Vehicle Scheduling Method, Device, Equipment and System

Abstract

The present application relates to a vehicle dispatching method, apparatus, equipment, and system. The vehicle dispatching method includes: while a target vehicle is traveling along a current driving path, detecting whether the current driving path needs to be extended, where the target vehicle is any one of multiple vehicles in a site; if the current driving path needs to be extended, determining a first meeting point for the target vehicle; the first meeting point is a preset meeting point in a preset driving path corresponding to the target vehicle, located in front of the target vehicle and with a distance between the target vehicle and the target vehicle greater than or equal to the remaining length of the current driving path; extending the current driving path based on the first meeting point to obtain a target driving path; detecting whether the target driving path conflicts with the current driving paths of other vehicles; where the other vehicles are vehicles other than the target vehicle among the multiple vehicles; and if there is no conflict, controlling the target vehicle to travel along the target driving path. This effectively avoids the possibility of deadlock conflicts between the target vehicle and other vehicles during driving.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle dispatching, and in particular to a vehicle dispatching method, apparatus, equipment and system. Background Art

[0002] Currently, warehouse logistics and discrete manufacturing industries often face a high volume of internal logistics demands. However, these roads and passageways are often narrow, often only allowing one vehicle to pass through. In this situation, the widespread use of automated guided vehicles (AGVs) for intra-factory logistics can easily lead to vehicle deadlock conflicts, severely impacting logistics efficiency. Therefore, preventing these conflicts is a pressing issue. Summary of the Invention

[0003] In view of this, the present application provides a vehicle scheduling method, device, equipment and system that can effectively avoid the occurrence of vehicle deadlock conflicts.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] A first aspect of the present application provides a vehicle dispatching method, comprising:

[0006] During a process in which a target vehicle is traveling along a current driving path, detecting whether the current driving path needs to be extended, the target vehicle being any one of a plurality of vehicles in the site;

[0007] If the current driving path needs to be extended, determining a first meeting point for the target vehicle; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and the distance between the target vehicle and the target vehicle is greater than or equal to the remaining distance of the current driving path;

[0008] Extending the current driving path based on the first meeting point to obtain a target driving path;

[0009] Detecting whether the target driving path conflicts with a current driving path of another vehicle; the other vehicle is a vehicle other than the target vehicle among the multiple vehicles;

[0010] If there is no conflict, the target vehicle is controlled to travel according to the target driving path.

[0011] Optionally, if the target driving path conflicts with the current driving path of another vehicle, determining a second meeting point of the target vehicle;

[0012] The second meeting point is a preset meeting point between the first meeting point and the target vehicle in the preset driving path corresponding to the target vehicle, which is closest to the first meeting point;

[0013] The second meeting point is used as the first meeting point, and the process returns to the step of extending the current driving path based on the first meeting point to obtain a target driving path.

[0014] Optionally, the detecting whether the current driving path needs to be extended includes:

[0015] Detecting whether the remaining distance of the current driving path is less than a first threshold, and whether the end point of the current driving path is the end point of the preset driving path;

[0016] If the remaining distance of the current driving path is less than a first threshold, and the end point of the current driving path is not the end point of the preset driving path, determining that the current driving path of the target vehicle needs to be extended;

[0017] If the remaining distance of the current driving path is greater than or equal to a first threshold, or the end point of the current driving path is the end point of the preset driving path, it is determined that there is no need to extend the current driving path of the target vehicle.

[0018] Optionally, also include:

[0019] Detecting whether the remaining distance of the current driving path of the target vehicle is less than a second threshold; the second threshold is less than the first threshold;

[0020] If the remaining road length is less than a second threshold, detecting whether an end point of the remaining road length conflicts with a current driving path of the other vehicle;

[0021] If there is a conflict, detecting whether the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle;

[0022] If the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, the target vehicle is controlled to enter a meeting and yielding state.

[0023] Optionally, controlling the target vehicle to enter a meeting and yielding state includes:

[0024] Determining a target meeting area where an end point of the remaining road length is located and a target area type corresponding to the target meeting area;

[0025] Determining a yield point for the target vehicle from all preset meeting points in the target meeting area according to the target meeting area and the target area type;

[0026] A yield instruction including the yield point is generated and sent to the target vehicle.

