking order of the plurality of vehicles based on the travel task.

[0017] Using the methods described above, when managing and scheduling parking spaces for multiple vehicles, the vehicle control device can prioritize parking spaces that are more convenient for vehicles to complete their tasks, such as allowing vehicles that need to reach their destination first to park in more convenient spaces, or prioritizing vehicles that need to leave first to park in more convenient spaces based on their travel plans. This minimizes the impact of haphazard parking on travel, preventing vehicles from reaching their destinations on time.

[0018] Optionally, due to the high space utilization requirements in environments such as ports, industrial parks, and parking lots, fewer parking spaces or even none may be allocated to maximize economic benefits. Therefore, to obtain sufficient parking space, this embodiment of the application can also design a compact parking space sequence for dense parking. This compact parking space sequence can have the characteristic of a compact arrangement of parking spaces at both ends, and the parking spaces in this sequence can be used for long-term parking. The vehicle control device can also manage and schedule parking spaces for different vehicles that need to be parked in this parking space sequence based on the topological relationship between two adjacent parking spaces in this sequence, so that different vehicles can be parked in suitable parking spaces, and the flow of vehicles can be minimized to perform corresponding work tasks. In the absence of a dedicated parking lot, this parking space sequence can be set up in lanes that are not used for a long time. Furthermore, because the parking spaces at both ends in this sequence are compactly arranged, the space utilization rate of the target area can be improved.

[0019] In conjunction with the first aspect, in one possible design, determining the target vehicle from the plurality of vehicles includes: acquiring state information of the plurality of vehicles; and determining the target vehicle based on the state information of the plurality of vehicles. Optionally, the vehicle state information includes at least one of the following: position, speed, and heading angle.

[0020] Using the methods described above, the vehicle control device can determine whether multiple vehicles are competing for parking space resources based on their status information. If competition exists, the vehicle control device can identify the target vehicle from among these vehicles. The positions of the multiple vehicles can be used to determine the sequence of target parking spaces corresponding to each vehicle. If multiple vehicles have the same or related target parking space sequences, they may need to compete for the same workspace. The vehicle control device needs to determine the order in which each vehicle arrives at the workspace and guide the vehicles to move. Alternatively, the speeds of the multiple vehicles can be used to determine the time required for each vehicle to reach the next parking space. If the scheduling criteria for multiple vehicles are the same, the vehicle that arrives first can be prioritized for work based on the first-come, first-served allocation principle, and the first arriving vehicle can be considered the target vehicle. Alternatively, based on the heading angles of the multiple vehicles, if a certain heading angle is inconsistent with the lane direction while other vehicles are consistent with the lane direction, then that vehicle may not be competing for the same resource. The target vehicle can also be identified by combining any two or three of the above information: position, speed, and heading angle; these will not be elaborated further here.

[0021] In conjunction with the first aspect, in one possible design, allocating a second parking space to the target vehicle based on the topology relationship includes: obtaining parking space attribute information in the topology relationship; and allocating a second parking space to the target vehicle based on the parking space attribute information.

[0022] Optionally, the parking space attribute information includes the type of parking space and / or the availability status of the parking space, wherein the availability status can be used to indicate whether the parking space is vacant, or whether it is occupied or reserved by other vehicles, or whether it needs to be preferentially allocated to other vehicles.

[0023] Using the above method, the vehicle control device can determine how to allocate a second parking space to the target vehicle based on the predefined parking space attribute information in the topology, thereby obtaining a more reasonable parking space resource allocation result. This allows the appropriate vehicle to move to the second parking space at the right time, enabling multiple vehicles to move and operate in an orderly manner, thus improving the overall operating efficiency of multiple vehicles. The topology can also include the relevant attribute information of the parking space sequence to which the parking space belongs. Parking space sequence attribute information can also be considered a type of parking space attribute information. When scheduling parking resources for the target vehicle, the vehicle control device can also make scheduling decisions based on the parking space sequence attribute information to obtain a better allocation result.

[0024] In conjunction with the first aspect, in one possible design, instructing the target vehicle to move from the first parking space to the second parking space includes: instructing the target vehicle to move from the first parking space to the second parking space when the dwell time of the target vehicle in the first parking space is greater than or equal to a first threshold.

[0025] Using the above method, a dwell time can be set for a parking space, indicating the threshold time a vehicle can stay in that space, i.e., the first threshold. Furthermore, the vehicle control device can automatically control the movement of the target vehicle based on its dwell time in the first parking space, reducing the problem of excessive vehicle dwell time caused by abnormal situations, thus improving the overall operational efficiency of the fleet and significantly reducing the workload of operators.

[0026] Secondly, embodiments of this application provide a vehicle control method, which can be applied to a complete vehicle, on-board equipment in a vehicle, or chips or other components in a vehicle.

[0027] The method may include: a target vehicle receiving first indication information, the target vehicle being located in a first parking space, the first parking space and the second parking space being parking spaces defined in the same topology, the topology being used to indicate the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first level parking space and a second level parking space, the first level parking space including the first parking space, and the second level parking space including at least one downstream parking space of the first parking space; the target vehicle moving from the first parking space to the second parking space according to the first indication information.

[0028] In conjunction with the second aspect, in one possible design, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

[0029] In conjunction with the second aspect, in one possible design, the multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space, and the target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

[0030] In conjunction with the second aspect, in one possible design, the method further includes: the target vehicle reporting destination information, the destination information being used to indicate the destination of the target vehicle.

[0031] In conjunction with the second aspect, in one possible design, the method further includes: the target vehicle reporting status information, the status information including at least one of the following: position, speed, and heading angle.

[0032] In conjunction with the second aspect, in one possible design, the method further includes: the target vehicle receiving second indication information, the second indication information being used to indicate the duration of stay in the first parking space.

[0033] Thirdly, this application also provides a vehicle control method, which can be applied to a vehicle control device. The vehicle control device can be an independent device, a chip or component in the device, or software. It can be deployed in the cloud, roadside equipment, remote server, or local server, etc. This application does not limit the product form and deployment method of the vehicle control device.

[0034] The method includes: acquiring map information of a target area, the map information including multiple parking space attribute information; and determining the running route of the target vehicle based on the multiple parking space attribute information.

[0035] Using the method described above, the vehicle control device can plan a route for a target vehicle based on multiple parking space attribute information, thus obtaining the target vehicle's operating route. This solution can be applied to autonomous driving fleets, obtaining a more reasonable planning scheme by collaboratively controlling the operating routes of multiple vehicles in the fleet, enabling multiple vehicles to operate in an orderly manner and improving the overall operational efficiency of the fleet. It should be understood that this solution can also be applied to fleets that include vehicles in manual driving mode or partially autonomous driving mode, which will not be elaborated upon here.

[0036] It should be understood that the path planned by the vehicle control device for the target vehicle can be a road-level path or a lane-level path. A road-level path instructs the vehicle to travel on a corresponding road, primarily indicating the direction of travel at intersections, and generally does not restrict the vehicle's specific behavior within the road. A lane-level path requires the vehicle to travel in a specific lane, disallowing the vehicle from overtaking, changing lanes, or crossing lanes at will. The target vehicle's route can include road-level paths and / or lane-level paths.

[0037] Fourthly, this application provides a vehicle control device, which can be a standalone device, a chip or component within a device, or software. It can be deployed in the cloud, on a roadside device, a remote server, or a local server, etc. This application does not limit the product form or deployment method of the vehicle control device.

[0038] The vehicle control device may include: a determining unit for determining a target vehicle located in a first parking space; an acquiring unit for acquiring a topology relationship indicating the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first-level parking space and a second-level parking space, the first-level parking space including a first parking space, and the second-level parking space including at least one downstream parking space of the first parking space; an allocating unit for allocating a second parking space to the target vehicle according to the topology relationship, the second parking space being an available parking space in the second-level parking space; and a communication unit for instructing the target vehicle to move from the first parking space to the second parking space.

[0039] In conjunction with the fourth aspect, in one possible design, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

[0040] In conjunction with the fourth aspect, in one possible design, the multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space, and the target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

[0041] In conjunction with the fourth aspect, in one possible design, the acquisition unit is used to acquire destination information of multiple vehicles, the destination information of the multiple vehicles being used to indicate the same destination;

[0042] The determining unit is used to determine the target vehicle from the plurality of vehicles.

[0043] In conjunction with the fourth aspect, in one possible design, the determining unit is further configured to: determine the order in which the plurality of vehicles arrive at the destination; and determine the parking order of the plurality of vehicles based on the order in which they arrive at the destination.

[0044] In conjunction with the fourth aspect, in one possible design, the determining unit is further configured to: determine the parking order of the plurality of vehicles based on the travel task.

[0045] In conjunction with the fourth aspect, in one possible design, the acquisition unit is used to acquire the state information of the plurality of vehicles; the determination unit is used to determine the target vehicle based on the state information of the plurality of vehicles. Optionally, the vehicle state information includes at least one of the following: position, speed, and heading angle.

[0046] In conjunction with the fourth aspect, in one possible design, the acquisition unit is used to acquire parking space attribute information in the topology; the allocation unit is used to allocate a second parking space to the target vehicle based on the parking space attribute information. Optionally, the parking space attribute information includes the type of parking space and / or the availability status of the parking space.

[0047] In conjunction with the fourth aspect, in one possible design, the communication unit is used to: instruct the target vehicle to move from the first parking space to the second parking space when the dwell time of the target vehicle in the first parking space is greater than or equal to a first threshold.

[0048] Fifthly, this application provides a vehicle control device, which may be a complete vehicle, an on-board device on a vehicle, or a chip or other component in the vehicle.

[0049] The method may include: a target vehicle receiving first indication information, the device comprising: a communication unit for receiving the first indication information, wherein the target vehicle is located in a first parking space, the first parking space and the second parking space are parking spaces defined in the same topology, the topology being used to indicate the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first-level parking space and a second-level parking space, the first-level parking space including the first parking space, and the second-level parking space including at least one downstream parking space of the first parking space; and a control unit for controlling the vehicle to move from the first parking space to the second parking space according to the first indication information.

[0050] In conjunction with the fifth aspect, in one possible design, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

[0051] In conjunction with the fifth aspect, in one possible design, the multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space, and the target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

[0052] In conjunction with the fifth aspect, in one possible design, the communication unit is further configured to: report destination information, which is used to indicate the destination of the target vehicle.

[0053] In conjunction with the fifth aspect, in one possible design, the communication unit is also used to: report status information, which includes at least one of the following: position, speed, and heading angle.

[0054] In conjunction with the fifth aspect, in one possible design, the communication unit is further configured to: receive second indication information, the second indication information being used to indicate the duration of stay in the first parking space.

[0055] Sixthly, embodiments of this application provide a vehicle control device, including: an acquisition unit for acquiring map information of a target area, the map information including multiple parking space attribute information; and a planning unit for determining the running route of the target vehicle based on the multiple parking space attribute information.

[0056] In a seventh aspect, embodiments of this application provide an apparatus comprising a memory and a processor, the memory being used to store computer instructions; the processor calling the computer instructions stored in the memory to implement the methods described in any of the above aspects and possible designs of any of the above aspects.

[0057] Eighthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform any of the above-described aspects and the methods described in any of the above-described possible designs.

[0058] Ninthly, embodiments of this application provide a computer program product that, when run on a computer, causes the computer to perform any of the above aspects and the methods described in any of the above aspects.

[0059] In a tenth aspect, embodiments of this application provide a chip system including a processor for calling a computer program or computer instructions stored in a memory, such that the processor performs any of the above aspects and the methods described in any of the above aspects.

[0060] In conjunction with the tenth aspect, in one possible implementation, the processor is coupled to the memory via an interface.

[0061] In conjunction with the tenth aspect, in one possible implementation, the chip system further includes a memory in which computer programs or computer instructions are stored.

[0062] Eleventhly, embodiments of this application provide a processor for calling a computer program or computer instructions stored in a memory, so that the processor performs any of the above-described methods and possible designs thereof.

[0063] In a twelfth aspect, embodiments of this application provide a vehicle control system that includes the vehicle control devices described in the third and fourth aspects above.