[0027] Optionally, when the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, the method further includes:

[0028] If the target vehicle reaches the end point of the remaining road length, the end point of the remaining road length is marked as an occupied meeting point corresponding to the target vehicle.

[0029] Optionally, before controlling the target vehicle to travel according to the target driving path, the method further includes:

[0030] If the target vehicle is in a yielding state, detecting whether the end point of the target driving path and the yielding point belong to the same meeting area;

[0031] If the end point of the target driving path and the oncoming vehicle yielding point do not belong to the same oncoming vehicle area, the occupied oncoming vehicle point corresponding to the target vehicle is released.

[0032] Optionally, detecting whether the target driving path conflicts with the current driving paths of other vehicles includes:

[0033] detecting whether a minimum distance between the target driving path and the current driving path of the other vehicle is less than a third threshold, and detecting whether the target driving path passes through an occupied meeting point corresponding to the other vehicle;

[0034] If the minimum distance between the target driving path and the current driving path of the other vehicle is less than a third threshold, or the target driving path passes through an occupied meeting point corresponding to the other vehicle, it is determined that the target driving path conflicts with the current driving path of the other vehicle.

[0035] Optionally, before detecting whether the current driving path of the target vehicle needs to be extended, the method further includes:

[0036] Update the driving priority of each vehicle in the venue according to preset rules;

[0037] In descending order of driving priority, each vehicle in the site is sequentially selected as the target vehicle;

[0038] The target vehicle is controlled to operate according to the current driving path of the target vehicle.

[0039] Optionally, updating the driving priority of each vehicle in the site according to a preset rule includes:

[0040] Calculating priority weights of the multiple vehicles based on their global path information, wherein the global path information includes a total length of the global path, a total waiting time, and a waiting time at the current position;

[0041] The driving priority of each vehicle is updated according to the priority weight of each vehicle.

[0042] Optionally, determining the first meeting point of the target vehicle includes:

[0043] A preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle, has a distance from the target vehicle greater than a fourth threshold, and is closest to the target vehicle, is determined as the first meeting point of the target vehicle.

[0044] A second aspect of the present application provides a vehicle dispatching device, comprising:

[0045] A first detection module is used to detect whether a target vehicle needs to extend its current driving path when the target vehicle is traveling along the current driving path, wherein the target vehicle is any one of multiple vehicles in the site;

[0046] a determination module, configured to determine a first meeting point for the target vehicle if the current driving path needs to be extended; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and has a distance from the target vehicle greater than or equal to the remaining length of the current driving path;

[0047] An acquisition module, configured to extend the current driving path based on the first meeting point to obtain a target driving path;

[0048] A second detection module is configured to detect whether the target driving path conflicts with a current driving path of another vehicle; the other vehicle is a vehicle other than the target vehicle among the multiple vehicles;

[0049] The control module is configured to control the target vehicle to travel along the target driving path if there is no conflict between the target driving path and the current driving paths of other vehicles.

[0050] A third aspect of the present application provides a vehicle dispatching device, comprising:

[0051] a processor, and a memory connected to the processor;

[0052] The memory is used to store computer programs;

[0053] The processor is used to call and execute the computer program in the memory to perform the vehicle scheduling method as described in the first aspect of the present application.

[0054] A fourth aspect of the present application provides a vehicle dispatching system, comprising the vehicle dispatching device as described in the third aspect of the present application.

[0055] The technical solution provided by this application may have the following beneficial effects:

[0056] In the solution of the present application, when the target vehicle is traveling along the current driving path, it is detected whether the current driving path needs to be extended, wherein the target vehicle is any one of the multiple vehicles in the site; if the current driving path needs to be extended, the first meeting point of the target vehicle can be determined, wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and the distance between the target vehicle and the target vehicle is greater than or equal to the remaining length of the current driving path; then the current driving path is extended based on the first meeting point to obtain the target driving path. It is detected whether the target driving path conflicts with the current driving paths of other vehicles; other vehicles are vehicles other than the target vehicle among the multiple vehicles; if there is no conflict, the target vehicle is controlled to travel along the target driving path. In this way, when the target vehicle completes the preset driving path, it is ensured that the target driving paths received by the target vehicle are all paths that do not conflict with the current driving paths of other vehicles in the site, effectively avoiding the possibility of deadlock conflicts between the target vehicle and other vehicles during driving, and improving transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0058] Figure 1 This is a flow chart of a vehicle dispatching method provided in one embodiment of the present application.

[0059] Figure 2 This is a schematic diagram of a driving path within a venue provided by an embodiment of the present application.

[0060] Figure 3 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0061] Figure 4 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0062] Figure 5 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0063] Figure 6 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0064] Figure 7 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0065] Figure 8 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0066] Figure 9 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0067] Figure 10 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0068] Figure 11 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0069] Figure 12 This is a schematic diagram of a driving path within a venue provided in another embodiment of the present application.

[0070] Figure 13 This is a schematic diagram of a single-side oncoming vehicle provided by an embodiment of the present application.

[0071] Figure 14 This is a schematic diagram of a double-side vehicle meeting provided by an embodiment of the present application.

[0072] Figure 15 This is a schematic diagram of a reverse parking method provided by an embodiment of the present application.

[0073] Figure 16 This is a schematic diagram of meeting at an intersection provided by an embodiment of the present application.

[0074] Figure 17 It is a structural diagram of a vehicle dispatching device provided in one embodiment of the present application.

[0075] Figure 18 This is a structural diagram of a vehicle dispatching device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0076] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be described in detail below. Obviously, the embodiments described are only some of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other implementation methods obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0077] The embodiment of the present application provides a vehicle dispatching method, such as Figure 1 As shown, the method at least includes the following implementation steps:

[0078] S101. When a target vehicle is traveling along a current driving route, detecting whether the current driving route needs to be extended, wherein the target vehicle is any one of a plurality of vehicles in a site.

[0079] During implementation, the site can be a workspace in scenarios such as warehousing and logistics, discrete processing and manufacturing plants, where multiple vehicles travel on the roads within the site. While the target vehicle is traveling along its current route, it can detect whether the current route needs to be extended, thereby determining in real time whether the vehicle's current route needs to be changed.

[0080] S102. If the current driving path needs to be extended, determine a first meeting point for the target vehicle; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and the distance between the target vehicle and the target vehicle is greater than or equal to the remaining distance of the current driving path.

[0081] During implementation, a map of all driving routes within the venue can be pre-created, and road segments, meeting areas, corresponding area types, and meeting points can be defined based on actual needs. The preset driving route for the target vehicle is the pre-planned route from the starting point to the end point within the venue. Pre-set meeting points are pre-defined meeting points within the venue.

[0082] If the current route needs to be extended, it indicates that the route needs to change, meaning the endpoint of the current route is not the endpoint of the preset route. Therefore, a preset meeting point located in front of the target vehicle and with a distance greater than or equal to the remaining distance of the current route can be determined as the first meeting point in the preset route corresponding to the target vehicle, providing a temporary endpoint for the extension of the current route.

[0083] S103: Extend the current driving path based on the first meeting point to obtain a target driving path.

[0084] After the first meeting point is determined as a temporary extension end point, the current driving route may be extended. Specifically, a new target driving route may be determined based on the position of the first meeting point and the current position of the target vehicle.

[0085] During implementation, the target driving path may be determined by taking the position of the first meeting point as the end point of the target driving path and the current position of the target vehicle as the starting point of the target driving path.

[0086] S104. Detect whether the target driving path conflicts with the current driving paths of other vehicles; other vehicles are vehicles other than the target vehicle among the multiple vehicles.

[0087] In order to ensure the feasibility of the determined target driving path, it is also necessary to detect whether the target driving path conflicts with the current driving paths of other vehicles in the site.

[0088] S105: If there is no conflict, control the target vehicle to travel along the target driving path.

[0089] If the target driving path conflicts with the current driving paths of other vehicles in the site, a deadlock conflict will occur if the target vehicle is controlled to continue driving according to the target driving path. Conversely, if the target driving path does not conflict with the current driving paths of other vehicles in the site, the target vehicle can be controlled to continue driving according to the target driving path without the possibility of deadlock conflict with other vehicles. This effectively avoids the possibility of deadlock conflicts and ensures improved transportation efficiency.