[0064] Based on the implementations provided in the above aspects, the embodiments of this application can be further combined to provide more implementations. Attached Figure Description

[0065] Figure 1a A schematic diagram illustrating the application scenarios to which the embodiments of this application are applicable is shown;

[0066] Figure 1b The system architecture diagram applicable to the embodiments of this application is shown;

[0067] Figure 2 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0068] Figure 3 A schematic diagram of a parking space according to an embodiment of this application is shown;

[0069] Figure 4A schematic diagram illustrating the topological relationships of an embodiment of this application is shown;

[0070] Figure 5 A schematic diagram of a parking space sequence according to an embodiment of this application is shown;

[0071] Figure 6 A schematic diagram of parking space resource scheduling according to an embodiment of this application is shown;

[0072] Figure 7 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0073] Figure 8 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0074] Figure 9 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0075] Figure 10 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0076] Figure 11 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0077] Figure 12 A schematic diagram of the structure of a vehicle control device according to an embodiment of this application is shown;

[0078] Figure 13 A schematic diagram of the vehicle structure according to an embodiment of this application is shown;

[0079] Figure 14 A schematic diagram of the device according to an embodiment of this application is shown;

[0080] Figure 15 A schematic diagram of a parking space sequence according to an embodiment of this application is shown. Detailed Implementation

[0081] A parking space generally refers to a parking spot, which can be used for long-term or temporary parking of vehicles. Common parking spaces are divided into two categories: those located in dedicated parking lots and those located on the roadside. Some roadside parking spaces have time limits; these spaces can be used for parking during certain periods and for passage during others.

[0082] In commercial vehicle production environments such as ports and industrial parks, the location of production equipment can be considered a parking space. Vehicles can move to the parking space where the production equipment is located and utilize the corresponding production resources to perform their tasks. Generally, the number of production equipment is far less than the number of vehicles waiting to be used. In most cases, at least one vehicle needs to be assigned to the same production equipment, and these vehicles must compete for the production resources corresponding to that equipment. However, a production equipment can generally only serve one vehicle at a time. Other vehicles must wait for the production equipment to become available before they can move to the corresponding parking space and perform their tasks. The long waiting time can significantly impact the overall operational efficiency of the fleet. Therefore, how to allocate production resources to these vehicles and the time for using those resources to ensure that these vehicles can complete their tasks in an orderly manner is a crucial issue in commercial vehicle projects.

[0083] To address the aforementioned issues, a collaborative driving solution is proposed, which uses the cloud to uniformly schedule, plan, and guide automated vehicles within a port, enabling efficient operation of multiple vehicles at the port. However, in this solution, the cloud is only used to issue tasks (e.g., containing destination information) and some basic instructions (e.g., stop, pause, resume), representing a weak control mode. In this mode, the cloud does not need path planning capabilities, or only needs relatively simple path planning capabilities (usually pre-configured). Simultaneously, by driving multiple times within the site, the driving paths are recorded on the vehicle's end. Then, based on the tasks issued by the cloud, the corresponding path is retrieved from the vehicle's database, and the vehicle drives along that path. In this solution, the implementation of autonomous driving functions almost entirely depends on the vehicle; the cloud does not truly play a role in multi-vehicle collaborative control. If the path planning of individual vehicles is unreasonable, it inevitably leads to problems such as long waiting times for some vehicles, some vehicles circling, and localized congestion, resulting in low operational efficiency. Furthermore, this solution requires vehicles to record and follow saved driving paths, making it highly dependent on the work site and unable to flexibly change or expand the work site, resulting in poor scalability.

[0084] This application proposes a vehicle control method, device, and system. By managing and scheduling parking space resources for target vehicles, and based on the target vehicle's current parking space and its associated topological relationships, the system determines the second parking space the target vehicle needs to move to and instructs the target vehicle to move. This solution can be applied to production scenarios such as ports, mines, and enclosed industrial parks to uniformly manage and schedule vehicles in a fleet awaiting operation within the corresponding site. This helps the fleet operate in an orderly manner, minimizing the problem of some vehicles queuing when competing for the same production equipment, and reducing congestion caused by chaotic movement of some vehicles. This improves the overall operational efficiency of the fleet and significantly reduces manual operation costs. This solution can also be applied to passenger vehicle environments, such as highway toll stations, parking garages, and bus stations. It allows for the unified management and scheduling of multiple passenger vehicles (considered as belonging to a single fleet) that need to queue or park, enabling each passenger vehicle to queue for passage / payment, enter the garage, and exit in an orderly manner. This reduces long waiting times for some passenger vehicles and improves the overall management efficiency of the multiple passenger vehicles. The method and apparatus are based on the same technical concept. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and the method can refer to each other, and the repeated parts will not be described again.

[0085] It should be noted that the vehicle control scheme in this application embodiment can be applied to vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V), and vehicle-to-vehicle (V2V) communication. For example, it can be applied to vehicles with driving mobility functions, or other devices within vehicles with driving mobility functions. These other devices include, but are not limited to, on-board terminals, on-board controllers, on-board modules, on-board components, on-board chips, on-board units, on-board radar, or on-board cameras, and other sensors. Vehicles can implement the vehicle control method provided in this application through these on-board terminals, controllers, modules, components, chips, units, radar, or cameras. Of course, the control scheme in this application embodiment can also be used in other intelligent terminals with mobility control functions besides vehicles, or installed in other intelligent terminals with mobility control functions besides vehicles, or installed in components of such intelligent terminals. These intelligent terminals can be intelligent transportation equipment, smart home devices, robots, etc. Examples include, but are not limited to, smart terminals or controllers, chips, radar or cameras, and other sensors and components within smart terminals.

[0086] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0087] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the priority or importance of multiple objects. For example, "first parking space," "second parking space," and "third parking space" are only used to distinguish different parking spaces, and do not indicate that these three parking spaces have different priorities or importance.

[0088] To facilitate understanding, the following description is provided in conjunction with the accompanying drawings and embodiments.

[0089] Figure 1a The diagram illustrates an application scenario to which embodiments of this application are applicable. In this application scenario, a vehicle 100 and a cloud server 200 may be included, and the vehicle 100 and the cloud server 200 may communicate via a network.

[0090] Some or all of the functions of vehicle 100 are controlled by computing platform 150. Computing platform 150 may include at least one processor 151, which can execute instructions 153 stored in a computer-readable medium such as memory 152. In some embodiments, computing platform 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a central processing unit (CPU). Alternatively, processor 151 may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0091] In addition to instruction 153, memory 152 may also store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0092] It should be understood that Figure 1a The structure of the vehicle should not be construed as a limitation on the embodiments of this application.

[0093] Optionally, the vehicle 100 mentioned above can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, etc., and this application embodiment does not impose any special limitations.

[0094] In addition, such as Figure 1a The application scenarios shown may also include cloud servers. In this embodiment, the cloud server can carry road information and the planned travel time information of the vehicle on the road in the route information it sends to the vehicle. By sending the planned travel time information through the server, the total number of vehicles on each road segment can be less than or equal to the capacity of each road segment, thus avoiding road congestion caused by the total number of vehicles exceeding the road capacity, and helping to avoid conflicts between vehicles.

[0095] In one embodiment, the cloud server 200 can also be implemented via a virtual machine.

[0096] Figure 1b A system architecture diagram applicable to embodiments of this application is shown. See also... Figure 1b As shown, the system may include a vehicle control device 110 and a vehicle 120. It should be understood that this is merely an illustrative example of the devices that may be included in the system and not a limitation thereof. Optionally, the system may also include an upper-level application 130, a roadside unit (RSU), etc. Furthermore, the number of various devices that may be included in the system is not limited to one; for example, the system may include at least one vehicle 120.

[0097] The vehicle control device 110 can be used to provide related services / functions for controlling the vehicle 120, including but not limited to map services, parking space resource management services, and route planning services. In one possible implementation, the above-mentioned services can also be implemented by corresponding modules in the vehicle control device 110. For example, the map module 111 provides the map service, the parking space resource management module 112 provides the parking space resource management service, and the route planning module 113 provides the route planning service. It should be understood that the map module 111, the parking space resource management module 112, and the route planning module 113 mentioned herein can be different modules, two modules, or one module. Some module functions can also be deployed in upper-layer applications or other systems. This application embodiment does not limit the various services provided by the vehicle control device 110 or the specific implementation methods of each service.

[0098] For example, map module 111 provides the map service, which may include map information required for driving control of vehicle 120 within a set target area, including but not limited to road information, parking space information, and other relevant information within the target area. Parking resource management module 112 provides the parking resource management service, which may perform parking resource scheduling for vehicle 120. By allocating suitable parking spaces to vehicle 120, vehicle 120 can move orderly within the target area and complete its work tasks. Route planning module 113 provides the route planning service, which may perform route planning for vehicle 120, planning the vehicle's route within the target area, and sending instruction information to vehicle 120 so that vehicle 120 can move orderly based on the obtained route. Thus, under the coordinated control of various modules, the vehicle control device can flexibly schedule parking resources for multiple vehicles when there is resource competition among them, reducing problems such as long waiting times and congestion for some vehicles, and maximizing the overall operating efficiency of multiple vehicles.

[0099] The various modules within the vehicle control device 110 can communicate and transmit information to each other to ensure the functionality of the device. For example, the parking space resource management module 112 can query vehicle information, parking space information, and other relevant configuration information within a target area from the map module. Based on this information, it allocates parking spaces to the target vehicle requiring parking space scheduling, thus obtaining the parking space allocation result. The route planning module 113 can query the parking space resource allocation result for the target vehicle from the parking space resource management module 112 and performs route planning based on this result, obtaining the route the target vehicle will take. It should be noted that... Figure 1bIn the diagram, the connection between the map module 111, the parking resource management module 112, and the route planning module 113 only indicates that these modules can communicate with each other, and does not limit the communication method, information transmission direction, or specific information transmitted between different modules.

[0100] In practical implementation, the vehicle control device 110 can take on various product forms. For example, the vehicle control device can be a server. This server can be a single server or a server cluster consisting of multiple servers. The server can be a local server. In the field of vehicle networking, the server can specifically be a cloud server, also referred to as a cloud, cloud-based server, cloud controller, or vehicle networking server, etc. A cloud server is a general term for devices or components with data processing capabilities, which may include physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits. Optionally, the vehicle control device 110 can also be a roadside device, or a chip or component within a roadside device.

[0101] Vehicle 120 can be any vehicle, including but not limited to production vehicles, general-purpose vehicles, and special-purpose vehicles, and can be passenger cars, trucks, etc. Vehicle 120 can register with vehicle control device 110 to obtain the aforementioned services provided by vehicle control device 110. The services provided by vehicle control device 110 to vehicle 120 can be presented in various forms on vehicle 120, such as voice services, navigation services, autonomous driving services, query services, voice broadcast services, etc., which are not limited in this embodiment. Vehicle 120 can also report relevant information, such as vehicle status information, to vehicle control device 110 so that vehicle control device 110 can uniformly manage and schedule multiple vehicles based on the status information reported by vehicle 120.

[0102] The vehicle 120 can be in a fully manual driving mode, a fully automated driving mode, or a partially automated driving mode. A partially automated driving mode means, for example, that the vehicle 120 can control itself while in automated driving mode, and can determine the current state of the vehicle and its surrounding environment through human intervention, determine the possible behaviors of at least one other vehicle in the surrounding environment, and control the vehicle 120 based on the determined information. When the vehicle 120 is in fully automated driving mode, it can be set to operate without human interaction. It should be understood that when the above system includes at least one vehicle, the at least one vehicle can include: vehicles of different vehicle types, vehicles of different job types, vehicles with different task priorities, or vehicles in different driving modes. In other words, the system can specifically include multiple different vehicles, and this application embodiment does not limit this.

[0103] Optionally, the vehicle 120 may also have onboard equipment for information processing and interaction, such as a telematics box (T-Box) that can communicate with the RSU. Alternatively, various terminal devices located on the vehicle (e.g., placed or installed inside the vehicle) can be considered onboard equipment, and onboard equipment can also be considered as onboard units (OBUs).