[0090] In this embodiment, while a target vehicle is traveling along its current route, a detection is performed to determine whether the current route needs to be extended. The target vehicle is any one of multiple vehicles in the site. If the current route needs to be extended, a first meeting point for the target vehicle is determined. The first meeting point is a preset meeting point in the preset route corresponding to the target vehicle, located in front of the target vehicle and with a distance from the target vehicle greater than or equal to the remaining length of the current route. The current route is then extended based on the first meeting point to obtain a target route. A detection is then performed to determine whether the target route conflicts with the current routes of other vehicles, wherein the other vehicles are vehicles other than the target vehicle among the multiple vehicles. If no conflict exists, the target vehicle is controlled to travel along the target route. In this way, while the target vehicle is completing the preset route, the target route received by the target vehicle is ensured to be a route that does not conflict with the current routes of other vehicles in the site, effectively avoiding the possibility of deadlock conflicts between the target vehicle and other vehicles during travel and improving transportation efficiency.

[0091] When it is determined that the target driving path conflicts with the current driving paths of other vehicles in the venue, it means that if the target vehicle is controlled to continue driving according to the target driving path, a deadlock conflict will occur. In order to avoid the occurrence of the conflict, in some embodiments, if the target driving path conflicts with the current driving paths of other vehicles, a second meeting point for the target vehicle can be determined; wherein, the second meeting point is a preset meeting point between the first meeting point and the target vehicle in the preset driving path corresponding to the target vehicle, which is closest to the first meeting point; the second meeting point is used as the first meeting point, and the process returns to the step of extending the current driving path based on the first meeting point to obtain the target driving path.

[0092] For example, if the preset meeting points along the target driving path m are A, B, C, D, and E, respectively, where E is the first meeting point, i.e., the end point of the target driving path m, and D is closer to E than A, B, and C. If it is determined that the target driving path m conflicts with the current driving paths of other vehicles in the venue, D can be determined as the target vehicle's second meeting point and the second meeting point D can be used as the new first meeting point. In other words, the first meeting point E is updated to D, and the process returns to the step of extending the current driving path based on the first meeting point D to obtain the target driving path. If a target driving path n is obtained based on the first meeting point D, the preset meeting points along the target driving path n are A, B, C, and D, respectively. Similarly, if it is determined that the target driving path n conflicts with the current driving paths of other vehicles in the venue, C can be determined as the target vehicle's second meeting point and updated to the first meeting point. The process returns to the step of extending the current driving path based on the first meeting point C to obtain the target driving path, until a target driving path that does not conflict with the current driving paths of other vehicles is determined.

[0093] It should be noted that within each meeting area passed by a preset driving path, there is only one preset meeting point. During implementation, the first preset meeting point in each meeting area passed by the preset driving path can be determined as the preset meeting point passed by the preset driving path in that meeting area. For example, if the preset meeting points passed by preset driving path L are G, H, I, J, and K, then preset meeting points G, H, I, J, and K belong to different meeting areas, that is, preset meeting points G, H, I, J, and K are not in the same meeting area.

[0094] It should be understood that if the target driving paths determined in multiple cycles conflict with the current driving paths of other vehicles, then the current driving path cannot be extended within the current time scheduling cycle. The target vehicle will be in a parked waiting state after reaching the end of the current driving path, and will continue to search for the target driving path in the next time scheduling cycle to ensure that the target vehicle can eventually reach the end of the preset driving path and complete the scheduling task for the target vehicle.

[0095] In some embodiments, when detecting whether the current driving path needs to be extended, it can be detected whether the remaining length of the current driving path is less than a first threshold value, and whether the end point of the current driving path is the end point of a preset driving path; if the remaining length of the current driving path is less than the first threshold value, and the end point of the current driving path is not the end point of the preset driving path, it is determined that the current driving path of the target vehicle needs to be extended; if the remaining length of the current driving path is greater than or equal to the first threshold value, or the end point of the current driving path is the end point of the preset driving path, it is determined that the current driving path of the target vehicle does not need to be extended.

[0096] Specifically, the first threshold can be set according to actual needs and is not limited here.