[0104] Optionally, the vehicle control device 110 can interface with an upper-layer application 130. For example, this upper-layer application can be an application program or software. The upper-layer application 130 can be installed and run on user equipment (which can be a cloud device or a terminal device). Operators can configure the vehicle control device 110 through the upper-layer application 130, including but not limited to configuring the functions of the vehicle control device 110 and issuing tasks and control commands. Furthermore, the vehicle control device 110 can obtain configuration information, tasks, and control commands from the upper-layer application 130, and utilize other information it can obtain to uniformly schedule parking resources for relevant vehicles in the system, thereby improving the overall operational efficiency of the vehicles.

[0105] It is understood that the aforementioned user equipment can be any suitable electronic device, including but not limited to mobile phones, tablets, desktop computers, wearable devices, etc. This user equipment may have a user interface (UI) for displaying map information, parking space information, and vehicles on the map within the target area. The user interface may be a touchscreen, allowing operators to perform the aforementioned configurations through touch operations; alternatively, the user equipment may have other input devices, such as a mouse or keyboard, through which operators can configure and assign tasks to the vehicle control device via upper-layer applications.

[0106] based on Figure 1b The system architecture shown and the vehicle control method of this application enable the vehicle control device 110 to manage and schedule parking resources for the vehicle 120, so that the vehicle 120 and its fleet can operate in an orderly manner, thereby improving the overall operational efficiency of the fleet. For ease of understanding, the specific implementation of the vehicle control method of this application embodiment will be described in detail below with reference to the method flowchart.

[0107] Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown. The method can be... Figure 1b The vehicle control device 110 shown works in conjunction with the target vehicle, wherein the target vehicle can be... Figure 1b Vehicle 120 in Figure 1b When the target vehicle includes at least one vehicle 120, the target vehicle is one of the at least one vehicle 120. It is understood that... Figure 1a The cloud server shown can replace Figure 1b Vehicle control device 110 in Figure 1a The vehicle shown can also be used as a substitute. Figure 1b The vehicle in the system is controlled by the following vehicle control method.

[0108] See Figure 2 As shown, the vehicle control method may include the following steps:

[0109] S210: The vehicle control device 110 determines the target vehicle, which is located in the first parking space.

[0110] In this embodiment of the application, the target vehicle is a vehicle that requires parking space resource scheduling.

[0111] Generally, in a commercial vehicle production environment, production equipment and its corresponding production materials are often production resources that multiple vehicles need to compete for. Each vehicle needs to drive to the parking space where the production equipment is located and use the production materials corresponding to that equipment to perform corresponding work tasks. Therefore, the parking space where the production equipment is located can also be regarded as a resource that multiple vehicles need to compete for. In a passenger vehicle environment, there may also be a phenomenon where multiple vehicles compete for the same parking space resource, such as at tollbooth gates or parking lot entrances and exits. In the embodiments of this application, the vehicles that need to be scheduled for parking space resources are those that need to compete for the same parking space resource, and the target vehicle can be one of these multiple vehicles.

[0112] In one example, the vehicle control device 110 can acquire destination information for multiple vehicles, where the destination information of any one vehicle indicates its final destination. The vehicle control device 110 can parse the destination information of the multiple vehicles, and if it determines that the destination information of the multiple vehicles indicates the same destination, the vehicle control device 110 can determine that these multiple vehicles require parking space resource scheduling. Furthermore, the vehicle control device 110 can identify the target vehicle from the multiple vehicles.

[0113] It should be noted that, in specific implementations, the vehicle control device 110 can obtain the vehicle's destination information through various methods, and this application embodiment does not limit this. For example, the vehicle control device 110 can receive a task from the upper-layer application 130, and the task may include the destination information of the multiple vehicles. Alternatively, the vehicle control device 110 can receive the destination information reported by each of the multiple vehicles. Or, the vehicle control device 110 can receive a task from the upper-layer application 130, and the task may include the destination information of some of the multiple vehicles, as well as the destination information reported by other vehicles. The vehicle can communicate directly with the vehicle control device 110 to report its own destination information, or the vehicle can communicate with the vehicle control device 110 via a third-party device (e.g., RSU) to report its own destination information; this application embodiment does not limit this implementation method.

[0114] It should be understood that the above-described method of determining the target vehicle based on purpose information is merely an example of this application and not a limitation. In other embodiments, the vehicle control device 110 may also determine the target vehicle in other ways, such as based on topological relationships. Other methods of determining the target vehicle in this application will be described below in conjunction with topological relationships, and will not be elaborated upon here.

[0115] The first parking space can be the first position of the target vehicle. Since vehicles typically have a predetermined volume and require a predetermined space, the parking space (location) mentioned in this application specifically refers to the reference position of the vehicle when it is parked in the corresponding space. This reference position can be represented by the geometric center of the space occupied by the vehicle in a two-dimensional plane. See also... Figure 3 As shown, parking space 31 is a resource on the road network and can be located on a lane 32. Parking space 31 is represented by a rectangle. The width of parking space 31 is approximately the same as the width of the lane it is located on. The length of parking space 31 is greater than or equal to the length of the vehicle itself, or it can be less than the length of the vehicle itself. The reference position 33 of parking space 31 is generally chosen as its geometric center. Vehicles can move to parking space 31 and stay there.

[0116] It should be noted that in the embodiments of this application, parking spaces can have different definitions in different application scenarios. For example, they can be real parking spaces in the physical world, such as parking lot spaces, roadside parking spaces, etc., which are parking spaces that can be collected by high-precision maps. Alternatively, they can be parking spaces located on lanes in a commercial vehicle production environment. These parking spaces are generally not marked in the physical world, and high-precision maps may not be able to obtain this information. It is understood that, in addition to real parking spaces in the physical world, parking spaces in the embodiments of this application can also be parking spaces that are not marked in the physical world, i.e., virtual parking spaces. The location and range of these virtual parking spaces can be dynamically generated according to the needs of the operation and can be presented in the human-computer interaction interface. In a commercial vehicle production environment, the setting of parking spaces can be related to production operations, and the location of parking spaces can also change with the needs of the operation. The frequency of change can be high or low, and different parking spaces can overlap with each other. When the needs of the operation change dynamically, the original number of parking spaces cannot meet the needs. At this time, it is necessary to expand the number of parking spaces, i.e., add virtual parking spaces. The addition of virtual parking spaces can be based on the original topology. For example, as Figure 5As shown, when vehicles are queuing for work, the existing parking space sequence for the current work demand is L1, L2, and L3, where L1 is the downstream parking space of L2, and L2 is the downstream parking space of L3. Due to dynamic changes in work demand, the number of vehicles assigned to the same work parking space increases, thus requiring the addition of a temporary waiting parking space L4 to meet the queuing demand. The added L4 parking space can be an upstream parking space of L3 or a parallel parking space of L3; this embodiment does not limit this. When work demand changes dynamically, the original number of parking spaces exceeds the actual number required for the work. In this case, parking spaces can be reduced according to the task requirements to free up space. When there is a new work demand, the reduced parking spaces can be used as parking spaces for the new work demand. For example, the existing parking space sequence for operational needs is L1, L2, and L3, where L3 is the upstream parking space of L2 and L2 is the upstream parking space of L1. When the actual operational needs reduce the number of parking spaces required, any one of L1, L2, and L3 can be removed. The removed L1, L2, and L3 parking spaces can be used as parking spaces required for new task needs without affecting the existing operational needs.

[0117] Understandably, parking spaces can be expanded or reduced based on operational needs. Furthermore, when a vehicle malfunctions, the parking space occupied by that vehicle is closed; or, if a higher-priority operational need arises, the existing parking space will be temporarily requisitioned to ensure the higher-priority operation can proceed. The above situations update the topological relationship between that parking space and other parking spaces. The following example illustrates this illustrative point: a vehicle malfunctions during operations. For example... Figure 15As shown, the existing parking space sequence for operational needs is L1, L2, and L3. L1 is the upstream parking space of L2, and L2 is the upstream parking space of L3. When a vehicle parked on L2 is determined to be a faulty vehicle, the parking space of L2 becomes a faulty parking space. That is, until the faulty vehicle returns to normal or is removed, the parking space will be occupied by the faulty vehicle for a long time, and the original operational needs can no longer be met. Therefore, the state of L2 needs to be set to closed or marked as a faulty parking space, and L2 needs to be removed from the parking space sequence. There are two different implementation methods. One possible implementation method is to delete L2 and add the parking spaces related to L2 in the topology (such as the upstream and downstream parking spaces of L2) to other topology relationships; or the original topology relationship is broken at L2 and a new topology relationship is formed at the upstream and downstream parking spaces of L2. That is, if L2 has both upstream and downstream parking spaces, the parking space where L2 was originally located will be split into two new topology relationships (or sequences). Another possible implementation method is to delete the topology relationship related to L2. The original sequence is still a complete sequence. That is, after L2 is removed, its upstream parking space L1 and downstream parking space L3 form a new upstream and downstream relationship. At this time, there is no intermediate L2 parking space. L3 and L1 form a sequence, and L3 is the upstream parking space of L1. The above describes an embodiment where a disabled vehicle is parked in a parking space. When a disabled vehicle is not parked in a parking space, a parking space can be generated based on the location of the disabled vehicle, and the status of the parking space can be set to closed or the parking space can be recorded as a disabled parking space. In subsequent vehicle route planning, the parking space can be avoided.

[0118] In this embodiment, when a parking space is closed and removed from the topology, the following exemplary operations can be performed: the system operator selects the parking space to be removed, or the cooperative driving system detects the faulty parking space and prompts the operator to confirm the removal, or the cooperative driving system detects the faulty parking space and directly removes it. This embodiment does not limit this. Furthermore, the cooperative driving system determines whether the parking space will disrupt the original parking space sequence and displays the sequence result after removing the parking space and the related topology on the interface. The system operator performs operations based on the displayed results, or the system itself determines whether the new topology is feasible and then performs the operation directly. For example, when the faulty parking space is located at the downstream or upstream end of the sequence, removing the parking space will not affect the original sequence topology. When the faulty parking space is located in the middle of the sequence, it has both upstream and downstream parking spaces. Therefore, the original parking space sequence can be divided into two new sequences or the integrity of the original sequence can be preserved based on the actual connection of the working parking spaces. The efficiency of the operation can be used as the basis for dividing the parking space sequence. The topological relationships of parking spaces include chain structures and mesh structures. For example, when a faulty parking space exists in a chain structure, a new topological relationship is established to allow vehicles to operate normally. In a mesh structure, when a faulty parking space exists, there are situations where closing that space does not require adjusting the original parking space sequence, and operations can still proceed normally and orderly. In both chain and mesh structures, the cooperative driving system or the operator can establish new topological relationships, thereby ensuring smooth operations and improving traffic efficiency. After a new topological relationship is established, the cooperative driving system updates and saves the new topological relationship and displays it on the interface. It is understood that the above-described faulty vehicle scenario is merely an example; the operator or the cooperative driving system can also split and merge parking space sequences according to time-based operational needs, and this application embodiment does not limit this.

[0119] In this embodiment, the vehicle control device 110 can schedule parking resources for the target vehicle within a target area. The multiple parking spaces within the target area can include parking spaces that actually exist and are marked in the physical world, or parking spaces that are not marked in the physical world. Optionally, the vehicle control device 110 can pre-set relevant information about parking spaces within the target area according to application requirements, scenarios, etc., so as to schedule parking resources for vehicles within the target area based on the set parking space information. The predefined parking space information in this embodiment will be described in detail below in conjunction with topological relationships, and will not be elaborated upon here.

[0120] Optionally, the first parking space can be implemented in various ways depending on the state of the target vehicle under different circumstances. For example, the first parking space can be a parking space for parking the target vehicle. When the target vehicle needs to travel to perform related work, the vehicle control device 110 can perform parking space resource scheduling for the target vehicle based on the first parking space to determine how the target vehicle should travel. Alternatively, the first parking space can be any parking space along the route the target vehicle takes to complete the work task. The vehicle control device 110 can perform parking space resource scheduling for the target vehicle based on the first parking space to determine how the target vehicle should continue moving. Or, if the first parking space is a work station for the target vehicle to perform the work task, the vehicle control device 110 can perform parking space resource scheduling for the target vehicle based on the first parking space to determine the parking space or further waiting space that the target vehicle needs to go to, so as to determine whether the target vehicle ends the task or continues to perform other tasks. In the following, the vehicle control schemes under different circumstances will be described in detail with reference to different embodiments, which will not be elaborated here.

[0121] S220: Vehicle control device 110 acquires topology relationship.

[0122] In this embodiment, parking spaces are set up to guide multiple vehicles to work together to complete certain tasks. Therefore, in order to complete the guidance, multiple parking spaces can be pre-set and configured. These multiple parking spaces can have a logical topological relationship, which can indicate the association between multiple levels of parking spaces. Parking spaces with a logical topological relationship can form a parking space sequence (Location Queue).

[0123] Figure 4 A schematic diagram of the parking space topology according to an embodiment of this application is shown. (See also...) Figure 4 As shown, arrows from left to right indicate the order from upstream to downstream parking spaces, and a column of rectangles from top to bottom represents multiple parking spaces belonging to the same parking space level. Each level may include more than one parking space. A parking space may have upstream and / or downstream parking spaces, and the number of upstream and / or downstream parking spaces a parking space may have is not limited to one. In this embodiment, for ease of distinction, the multiple levels of parking spaces indicated in the topology can be referred to as first-level parking spaces, second-level parking spaces, third-level parking spaces, etc., and can be represented as level 1, level 2, level 3... level n, where n represents the number of parking space levels and is an integer greater than or equal to 1.

[0124] Example, Figure 4In this diagram, parking spaces L1, L2, and L3 belong to Level 1; L4 and L5 belong to Level 2; L6 belongs to Level 3; L7, L8, and L9 belong to Level 4; and L10 belongs to Level 5. The downstream parking space for L1 and L2 is L4; the downstream parking space for L3 is L5; the downstream parking space for L4 and L5 is L6; the downstream parking spaces for L6 are L7, L8, and L9; and the downstream parking space for L9 is L10. Parking spaces L1, L4, L6, and L7 can form a parking space sequence; parking spaces L1, L4, L6, L8, and L10 can form a parking space sequence; parking spaces L1, L4, L6, and L9 can form a parking space sequence; parking spaces L2, L4, L6, and L7 can form a parking space sequence; parking spaces L2, L4, L6, L8, and L10 can form a parking space sequence; parking spaces L2, L4, L6, and L9 can form a parking space sequence; parking spaces L3, L5, L6, and L7 can form a parking space sequence; parking spaces L3, L5, L6, L8, and L10 can form a parking space sequence; parking spaces L3, L5, L6, and L10 can form a parking space sequence.

[0125] It should be noted that in this embodiment, a lane, also known as a driving lane or carriageway, is a road used for vehicles to travel on. A road may contain one or more lanes. Generally, the upstream / downstream relationship between roads and lanes needs to be connected by continuous lane centerlines, and different roads or lanes cannot physically overlap. In this embodiment, the upstream / downstream relationship between parking spaces refers to the logical relationship between parking spaces. This logical relationship is different from the upstream / downstream relationship between roads and lanes. Parking spaces with the upstream / downstream relationship can be located in different lanes or different roads, without the need for connecting lines, and can also have physical overlap, as long as vehicles can travel from upstream parking spaces to downstream parking spaces through the road network. Furthermore, in this embodiment, a parking space can only be an upstream or downstream parking space of another parking space, and cannot be both an upstream and downstream parking space of another parking space at the same time.

[0126] It is understood that the naming method for parking space levels in this application embodiment is only for distinguishing different parking space levels, and not for limiting the order or function of parking spaces or parking space levels. In the following text, for ease of description, the parking space level to which the first parking space belongs can be referred to as Level 1, and Level 1 parking spaces may also include other parking spaces besides the Level 1 parking space; the parking space level to which the second parking space allocated to the target vehicle belongs can be referred to as Level 2, and Level 2 parking spaces may also include other parking spaces besides the Level 2 parking space; the parking space level to which the third parking space belongs can be referred to as Level 3, and Level 3 parking spaces may also include other parking spaces besides the Level 3 parking space. These distinctions will not be made individually in the following text. Furthermore, the above... Figure 4The parking space sequence in the text is only an example of the logical relationship between multiple parking spaces with upstream / downstream relationships. It does not limit the positional relationship, distance, etc. between the parking spaces. The logical depth of the parking spaces contained in different parking space sequences can be different, that is, the number of parking space levels contained in different parking space sequences can be different.

[0127] It should be noted that S210 and S220 above are merely examples of steps and do not limit the execution order of the two steps. In another embodiment, S220 can be executed first and then S210, or S210 and S220 can be executed simultaneously. The vehicle control device 110 can also determine the target vehicle based on the topological relationship. For example, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority. Alternatively, the multi-level parking space includes a third-level parking space, and the third-level parking space includes at least one upstream parking space of the first-level parking space. The target vehicle is the vehicle with the highest task priority among the upstream parking spaces of the at least one first-level parking space, or the vehicle that arrives first among multiple vehicles with the same task priority, or the vehicle closest to the first-level parking space.

[0128] S230: The vehicle control device 110 allocates a second parking space to the target vehicle according to the topology.

[0129] In this embodiment of the application, the second parking space is an vacant parking space in the second level of parking spaces.

[0130] For example, depending on the type or purpose of the parking space allocated to the target vehicle, the second parking space can be the target vehicle's destination parking space (or work station), where the target vehicle can move to the second parking space and perform corresponding work tasks. Alternatively, the second parking space can be the target vehicle's first waiting parking space, which can be an upstream parking space from the target vehicle's destination parking space, where the target vehicle can move to the first waiting parking space and wait before moving to the destination parking space. Alternatively, the second parking space can be the target vehicle's second waiting parking space, which can be a waiting parking space after the target vehicle's destination parking space, where the target vehicle can move to the second waiting parking space and wait after leaving the destination parking space. Alternatively, the second parking space can be the target vehicle's parking space, where the target vehicle can be parked, which can be a parking position for the target vehicle after completing one work task and before starting the next work task, or a parking position for the target vehicle for a longer period of time. It is understood that this is merely an example of the second parking space and not a limitation on any function. In other embodiments, parking spaces of other uses or types can be defined according to operational needs or scenarios, and parking space resource management and scheduling can be performed on the target vehicles. This application embodiment does not limit this.

[0131] by Figure 4 Taking the illustrated topology as an example, the vehicle control device 110 can allocate a second parking space to the target vehicle based on the first parking space and the topology. For instance, when the first parking space is parking space L1 and parking space L4 is vacant, the vehicle control device 110 can allocate parking space L4 as its second parking space to the target vehicle. Alternatively, when the first parking space is L1 and the target vehicle's destination parking space L6 is vacant, the vehicle control device 110 can allocate parking space L6 as its second parking space to the target vehicle. Or, when the first parking space is L1 and the target vehicle's destination parking space is parking space L6 (not vacant), the vehicle control device 110 can allocate the vacant parking space L4 as its second parking space, allowing the target vehicle to move from the first parking space to the second parking space and wait for its destination parking space L6 to become available. Alternatively, when the first parking space is parking space L6, the vehicle control device 110 can allocate a parking space as its second parking space to the target vehicle based on the topology, allowing the target vehicle to leave the work area. Alternatively, when the first parking space is parking space L6 and the target vehicle is temporarily unable to leave the work area, the vehicle control device 110 can allocate an empty parking space downstream of parking space L6, such as one of parking spaces L7, L8, L9 or L10, as its second parking space.

[0132] S240: The vehicle control device 110 instructs the target vehicle to move from the first parking space to the second parking space.

[0133] S250: The target vehicle moves from the first parking space to the second parking space according to the instructions of the vehicle control device 110.

[0134] In this embodiment of the application, when implementing S240 and S250, the vehicle control device 110 can achieve movement control of the target vehicle in a variety of different ways, and this embodiment of the application does not limit this.

[0135] For example, in S240, the vehicle control device 110 can send instruction information to the target vehicle, which can be used to indicate the second parking space. This instruction information may include, for example, the parking space identifier of the second parking space, the map identifier of the second parking space, the road identifier of the second parking space, and the lane identifier of the second parking space, and can be used to uniquely identify the second parking space. In S250, the destination parking space can be moved from the first parking space to the second parking space according to the instruction information.

[0136] For example, in S240, the vehicle control device 110 can send the parking space number of the second parking space in the corresponding topology to the target vehicle. The target vehicle's local database can pre-store the topology. In S250, after receiving the parking space number, the target vehicle can move from the first parking space to the second parking space according to the topology and the parking space number.

[0137] For example, in S240, the vehicle control device 110 can send a target path to the target vehicle. The target path may include the parking space identifier of the second parking space and / or the set of location points that the target vehicle will pass through during its future journey to the second parking space. In S250, the target vehicle can move from the first parking space to the second parking space according to the target path.

[0138] Therefore, through the above scheme, the vehicle control device 110 assigns the second parking space to the target vehicle and instructs the target vehicle to move from the first parking space to the second parking space, so that the target vehicle can move along a suitable route to perform the work task at the appropriate time. This helps the convoy to which the target vehicle belongs to carry out the work in an orderly manner and improves the overall work efficiency of the convoy.

[0139] In one possible implementation, to flexibly manage and schedule parking resources, the topology obtained in step S220 can be obtained by configuring relevant attributes when multiple parking spaces within a pre-defined target area are configured. This topology can include multiple parking space attribute information and / or multiple parking space sequence attribute information, as shown in Table 1 or Table 2 below. The multiple parking space sequence attribute information can also be included as parking space attribute information in Table 1. This application does not limit the specific implementation of the relevant attribute information.

[0140] It should be understood that in this embodiment, the multiple parking space attribute information and / or multiple parking space sequence attribute information can be configured according to application requirements, and can be flexibly updated and adjusted under different application requirements or application scenarios. The topology relationship can be stored in the local database of the vehicle control device. When implementing S220, the vehicle control device 110 can obtain the topology relationship from the local database. Alternatively, the topology relationship can also be stored in other devices. When implementing S220, the vehicle control device can obtain the topology relationship from the other devices. This embodiment does not limit the method of obtaining the topology relationship.

[0141] In this embodiment, there are multiple ways to predefine parking spaces, topological relationships, parking space attribute information in the topological relationships, and parking space sequence attribute information. Correspondingly, there are also multiple ways to schedule parking resources for the target vehicle based on the topological relationships. The vehicle control device 110 can flexibly schedule parking resources for the target vehicle to help the target vehicle and its fleet operate in an orderly manner, thereby improving the overall operational efficiency of the fleet. For ease of understanding, the relevant attribute information of the predefined parking spaces or parking space sequences will first be introduced in conjunction with Tables 1 and 2. Then, the specific implementation methods of each step in S210-S240 will be illustrated with examples in conjunction with Tables 1 and 2.

[0142] Table 1

[0143]

[0144] As shown in Table 1 above, the first column exemplifies the names of the relevant parking space attributes defined for each parking space, including the parking space identifier (id), the map identifier (map_id) to which the parking space belongs, the road identifier (road_id) where the parking space is located, the lane identifier (lane_id) where the parking space is located, the parking space description (description), the parking space length (length), the parking space width (width), the reference position (ref_position), the location type (location_type), the status (status), the duration of stay (duration_of_stay), the upstream parking space identifier set (upstream_location_ids), and the downstream parking space identifier set (downstream_location_ids), etc. Correspondingly, the second to fourth columns are the relevant definition information for the corresponding parking space attributes, including the attribute type, which indicates the data type corresponding to an attribute, such as integer, string, enum, double, map point, and integer array (List). <integer>The definition of attributes includes, for example, the relevant identification of the parking space, physical dimensions, type, availability, dwell time, and upstream and downstream parking space identification sets; as well as other relevant information in the remarks, as detailed in Table 1 and the corresponding explanations below. It should be understood that this is only an example of parking space attributes and not a limitation. In specific implementation, other parking space attributes can be defined according to operational needs, application scenarios, etc., and this application embodiment does not limit this.