[0097] Taking the first threshold of 10 meters as an example, 10 meters can be used as a basis for judging whether the target vehicle is close to the end point of the current driving path. If it is detected that the remaining length of the target vehicle's current driving path is less than 10 meters, and the end point of the current driving path is not the end point of the preset driving path, it means that the target vehicle is close to the end point of the current driving path and the end point of the current driving path is not the final end point, then it can be determined that the current driving path needs to be extended. If it is detected that the remaining length of the target vehicle's current driving path is greater than or equal to 10 meters, it means that the target vehicle is still a certain distance away from the end point of the current driving path, then the target vehicle can continue to drive based on the current driving path, and the current driving path of the target vehicle does not need to be extended temporarily. If it is detected that the end point of the current driving path is the end point of the preset driving path, it means that the target vehicle can complete the driving task by continuing to drive to the end point of the current driving path based on the current driving path, then the scheduling task can be completed without extending the current driving path.

[0098] In some embodiments, the vehicle scheduling method may further include: detecting whether the remaining length of the current driving path of the target vehicle is less than a second threshold; the second threshold is less than the first threshold; if the remaining length is less than the second threshold, detecting whether the end point of the remaining length conflicts with the current driving path of other vehicles; if there is a conflict, detecting whether the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle; if the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, controlling the target vehicle to enter a meeting and yielding state.

[0099] Specifically, if the current driving route cannot be extended, the target vehicle will continue driving based on the current driving route. However, the inability to extend the current driving route indicates that the determined target driving route conflicts with the current driving routes of other vehicles. In other words, the target vehicle will need to yield to other vehicles after reaching the end of the current driving route. Therefore, a second threshold can be set as the basis for determining whether the target vehicle is about to reach the end of the current driving route.

[0100] During implementation, the second threshold can be set according to actual needs and is not limited here.

[0101] Taking the second threshold of 5 meters as an example, if the remaining distance of the target vehicle's current path is detected to be less than 5 meters, indicating that the target vehicle is about to reach the end of its current path, the system can then detect whether the end of the remaining distance conflicts with the current path of another vehicle, thereby determining whether to enter a yielding state. If there is no conflict, the target vehicle can simply wait at the end of its current path without having to yield to another vehicle. If there is a conflict, indicating that there is a conflict at the end of the target vehicle's current path, the system can then continue to detect whether the end of the conflicting vehicle's current path conflicts with the target vehicle's preset path, thereby preventing the target vehicle from yielding to another vehicle after the conflicting vehicle has already entered a yielding state.

[0102] If the destination of the conflicting vehicle's current path conflicts with the target vehicle's preset path, indicating that the conflicting vehicle has not yet entered the yielding state, the target vehicle can be controlled to enter the yielding state. This prevents the conflicting vehicles from entering the yielding state at the same time, which would prevent both conflicting vehicles from being able to continue driving.

[0103] In some embodiments, when controlling the target vehicle to enter the oncoming and yielding state, the target meeting area where the end point of the remaining road length is located and the target area type corresponding to the target meeting area can be first determined; then, based on the target meeting area and the target area type, the oncoming and yielding point of the target vehicle is determined from all preset oncoming and yielding points in the target meeting area; and then a oncoming and yielding instruction including the oncoming and yielding point is generated and issued to the target vehicle.

[0104] During implementation, the target meeting area where the end point of the remaining road length is located and the target area type corresponding to the target meeting area are first determined, that is, the target meeting area where the end point of the current driving path is located and the corresponding target area type are determined, and then based on the target meeting area where the end point of the current driving path is located and the corresponding target area type, all preset meeting points in the target meeting area are determined, and then the meeting and yielding points of the target vehicle are determined from all the preset meeting points in the target meeting area, and finally the meeting and yielding instructions including the meeting and yielding points are issued to the target vehicle, so that the target vehicle can drive to the corresponding meeting and yielding points based on the meeting and yielding instructions to meet and yield, thereby avoiding conflict with the conflicting vehicle.

[0105] In an application, when a target vehicle enters a passing point to yield to another vehicle, it will leave the endpoint of its current travel path. At this point, the target vehicle's endpoint is vacant, which can easily mislead other vehicles that must also pass through that point within the same scheduling time. To avoid the possibility of misleading, in some embodiments, if the endpoint of the conflicting vehicle's current travel path conflicts with the preset travel path corresponding to the target vehicle, the vehicle scheduling method may further include: if the target vehicle reaches the endpoint of the remaining distance, marking the endpoint of the remaining distance as an occupied passing point corresponding to the target vehicle.