[0145] The parking space is uniquely identified by one or more of the following fields: id, map_id, road_id, and lane_id. Specifically, the id field carries the primary key identifier for the parking space; this id is unique across the entire map. The map_id field carries identification information for different maps; when switching between maps, the information in the id field can be combined with the information in the map_id field to distinguish parking spaces on different maps. The road_id field identifies the road where the parking space is located, and the lane_id field identifies the lane where the parking space is located. When different roads or lanes are involved on different maps, the information in the id field can be combined with the information in the road_id field and / or the lane_id field to distinguish parking spaces on different roads or lanes. The process is similar across different maps, and will not be elaborated further here.

[0146] The description field can be used to carry information describing the carrying attributes of a parking space, such as whether the parking space is a navigation attribute or a non-navigation attribute, that is, whether it is a travel position in the navigation path. Depending on different production needs, parking spaces corresponding to the same location can have different carrying attributes.

[0147] The `length` or `width` fields can be used to indicate the physical dimensions of the parking space, respectively. In a commercial vehicle production environment, the width of the parking space can be the same as the width of the lane; therefore, the `width` field is optional. The `ref_position` field indicates the reference position of the parking space. This reference position can be used by the vehicle control device 110 as a location reference for the parking space when performing vehicle-road matching, parking space allocation, or route planning, indicating the specific location of the parking space on the corresponding map. It should be understood that the specific value of this reference position can be the coordinates (x, y) of the geometric center, or other information representing the position. This application embodiment does not limit the specific representation of this reference position.

[0148] The `location_type` field can be used to carry information indicating the type of parking space, corresponding to its specific purpose. For example, "CHARGE" indicates that the parking space can be used for vehicle charging; "PARK" indicates that the parking space can be used for parking vehicles; "WORK" indicates that the parking space can be used for performing work tasks, i.e., a workstation; and "WAIT" indicates that the parking space can be used for temporary parking, i.e., a waiting area. In actual implementation, the parking space type can also be configured according to generation requirements, and may include, but is not limited to, the various types mentioned in the examples above.

[0149] The `status` field can be used to carry information indicating the status of a parking space. Generally, the default status of a parking space is "available," corresponding to "open," meaning that the parking space can be allocated to a vehicle. When the status of a parking space is "unavailable," corresponding to "closed," it means that the parking space cannot be allocated to a vehicle at present, and in this case, the parking space cannot participate in the subsequent parking space resource scheduling process. It should be noted that this is only an example of the parking space status in this embodiment and not a limitation. In other embodiments, the `status` field can also take other values ​​or be dynamically configured or adjusted to indicate other statuses of the parking space, such as whether the parking space is vacant, whether it is occupied / reserved by other vehicles, whether it needs to be prioritized for allocation to other vehicles, etc. These statuses and the field values ​​representing these statuses can be configured in the predefined stage or updated during the parking space resource scheduling process. Furthermore, the vehicle control device can also make decisions based on the status of the parking space to determine whether the corresponding parking space can be allocated to a vehicle, which will not be elaborated here.

[0150] The `duration_of_stay` field specifies the permitted stay time for a vehicle in a parking space. This field is optional and depends on the parking space type. For example, when the parking space type is "WORK", the `duration_of_stay` field specifies the maximum permitted stay time for a vehicle that has completed its work at the parking space; when the parking space type is "WAIT", the `duration_of_stay` field specifies the maximum duration a vehicle can temporarily park in a waiting area. When the parking space type is "CHARGE" or "PARK", there is no limit to the permitted stay time.

[0151] The `upstream_location_ids` field can be used to store a set of upstream parking space identifiers, for example... Figure 4 In the diagram, the identifiers of the upstream parking spaces L4 and L5 of parking space L6, and the identifiers of the upstream parking spaces L1 and L2 of parking space L4, can be used for parking space sequence management. For example, based on the parking space sequence to which the parking space belongs, an upstream waiting space can be assigned to a vehicle that needs to move the parking space.

[0152] The `downstream_location_ids` field can be used to set the identifiers of the downstream parking spaces that host the parking spaces, for example... Figure 4 The identifiers of downstream parking spaces L7, L8, and L9 of parking space L6, and the identifier of downstream parking space L4 of parking space L1, can be used for parking space sequence management. For example, based on the parking space sequence to which the parking space belongs, downstream parking spaces can be assigned to vehicles located in that parking space.

[0153] It should be noted that the above-mentioned parking space attribute information and the function of each parking space attribute information are only illustrative examples. When production needs change, other parking space attribute information can be configured and the function of the corresponding parking space attribute information can be defined according to the changed production needs. This application embodiment does not limit this, and will not be elaborated here.

[0154] Table 2

[0155]

[0156] In Table 2 above, the first column exemplarily shows the names of the relevant parking space sequence attributes defined for the parking space sequence, including the parking space sequence identifier (id), the map identifier (map_id) to which the parking space sequence belongs, the parking space sequence description, the parking space sequence capacity, compact parking indication information, vehicle sequencing indication information, etc. Correspondingly, the second to fourth columns are the definition information of the corresponding parking space sequence attributes, including the attribute type, such as Boolean type (other types are described in Table 1 and will not be repeated here); the attribute definition, such as the relevant identifier, description, capacity, sequence type, whether reordering is supported, etc. of the parking space; and other information in the remarks. It should be understood that this is only a description of the parking space sequence attributes and not any limitation. In specific implementations, other parking space sequence attributes can be defined according to operational requirements, application scenarios, etc., and this application embodiment does not limit this.

[0157] The id field and / or map_id field can be used to uniquely identify a parking space sequence. Specifically, the id field carries the primary key identifier of the parking space sequence, and the map_id carries information to identify different maps. When switching between different maps, the information in the id field can also be combined with the information in the map_id field to distinguish parking space sequences in different maps.

[0158] The description field can be used to carry information describing the carrying attributes of a parking space sequence. For example, whether the parking space sequence is carried by navigation attributes or non-navigation attributes, that is, whether it is a parking space sequence composed of travel positions in the navigation path. Depending on different production needs, parking space sequences corresponding to the same location can have different carrying attributes.

[0159] The `capacity` field can be used to specify the capacity of a parking space sequence, such as the number of parking spaces that the sequence can contain. This `capacity` field is used for parking space sequence management and is generally used when allocating parking space resources to vehicles. The number of vehicles allocated to a particular parking space sequence generally cannot exceed the number of parking spaces contained within that sequence.

[0160] The `compact_parking` field can be used to carry information indicating whether a parking space sequence has a compact parking attribute. In this embodiment, the compact parking attribute indicates whether a parking space sequence is designed for compact parking. Generally, for parking space sequences that do not have a compact parking attribute, the value of the `compact_parking` field can be false or 0; for parking space sequences that have a compact parking attribute, the value of the `compact_parking` field can be true or 1. Based on the compact parking space sequence, the vehicle control device 110 can allocate more densely packed parking spaces to vehicles to improve the space utilization rate within the target area. Generally, the distance between the front and rear parking spaces (or the left and right parking spaces) in a compact parking space sequence is relatively short, and the parking order of multiple parking spaces contained in the sequence is fixed. The following vehicle can only leave after the preceding vehicle has left. Therefore, the `compact_parking` attribute may also affect the parking order of vehicles, and the `compact_parking` field can also be used by the vehicle control device 110 for parking space resource scheduling.

[0161] The `vehicle_sequencing` field carries information indicating whether a parking space sequence supports parking space reordering. Generally, for parking space sequences that do not support parking space reordering, the `vehicle_sequencing` field can be empty or 0; for parking space sequences that support parking space reordering, the `vehicle_sequencing` field can be non-empty or 1. In commercial vehicle production environments, in some scenarios, there are requirements for the order in which vehicles arrive at workstations and complete their tasks. When the `vehicle_sequencing` field of the target parking space sequence is empty or 0, it indicates that there is no parking space reordering requirement, and the task order requirement does not need to be considered when allocating parking space resources for vehicles. When the `vehicle_sequencing` field of the target parking space sequence is non-empty or 1, it indicates that the target parking space sequence has a parking space reordering requirement. When scheduling parking space resources for vehicles, it is also necessary to consider the order in which vehicles perform their tasks, prioritizing non-task tasks that need to be performed first, and allowing vehicles that have not yet been scheduled to perform their tasks to work later.

[0162] It should be understood that Tables 1 and 2 above are merely illustrative examples of parking space attributes or parking space sequence attribute information and not any limitation. In other embodiments, Table 1 may also include, for example, the number of the parking space in the corresponding parking space sequence, and the parking space sequence attribute information may also include, for example, the numbers of multiple parking spaces contained in the parking space sequence. Alternatively, Table 1 may also include the parking space capacity, which can generally be set to 1 by default. Under other requirements, the parking space capacity can also be set to other values, such as 2 or 3. When the vehicle control device 110 allocates a parking space in the target parking space sequence, it may, for example, use the parking space number as the unique identifier of the parking space to instruct the vehicle to move to the corresponding parking space.

[0163] Based on the relevant attribute information described in Tables 1 and 2 above, the vehicle control device 110 can perform parking space resource scheduling for multiple vehicles competing for the same resources within a target area. In this embodiment, to improve the overall operating efficiency of multiple vehicles, corresponding guidance rule information can also be set so that the vehicle control device can perform parking space resource scheduling according to the guidance rule information to obtain a more reasonable allocation result. For example, the guidance rule information may include, but is not limited to, the following:

[0164] (1) When the destination parking space involved in the vehicle task is available, the route from the vehicle to the destination parking space is directly planned.

[0165] (2) When the destination parking space involved in the vehicle task is occupied or reserved by other vehicles, find a relevant temporary parking space for it and plan the vehicle to the temporary parking space. When the destination parking space is available, plan the temporary parking space to the destination parking space.

[0166] (3) The destination parking space involved in the vehicle task is available, but there are other vehicles with a higher task priority than the vehicle. The vehicle needs to be guided to the relevant temporary parking space. After the other vehicles with higher task priority have finished their work, the vehicle will be guided to the destination parking space.

[0167] (4) In the case of a planning path triggered by the parking space or parking space sequence attribute (non-task triggered), multiple vehicles competing for the same resources are determined according to the planning path, and parking space resources are scheduled based on the guidance rule information mentioned in (1)-(3) above.

[0168] In practical applications, the vehicle control device 110 can coordinate vehicle control based on the relevant attribute information mentioned in Table 1 and / or Table 2 above, determine the target vehicle that needs to be scheduled for parking space resources, determine the second parking space allocated to the target vehicle, and instruct the target vehicle to move.

[0169] For example, the parking space type "location_type" indicates the type of parking space. See also Figure 6 The parking space sequence shown may include a work station for performing a task and multiple wait stations for vehicles to temporarily stop. The wait stations may be located upstream and / or downstream of the work station. The work station may be configured with corresponding generated data. In a single task, multiple vehicles may be assigned to that work station for work; in such cases, the vehicle control device 110 can base its actions on... Figure 6 The parking space sequence shown allocates parking spaces to multiple vehicles so that they can operate in an orderly manner. When the vehicle_sequencing attribute of the parking space sequence is true, it indicates that the vehicle control device 110 needs to consider the completion order constraints of vehicle tasks (e.g., the packing order in a port scenario) when allocating parking space resources to vehicles based on this sequence. At this time, at the vehicle's destination parking space, for example... Figure 6 If a workstation shown is already occupied or reserved by another vehicle, the vehicle control device 110 can allocate a first waiting position upstream to the vehicle to be worked in accordance with the completion order constraints and topological relationships of the parking space sequence. Furthermore, a vehicle that has completed its work does not necessarily need to leave the parking space sequence immediately, and the vehicle control device 110 can also allocate a second waiting position downstream to the vehicle that has completed its work in accordance with the completion order constraints and topological relationships.

[0170] Since different parking space attribute information or parking space sequence attribute information have different uses in parking space resource scheduling, for ease of understanding, the specific implementation details of the vehicle control scheme of this application are described below with reference to the accompanying drawings and embodiments.

[0171] Figure 7 A flowchart of a vehicle control method according to an embodiment of this application is shown. See also... Figure 7 As shown, the vehicle control method may include the following steps:

[0172] S701: The upper layer application sets parking space information in the vehicle control device.

[0173] In this embodiment, unlike elements such as roads and lanes, the parking spaces set in S701 can be real parking spaces that exist in the physical world, or they can be generated by the vehicle control device 110 according to operational needs. These parking spaces can be displayed on the user interface. Operators can use the upper-level application to set up parking spaces on the map of the target area, define parking space attributes, topological relationships, parking space sequence attributes, and guidance rules that need to be followed for parking space resource scheduling.

[0174] When setting the parking space information, the upper-layer application can set the attributes of existing parking spaces and the attributes of corresponding parking space sequences, and can also add new parking spaces or parking space sequences. The map module in the vehicle control device 110 can verify the addition of parking spaces or sequences. For example, for safety reasons, new parking spaces or sequences cannot be set at road intersections, and the feature rectangle representing a parking space cannot cross multiple lanes. If the verification passes, the new parking space can be allowed to be set. If the verification fails, the vehicle control device 110 can refuse to set the parking space or sequence. After the parking space settings are completed, the obtained map information, parking space information, topological relationships, related attribute information, and guidance rule information of the target area can be used by the vehicle control device 110 to manage and schedule parking resources within the target area.

[0175] S702: The map module verifies newly added parking spaces or parking space sequences.

[0176] S703: Displays parking space locations, topological relationships, and guidance rule information within the target area on the user interface of the upper-layer application.

[0177] S704: Vehicles within the target area report their status information to the vehicle control device (specifically, for example, a map module within the vehicle control device). The status information may include at least one of the following: position, speed, and heading angle.

[0178] The vehicle's reported location information can be used to pinpoint its current location and determine the possible parking space sequence to which it belongs. The vehicle's reported speed information can be used to estimate the time required for the vehicle to reach the next parking space, and the reported heading angle can be used to determine the vehicle's direction of travel. Based on the vehicle's current location and heading angle, the target parking space sequence to which the vehicle belongs can be determined. Based on the vehicle's speed and heading angle, the time required for the vehicle to reach the downstream parking space within its possible parking space sequence can be determined. Based on the vehicle's current location, speed, and heading angle, the time required for the vehicle to travel from its current location to the downstream parking space within its target parking space sequence can be determined.

[0179] It is understood that in this embodiment of the application, any vehicle within the target area can report its relevant status information to the vehicle control device or its related modules in real time or periodically. This embodiment of the application does not limit the execution steps of S704.

[0180] S705: Vehicles within the target area report their destination information to the vehicle control device (specifically, for example, the route planning module within the vehicle control device). This destination information can be used to indicate the destination of the target vehicle. It is understood that in this embodiment, any vehicle within the target area can report its destination information to the vehicle control device or its related modules when needed, such as when the vehicle is in manual driving mode or partially automated driving mode. This embodiment does not limit the execution steps of S705.

[0181] S706: The operator can issue vehicle tasks to the route planning module in the vehicle control device 110 based on the relevant information displayed in the user interface of the upper-layer application. These vehicle tasks can be work tasks, instructing the vehicle to perform related tasks; travel tasks, instructing the vehicle to leave its current parking space; or parking tasks, instructing a departing vehicle to proceed to a designated parking space. If the vehicle task specifies a destination for a vehicle, and the destination is a parking space, the task must include information about the destination parking space, such as the parking space identifier and number, so that the route planning module can plan a route for the vehicle and match a corresponding sequence of target parking spaces. If the vehicle task does not specify a destination parking space, the route planning module can query the corresponding matching destination parking spaces or target parking space sequences for the vehicle based on the task type.

[0182] It should be noted that in this embodiment, S704-S706 only indicate that the vehicle control scheme may include steps such as vehicle reporting status information, vehicle reporting purpose information, or upper-layer application issuing vehicle tasks. This is not a limitation on these steps. In specific implementation, the vehicle may only report status information without reporting purpose information, and the vehicle's purpose information may be included in the vehicle tasks issued by the upper-layer application. The vehicle may also report its own status information and purpose information through the same signaling. The relevant information reported by the vehicle may also be reported to other modules in the vehicle control device, which will not be elaborated further here.

[0183] In the following steps, the status information and / or destination information reported by the vehicles can be used as information describing the actual situation of the vehicles and provided to relevant modules of the vehicle control device, such as the map module, parking space resource management module, or route planning module. This allows the vehicle control device to flexibly schedule parking space resources for target vehicles among multiple vehicles based on their status information and / or destination information. This reduces problems such as long waiting times or circling issues for some vehicles caused by unreasonable coordinated control of multiple vehicles, thereby improving the overall operational efficiency of the convoy composed of multiple vehicles. Optionally, when the vehicle control device periodically schedules parking space resources, periodically reports status information, and periodically reports destination information, the period for reporting status information or the period for periodically reporting destination information is less than or equal to the period for the vehicle control device 110 to schedule parking space resources for vehicles.

[0184] S707: The route planning module queries the parking space resource management module for the resource allocation of destination parking spaces or target parking space sequences.

[0185] If the destination parking space or target parking space sequence does not reach the corresponding capacity limit (i.e., the maximum number of vehicles allowed to be accommodated at the same time, where the capacity limit of the destination parking space can be 1, and the capacity limit of the target parking space sequence can be the number of multiple parking spaces contained in the target sequence), the route planning module can determine the vehicle's running route based on multiple parking space attribute information in the map information and issue the corresponding vehicle operation task to the vehicle, so that the vehicle can move to the destination parking space or target parking space sequence according to the running route. If the target parking space sequence has reached its capacity limit, indicating that the destination parking space or target parking space sequence is currently saturated and cannot accommodate any more vehicles, the route planning module needs to temporarily suspend the vehicle's operation task. At the same time, the parking space resource management module can perform parking space resource scheduling. The route planning module can query the resource allocation status of the destination parking space or target parking space sequence in real time or periodically, and resume the previously suspended task if the destination parking space or target parking space sequence has not reached the corresponding capacity limit. The route planning module can determine the vehicle's running route based on multiple parking space attribute information in the map information and issue the corresponding vehicle operation task to the vehicle so that the vehicle can move to the destination parking space or target parking space sequence according to the running route.

[0186] The route planning module uses multiple parking space attribute information, including but not limited to one or more of the information shown in Tables 1 and 2, to determine the vehicle's route. For example, the vehicle task received by the route planning module may include destination information, which may indicate the vehicle's destination parking space. The route planning module can determine the vehicle's route based on the attribute information of the destination parking space, such as relevant identifiers, parking space type, upstream parking space identifier set, and downstream parking space identifier set. For instance, when the destination parking space type is "CHARGE" or "PARK," the destination parking space is directly planned as the vehicle's destination. As another example, when the destination parking space type is "WORK," based on the upstream parking space identifier set of the destination parking space, an available parking space upstream of the destination parking space is planned as the vehicle's temporary parking space and included in the vehicle's route. For example, when the vehicle's task is a trip and the parking space it is currently in belongs to a compact parking space sequence but is not the last parking space in that sequence, the route planning module can plan the set of downstream parking space identifiers into the vehicle's travel route. It should be understood that this is merely an example of how the route planning module determines the vehicle's route based on multiple parking space attribute information. In other embodiments, the route planning module can combine one or more of the attribute information shown in Tables 1 and 2 as needed to plan the vehicle's route; these details will not be elaborated here.

[0187] In the parking space resource scheduling process, the parking space resource management module can search for the tasks and planned routes of each vehicle in the target area, manage and schedule multiple vehicles that need to go to the same destination parking space or the same target parking space sequence in a unified manner, and allocate specific parking space resources to multiple vehicles according to the corresponding guidance rule information. The route planning module can interact with the parking space resource management module to control multiple vehicles in the target area to move to the corresponding parking space in real time or periodically according to the parking space resource allocation results obtained by the parking space resource management module in the parking space resource scheduling process, so as to carry out the operation in an orderly manner.

[0188] S708: The path planning module issues a first path to the target vehicle among multiple vehicles. The first path can be used to indicate the first parking space and the set of location points along the way of the target vehicle as it moves to the first parking space.

[0189] Furthermore, the target vehicle can move from its current parking space to the first parking space according to the first path. Here, the current parking space is the position of each vehicle when the upper-layer application triggers the task. The current parking space of each vehicle can be actively reported by the vehicle itself (e.g., in S703), or it can be reported by each vehicle after the vehicle control device 110 sends query information (not shown in the figure) to the corresponding vehicles before issuing the task (e.g., in S703). In S707, the path planning module can perform unified planning and management based on the current parking spaces of each vehicle to obtain the first parking space that each vehicle needs to move to next.

[0190] S709: The parking space resource management module queries the map module for the vehicle location, destination parking space, and guidance rule information of the destination parking space for multiple vehicles.

[0191] S710: The parking resource management module determines the target vehicle based on vehicle tasks, the locations of multiple vehicles, and guidance rules for the destination parking space, and allocates parking space resources (i.e., the second parking space) to the target vehicle located in the first parking space. For detailed implementation, please refer to the following section. Figure 8 The relevant information will not be elaborated here.

[0192] S711: The vehicle control device instructs the target vehicle to move from the first parking space to the second parking space.

[0193] Scenario 1:

[0194] S711a: The parking space resource management module sends a first instruction message to the target vehicle. The first instruction message may include the identifier of the second parking space, the identifier of the map to which the second parking space belongs, the identifier of the road to which the second parking space belongs, or the identifier of the lane to which the second parking space belongs, etc.

[0195] Alternatively, the first instruction information may include the parking space number of the second parking space in the corresponding parking space sequence.

[0196] Accordingly, the target vehicle can move from the first parking space to the second parking space according to the first instruction information.

[0197] Scenario 2:

[0198] S711b: The parking space resource management module obtains the dwell time of the first parking space, i.e., the first threshold, by querying Table 1. Further, when the dwell time of the target vehicle in the first parking space is greater than or equal to the first threshold, the module instructs the target vehicle to move from the first parking space to the second parking space.

[0199] Alternatively, the parking resource management module can send a first instruction and a second instruction to the target vehicle. The first instruction may include various identifiers or parking space numbers as shown in the above scenario, and the second instruction may include the dwell time in the first parking space, i.e., a first threshold. Accordingly, the target vehicle can move from the first parking space to the second parking space when it determines that its dwell time in the first parking space is greater than or equal to the first threshold.

[0200] Scenario 3:

[0201] S711c: The route planning module can update the path of the target vehicle based on the parking space resource allocation results of the parking space resource management module. When updating the path in S711c, similar to the aforementioned implementation process, the route planning module can also update the path based on multiple attribute information in the map to obtain the updated running route of the target vehicle. Detailed implementation can be found in the relevant description above, and will not be repeated here.

[0202] The path may include indication information for the second parking space, as well as a set of locations the target vehicle needs to pass through when moving from the first parking space to the second parking space. S712: The path planning module uploads the updated path of the target vehicle to the upper-layer application. Furthermore, the operator can view the target vehicle's route in the upper-layer application's user interface. S713: The path planning module distributes the updated path of the target vehicle to the target vehicle. Furthermore, the target vehicle can travel based on the updated path to move from the first parking space to the second parking space.

[0203] In practical implementation, since the number of upstream and / or downstream parking spaces of a parking space in the multi-level parking space indicated by the topology relationship may not be limited to one, and correspondingly, the parking space sequence to which the parking space belongs may not be limited to one, the parking space resource management module needs to follow the set guidance rules information when scheduling parking space resources for multiple vehicles competing for the same parking space or parking space sequence based on the topology relationship, such as prioritizing allocation to vehicles that arrive first or prioritizing allocation to vehicles with higher task priority.

[0204] Figure 8 A schematic diagram illustrating the parking space resource scheduling process applicable to embodiments of this application is shown. (See also...) Figure 8 As shown, when the parking space resource management module in S710 schedules parking space resources for vehicles based on the set guidance rule information, it can allocate a second parking space to the target vehicle according to the parking space attribute information and / or parking space sequence attribute information in the topology relationship. Specifically, this can include the following steps:

[0205] S801: The parking space resource management module obtains the vehicle's work tasks.

[0206] S802: The parking space resource management module determines whether the task is for a designated destination parking space. If not, proceed to S803; if yes, proceed to S804.

[0207] S803: The parking space resource management module allocates an available parking space sequence to the vehicle according to the task type. Here, "available" means that there are vacant parking spaces in the parking space sequence, and the parking space sequence can be allocated to the vehicle so that the vehicle can drive to the vacant parking space in the parking space sequence.

[0208] S804: The parking resource management module determines whether the vehicle order adjustment attribute of the parking space sequence to which the destination parking space belongs is true. If not, proceed to S805; if yes, proceed to S806.

[0209] S805: The parking space resource management module allocates parking space resources to vehicles based on a first-come, first-served rule.

[0210] S806: The parking space resource management module queries the task priority of vehicles.

[0211] S807: The parking space resource management module determines whether there is a completion order constraint between the vehicle and other vehicles. If not, proceed to S805; if yes, proceed to S808. This completion order constraint refers to the work sequence that a vehicle must follow when completing a corresponding business task, such as the container loading sequence in a port scenario.

[0212] S808: The parking resource management module determines whether vehicles with lower task priorities have completed their tasks. If not, proceed to S809; if yes, proceed to S810. In the commercial vehicle production environment, task priority refers to the priority assigned to a vehicle when the task is issued. In the passenger vehicle environment, task priority can be determined by vehicle type. For example, special-operation vehicles (such as emergency rescue vehicles, ambulances, etc.) have a higher task priority than ordinary vehicles (such as private cars, commercial buses, trucks, etc.).

[0213] S809: The parking space resource management module allocates the first waiting position upstream to low-priority vehicles according to the topology, so that low-priority vehicles can temporarily park in the first waiting position and wait for high-priority vehicles to move to the work position and perform their work tasks.

[0214] S810: The parking space resource management module allocates a downstream second waiting position to low-priority vehicles according to the topology, so that after the low-priority vehicle leaves the work position, it temporarily stops at the second waiting position and waits for the high-priority vehicle to finish its work and leave the parking space sequence before leaving the parking space sequence.

[0215] Therefore, through Figures 7-8 As shown in the flowchart, when multiple vehicles compete for the same parking space and parking resources need to be scheduled, the parking resource management module combines the destination information, arrival time, target parking space sequence reordering attributes, and vehicle task priority of each vehicle to determine the target vehicle that needs to be scheduled first. For example, it can be the only vehicle among multiple upstream parking spaces competing for the same space, the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority. The module can also guide the target vehicle, adjust the queuing order of other vehicles, or allocate temporary parking spaces to ensure that multiple vehicles work together in an orderly manner, reduce congestion, and improve the overall operational efficiency of the fleet.

[0216] When applied to a commercial vehicle production environment, the above solution can help vehicles in a fleet move in an orderly manner and complete tasks, thereby improving the overall operational efficiency of the fleet. When applied to a passenger vehicle environment, in scenarios where multiple vehicles need to queue to compete for the same parking space, such as queuing at toll booths to pay tolls and enter / exit, or queuing at road intersections to pass through the same intersection in an orderly manner, by scheduling parking space resources for these multiple vehicles, they can pass through in an orderly manner in a shorter time, minimizing queuing and waiting issues, circling around, etc., improving the overall efficiency of the fleet, and enhancing the user experience.

[0217] Furthermore, in commercial vehicle manufacturing environments such as ports, space utilization is crucial. To maximize port economic efficiency, as much space as possible is used for container storage, leaving limited parking space. Ports typically don't have dedicated parking lots; instead, temporarily different vehicles are parked in different lanes. When parking in a lane, the vehicle's heading angle must align with the lane's permitted direction of travel. Assuming each vehicle can freely enter and exit, a sufficient distance must be maintained between vehicles. This arrangement requires more space for parking, potentially leading to parking shortages.

[0218] In this embodiment of the application, a method is designed as follows: Figure 5 The compact parking space sequence shown has a small distance between any two adjacent parking spaces, which can be used for denser and longer-term parking to improve space utilization. Furthermore, corresponding guidance rules are set for this compact parking sequence, ensuring orderly parking and convenient vehicle entry and exit when a vehicle is assigned to a parking space based on these rules.

[0219] In one example, when allocating parking space resources for multiple vehicles, the parking resource management module can determine the order in which the vehicles arrive at their destination, and then determine the parking order of the vehicles based on that order. In another example, the parking resource management module can determine the parking order of the vehicles based on a travel task.

[0220] by Figure 5 Taking the compact parking space sequence shown as an example, the arrows from left to right represent the direction from upstream to downstream of the lane. The parking spaces are numbered L4, L3, L2, and L1. There is an upstream-downstream topological relationship between adjacent parking spaces, which is consistent with the upstream-downstream direction of the lane. Due to the small distance between adjacent parking spaces, if a vehicle is parked in the downstream parking space, the vehicle in the upstream parking space cannot move. Therefore, when allocating parking spaces based on this compact parking space sequence, priority should be given to vehicles that have completed their tasks first, or vehicles that need to travel first. (See also...) Figure 9 The flowchart shown illustrates that when the S710 requires the parking resource management module to schedule parking resources for vehicles, the vehicle control method may include the following steps:

[0221] S901: The parking space resource management module obtains the parking task of the vehicle.

[0222] S902: The parking resource management module determines whether the parking task is a task with a specified target parking space sequence. If not, proceed to S903; if yes, proceed to S904.

[0223] S903: The parking space resource management module assigns a parking space sequence to the vehicle based on its location.

[0224] S904: The parking space resource management module determines whether the target parking space sequence is a compact parking space sequence. If not, proceed to S905; if yes, proceed to S906.

[0225] S905: Randomly assign available parking spaces.

[0226] S906: Starting from the downstream parking space in the target parking space sequence, search upstream once until the first unassigned parking space is found, and assign the unassigned parking space to the vehicle, thus planning the parking space into the vehicle's path.

[0227] In another example, vehicles parked in a compact parking space sequence must also follow the travel guidance rules of that compact parking space sequence when traveling. See also Figure 10 As shown, the following steps may be included:

[0228] S1001: The parking space resource management module obtains a travel task, which is used to instruct vehicles to travel.

[0229] S1002: The parking space resource management module determines whether the vehicle to be driven is located in the compact parking space sequence. If not, proceed to S1003; if yes, proceed to S1004.

[0230] S1003: The parking space resource management module instructs the vehicle to travel directly based on the travel task.

[0231] S1004: The parking resource management module determines whether the vehicle to be driven is located at the bottom of the compact parking space sequence. If yes, proceed to S1005; otherwise, proceed to S1006.

[0232] S1005: The parking space resource management module instructs the vehicle to travel and guides the vehicle at the bottom of the compact parking space sequence to the bottom parking space of the sequence, while other vehicles move downstream of their respective parking spaces in sequence.

[0233] S1006: The parking resource management module determines whether there are no vehicles in the downstream parking spaces of the vehicle to be driven. If yes, proceed to S1005. If no, proceed to S1007.

[0234] S1007: The parking resource management module rejects travel tasks.

[0235] Therefore, by designing a compact parking space sequence for vehicle parking, the above-mentioned scheme can improve the space utilization rate of the target area. Simultaneously, by setting guidance rules for this compact parking space sequence, parking resource scheduling can more rationally plan the parking and departure sequences of different vehicles within this sequence, ensuring orderly vehicle entry and exit, facilitating the orderly movement of multiple vehicles and the completion of related tasks, and guaranteeing the overall operational efficiency of multiple vehicles.

[0236] Furthermore, among various types of parking spaces, only regular parking spaces are generally suitable for longer-term vehicle parking, while work spaces or waiting spaces for vehicles to temporarily wait for work are for vehicles to park for a short period of time, after which the vehicle needs to leave the relevant parking space immediately. Therefore, in this embodiment of the application, in order to reduce the situation where vehicles stay in a parking space for a long time (e.g., due to task distribution system or network latency issues, causing vehicles to not receive the next task after completing the current task, resulting in excessive vehicle stay time) and affect the normal operation of other vehicles, this embodiment of the application can optionally set a corresponding stay duration for the parking space when setting the parking space information, such as a first threshold, which can be the maximum allowed duration for a vehicle to stay in this parking space. When the vehicle's stay time in the parking space reaches (or is about to reach) the stay duration, the vehicle needs to leave the parking space. At this time, the vehicle control device 110 can perform parking space resource scheduling for the vehicle and determine the next parking space for the vehicle to move to.

[0237] See Figure 11 As shown, taking a vehicle located at a workstation as an example, when the S710 requires the parking resource management module to perform parking resource scheduling for the vehicle, the vehicle control method may include the following steps:

[0238] S1101: The parking space resource management module has confirmed that the vehicle has completed its work at the work station.

[0239] S1102: The parking space resource management module determines whether the vehicle's dwell time at the workstation has reached a first threshold. If yes, proceed to S1103; if no, continue to determine until the vehicle's dwell time at the workstation reaches the first threshold, or a new task is received before reaching the first threshold.

[0240] S1103: The parking space resource management module determines whether the vehicle is located in the last parking space of the corresponding parking space sequence. If yes, proceed to S1104; otherwise, proceed to S1105.

[0241] S1104: The parking space resource management module allocates parking spaces to the vehicle.

[0242] S1105: The parking space resource management module determines whether there is a waiting space downstream of the vehicle's working position. If yes, proceed to S1106; otherwise, proceed to S1104.

[0243] S1106: The parking space resource management module guides the vehicle to move to the downstream waiting position of the workstation.

[0244] Therefore, by setting a dwell time for a predetermined parking space and guiding vehicle movement based on that dwell time, the above-mentioned solution reduces the impact of vehicles staying in the same parking space for too long on the movement or operation of other vehicles, thus helping to improve the overall operational efficiency of multiple vehicles. At the same time, the vehicle control device 110 can automatically detect and resolve anomalies, greatly reducing the burden on operators and minimizing efficiency problems caused by untimely operator scheduling.

[0245] Based on the same technical concept, this application also provides a vehicle control device for executing the method executed by the vehicle control device in the above method embodiments. The relevant features can be found in the above method embodiments, and will not be repeated here.

[0246] like Figure 12 As shown, the vehicle control device 1200 may include: a determining unit 1201 for determining a target vehicle located in a first parking space; an acquiring unit 1202 for acquiring a topology relationship, the topology relationship indicating the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first-level parking space and a second-level parking space, the first-level parking space including a first parking space, and the second-level parking space including at least one downstream parking space of the first parking space; an allocation unit 1203 for allocating a second parking space to the target vehicle according to the topology relationship, the second parking space being an available parking space in the second-level parking space; and a communication unit 1204 for instructing the target vehicle to move from the first parking space to the second parking space.

[0247] Optionally, the first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

[0248] Optionally, the multi-level parking space includes a third-level parking space, the third-level parking space includes at least one upstream parking space of the first-level parking space, and the target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

[0249] Optionally, the acquisition unit is used to acquire destination information of multiple vehicles, the destination information of the multiple vehicles being used to indicate the same destination; the determination unit is used to determine the target vehicle from the multiple vehicles.

[0250] Optionally, the determining unit is further configured to: determine the order in which the plurality of vehicles arrive at the destination; and determine the parking order of the plurality of vehicles based on the order in which they arrive at the destination.

[0251] Optionally, the determining unit is further configured to: determine the parking order of the plurality of vehicles based on the travel task.

[0252] Optionally, the acquisition unit is used to acquire the status information of the plurality of vehicles; the determination unit is used to determine the target vehicle based on the status information of the plurality of vehicles.

[0253] Optionally, the acquisition unit is used to acquire parking space attribute information in the topology; the allocation unit is used to allocate a second parking space to the target vehicle according to the parking space attribute information.

[0254] Optionally, the communication unit is configured to: when the target vehicle stays in the first parking space for a period of time greater than or equal to a first threshold, instruct the target vehicle to move from the first parking space to the second parking space.

[0255] This application also provides a vehicle control device for executing the method performed by the vehicle in the above method embodiments. The relevant features can be found in the above method embodiments, and will not be repeated here.

[0256] like Figure 13 As shown, the device 1300 may include: a communication unit 1301, for receiving first indication information, wherein the target vehicle is located in a first parking space, the first parking space and the second parking space are parking spaces defined in the same topology, the topology being used to indicate the association between multiple levels of parking spaces, the multiple levels of parking spaces including a first level parking space and a second level parking space, the first level parking space including the first parking space, and the second level parking space including at least one downstream parking space of the first parking space; and a control unit 1302, for controlling the vehicle to move from the first parking space to the second parking space according to the first indication information.

[0257] Optionally, the communication unit is further configured to: report destination information, the destination information being used to indicate the destination of the target vehicle.

[0258] Optionally, the communication unit is further configured to: report status information, the status information including at least one of the following: position, speed, and heading angle.

[0259] Optionally, the communication unit is further configured to: receive second indication information, the second indication information being used to indicate the duration of stay in the first parking space.

[0260] This application embodiment also provides a vehicle control device for executing the method performed by the vehicle in the above method embodiments. Related features can be found in the above method embodiments and will not be repeated here. The example vehicle control device may include: an acquisition unit for acquiring map information of a target area, the map information including multiple parking space attribute information; and a planning unit for determining the running route of the target vehicle based on the multiple parking space attribute information.

[0261] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The functional units in the embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0262] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0263] In a simplified embodiment, those skilled in the art will realize that the vehicle control device or vehicle described in the above embodiments can be adopted. Figure 14 As shown in the figure.

[0264] like Figure 14 The device 1400 shown includes at least one processor 1410 and a memory 1420, and optionally, may also include a communication interface 1430.

[0265] Memory 1420 may be volatile memory, such as random access memory; memory may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 1420 may be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 1420 may be a combination of the above-described memories.

[0266] The specific connection medium between the processor 1410 and the memory 1420 is not limited in the embodiments of this application.

[0267] In such Figure 14 The device also includes a communication interface 1430, through which the processor 1410 can transmit data when communicating with other devices.

[0268] When the vehicle control device adopts Figure 14 When in the form shown, Figure 14 The processor 1410 can call computer execution instructions stored in the memory 1420, so that the device 1400 can execute the method executed by the vehicle control device in any of the above method embodiments.

[0269] When the vehicle adopts Figure 14 When in the form shown, Figure 14 The processor 1410 can call computer execution instructions stored in the memory 1420, enabling the device 1400 to execute the method executed by the vehicle in any of the above method embodiments.

[0270] This application also relates to a chip system, which includes a processor for calling computer programs or computer instructions stored in memory, so that the processor performs actions such as... Figure 2 or Figures 7-11 The method shown in any of the embodiments.

[0271] In one possible implementation, the processor is coupled to the memory via an interface.

[0272] In one possible implementation, the chip system also includes a memory that stores computer programs or computer instructions.

[0273] This application also relates to a processor for calling computer programs or computer instructions stored in memory, so that the processor performs the following: Figure 2 or Figures 7-11 The method described in any of the embodiments shown in the accompanying drawings.

[0274] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more devices used to control the above. Figure 5 The integrated circuit executing the program of the driving scene recognition method in the illustrated embodiment. The memory mentioned above can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0275] It should be understood that embodiments of this application may be provided as methods, systems, or computer program products. Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0276] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0277] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0278] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.< / integer>

Claims

1. A vehicle control method, characterized in that, The method includes: Identify the target vehicle, which is located in the first parking space; Obtain the topology relationship, which indicates the association between multiple levels of parking spaces, including the order from upstream parking space to downstream parking space; the multiple levels of parking spaces include first-level parking spaces and second-level parking spaces, the first-level parking spaces include the first parking space, and the second-level parking spaces include at least one downstream parking space of the first parking space; When it is determined that the destination parking space of the target vehicle is occupied by other vehicles with a higher task priority than the target vehicle, a second parking space is allocated to the target vehicle according to the topology relationship. The second parking space is an empty parking space in the second level of parking spaces. The task priority includes the priority configured for the vehicle when the task is issued, or the task priority is associated with the vehicle type. Instruct the target vehicle to move from the first parking space to the second parking space.

2. The method according to claim 1, characterized in that, The first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

3. The method according to claim 1, characterized in that, The multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space. The target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

4. The method according to claim 1, characterized in that, The determination of the target vehicle includes: Acquire destination information for multiple vehicles, wherein the destination information of the multiple vehicles is used to indicate the same destination; The target vehicle is determined from the plurality of vehicles.

5. The method according to claim 4, characterized in that, The method further includes: Determine the order in which the plurality of vehicles arrive at the destination; The parking order of the multiple vehicles is determined based on the order in which they arrive at the destination.

6. The method according to claim 4, characterized in that, The method further includes: The parking order of the multiple vehicles is determined based on the travel task.

7. The method according to any one of claims 4-6, characterized in that, Determining the target vehicle from the plurality of vehicles includes: Obtain the status information of the multiple vehicles; The target vehicle is determined based on the status information of the multiple vehicles.

8. The method according to claim 7, characterized in that, The vehicle's status information includes at least one of the following: position, speed, and heading angle.

9. The method according to any one of claims 1-6 and 8, characterized in that, The step of allocating a second parking space to the target vehicle according to the topology includes: Obtain parking space attribute information from the topological relationship; A second parking space is allocated to the target vehicle based on the parking space attribute information.

10. The method according to claim 9, characterized in that, The parking space attribute information includes the type of parking space and / or the availability status of the parking space.

11. The method according to any one of claims 1-6, 8, and 10, characterized in that, The instruction to move the target vehicle from the first parking space to the second parking space includes: If the target vehicle stays in the first parking space for a period of time greater than or equal to a first threshold, the target vehicle is instructed to move from the first parking space to the second parking space.

12. A vehicle control method, characterized in that, The method includes: The target vehicle receives first indication information. The target vehicle is located in a first parking space. The first parking space and the second parking space are parking spaces defined in the same topology. The topology is used to indicate the association between multiple levels of parking spaces, including indicating the order from upstream parking space to downstream parking space. The multiple levels of parking spaces include a first level parking space and a second level parking space. The first level parking space includes the first parking space, and the second level parking space includes at least one downstream parking space of the first parking space. The target vehicle moves from the first parking space to the second parking space according to the first instruction information; the second parking space includes the parking space allocated to the target vehicle according to the topology when it is determined that the destination parking space of the target vehicle is occupied by other vehicles with a higher task priority than the target vehicle; wherein the task priority includes the priority configured for the vehicle when the task is issued, or the task priority is associated with the vehicle type.

13. The method according to claim 12, characterized in that, The first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

14. The method according to claim 12, characterized in that, The multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space. The target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

15. The method according to any one of claims 12-14, characterized in that, The method further includes: The target vehicle reports destination information, which is used to indicate the destination of the target vehicle.

16. The method according to any one of claims 12-14, characterized in that, The method further includes: The target vehicle reports status information, which includes at least one of the following: position, speed, and heading angle.

17. The method according to any one of claims 12-14, characterized in that, The method further includes: The target vehicle receives a second instruction, which indicates the duration of stay in the first parking space.

18. A vehicle control device, characterized in that, include: A determining unit is used to determine a target vehicle, wherein the target vehicle is located in the first parking space; An acquisition unit is used to acquire a topological relationship, which indicates the association between multiple levels of parking spaces, including an order from upstream parking space to downstream parking space; the multiple levels of parking spaces include a first level parking space and a second level parking space, the first level parking space includes the first parking space, and the second level parking space includes at least one downstream parking space of the first parking space; The allocation unit is configured to allocate a second parking space to the target vehicle according to the topology when it is determined that the destination parking space of the target vehicle is occupied by other vehicles with a higher task priority than the target vehicle. The second parking space is an available parking space in the second level of parking spaces. The task priority includes the priority configured for the vehicle when the task is issued, or the task priority is associated with the vehicle type. A communication unit is used to instruct the target vehicle to move from the first parking space to the second parking space.

19. The apparatus according to claim 18, characterized in that, The first-level parking space includes multiple parking spaces, and the target vehicle is the only vehicle in the multiple parking spaces, or the vehicle with the highest task priority, or the vehicle that arrives first among multiple vehicles with the same task priority.

20. The apparatus according to claim 18, characterized in that, The multi-level parking space includes a third-level parking space, which includes at least one upstream parking space of the first-level parking space. The target vehicle is the vehicle with the highest task priority among the first-level parking space and the at least one upstream parking space of the first-level parking space.

21. The apparatus according to claim 18, characterized in that, The acquisition unit is used to acquire destination information of multiple vehicles, and the destination information of the multiple vehicles is used to indicate the same destination; The determining unit is used to determine the target vehicle from the plurality of vehicles.

22. The apparatus according to claim 21, characterized in that, The determining unit is further configured to: Determine the order in which the plurality of vehicles arrive at the destination; The parking order of the multiple vehicles is determined based on the order in which they arrive at the destination.

23. The apparatus according to claim 21, characterized in that, The determining unit is further configured to: The parking order of the multiple vehicles is determined based on the travel task.

24. The apparatus according to any one of claims 21-23, characterized in that, The acquisition unit is used to acquire the status information of the plurality of vehicles; The determining unit is used to determine the target vehicle based on the status information of the plurality of vehicles.

25. The apparatus according to any one of claims 18-23, characterized in that, The acquisition unit is used to acquire parking space attribute information in the topological relationship; The allocation unit is used to allocate a second parking space to the target vehicle based on the parking space attribute information.

26. The apparatus according to any one of claims 18-23, characterized in that, The communication unit is used for: If the target vehicle stays in the first parking space for a period of time greater than or equal to a first threshold, the target vehicle is instructed to move from the first parking space to the second parking space.

27. A vehicle control device, characterized in that, include: A communication unit is configured to receive first indication information, indicating that the target vehicle is located in a first parking space, and the first and second parking spaces are parking spaces defined in the same topology. The topology is used to indicate the association between multiple levels of parking spaces, including indicating the order from upstream parking spaces to downstream parking spaces. The multiple levels of parking spaces include first-level parking spaces and second-level parking spaces, where the first-level parking spaces include the first parking space itself, and the second-level parking spaces include at least one downstream parking space of the first parking space. The control unit is configured to control the vehicle to move from the first parking space to the second parking space according to the first indication information; the second parking space includes a parking space allocated to the target vehicle according to the topology when it is determined that the destination parking space of the target vehicle is occupied by other vehicles with a higher task priority than the target vehicle. The task priority mentioned therein includes the priority configured for the vehicle when the task is issued, or the task priority is associated with the vehicle type.

28. The apparatus according to claim 27, characterized in that, The communication unit is also used for: Report destination information, which is used to indicate the destination of the target vehicle.

29. The apparatus according to claim 27, characterized in that, The communication unit is also used for: The status information is reported, which includes at least one of the following: position, speed, and heading angle.

30. The apparatus according to any one of claims 27-29, characterized in that, The communication unit is also used for: Receive a second indication message, which indicates the duration of stay in the first parking space.

31. An apparatus, characterized in that, include: Processor and memory; The memory is used to store programs; The processor is configured to execute a program stored in the memory to enable the apparatus to perform the method as described in any one of claims 1-11.

32. An apparatus, characterized in that, include: Processor and memory; The memory is used to store programs; The processor is configured to execute a program stored in the memory to enable the apparatus to perform the method as described in any one of claims 12-17.

33. A vehicle control system, characterized in that, Includes the vehicle control device as described in any one of claims 18-26 and the vehicle control device as described in any one of claims 27-30.

34. A computer storage medium, characterized in that, Includes computer-readable instructions that, when executed, implement the method as described in any one of claims 1-11 or 12-17.

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