[0106] In this way, even if the target vehicle enters the meeting and yielding point, the end point of the target vehicle's current driving path is occupied by the target vehicle rather than being vacant, further reducing the possibility of deadlock conflict.

[0107] In actual application, before controlling the target vehicle to travel along the target driving path, it is also possible to detect whether the target vehicle is in a state of yielding to other vehicles. If the target vehicle is in a state of yielding to other vehicles, in order to avoid the preset meeting point marked as occupied by the target vehicle still being occupied by the target vehicle after the target vehicle leaves, thereby interfering with the dispatch of other vehicles, before controlling the target vehicle to travel along the target driving path, the vehicle dispatch method may further include: if the target vehicle is in a state of yielding to other vehicles, detecting whether the end point of the target driving path and the meeting yield point belong to the same meeting area; if the end point of the target driving path and the meeting yield point do not belong to the same meeting area, releasing the occupied meeting point corresponding to the target vehicle. In this way, the occupied meeting point can be released in a timely manner, improving the efficiency of vehicle dispatch.

[0108] In a specific implementation, occupation of the occupied meeting point can be achieved by creating a virtual vehicle. That is, when the end point of the remaining road length is marked as the occupied meeting point corresponding to the target vehicle, a virtual vehicle can be generated at the end point of the remaining road length to achieve occupation of this end point. Similarly, when the occupation of the occupied meeting point corresponding to the target vehicle is released, the virtual vehicle at the occupied meeting point corresponding to the target vehicle can be deleted to release the occupation.

[0109] In some embodiments, to avoid vehicle deadlock conflicts, when detecting whether a target driving path conflicts with another vehicle's current driving path, it is possible to detect whether the minimum distance between the target driving path and the other vehicle's current driving path is less than a third threshold, and to detect whether the target driving path passes through an occupied meeting point corresponding to the other vehicle. If the minimum distance between the target driving path and the other vehicle's current driving path is less than the third threshold, or if the target driving path passes through an occupied meeting point corresponding to the other vehicle, then it is determined that the target driving path conflicts with the other vehicle's current driving path; otherwise, it is determined that the target driving path does not conflict with the other vehicle's current driving path.

[0110] The third threshold can be set according to actual needs and is not limited here.

[0111] Since there are usually multiple vehicles in the venue, in order to maintain the driving order of multiple vehicles in the venue and ensure that vehicles do not have to stop to give way all the time, in some embodiments, before detecting whether it is necessary to extend the current driving path of the target vehicle, the vehicle scheduling method may also include: updating the driving priority of each vehicle in the venue according to preset rules; taking each vehicle in the venue as a target vehicle in order of driving priority from high to low; and controlling the operation of the target vehicle according to the current driving path of the target vehicle.

[0112] The preset rules may be set according to actual needs. For example, the preset rules may include: updating the driving priority once in each time scheduling cycle.

[0113] During implementation, a time scheduling cycle can be set according to a preset time interval. In this way, the driving priority of each vehicle in the venue is updated in each time scheduling cycle, and then each vehicle in the venue is traversed as a target vehicle in order from high to low according to the updated driving priority, thereby avoiding the possibility of deadlock conflicts among multiple vehicles.

[0114] The preset time interval may be set according to actual needs. For example, the driving priority may be updated every 100 ms.

[0115] When updating the driving priority of each vehicle in the venue according to preset rules, the priority weights of multiple vehicles can be calculated separately based on the global path information of multiple vehicles; the global path information includes the total length of the global path, the total waiting time, and the waiting time at the current position; and then the driving priority of each vehicle is updated according to the priority weight of each vehicle.

[0116] The global path total length refers to the total length of the target vehicle's predefined driving path from the starting point to the end point. The total waiting time is the sum of the time the target vehicle's speed is zero from the starting point to the current position. The current position waiting time is the waiting time when the target vehicle's speed is zero at the current position (i.e., if the target vehicle currently has speed, the current waiting time is zero).

[0117] In specific implementation, within each time scheduling cycle, the total global path length, total waiting time, and current location waiting time of multiple vehicles can be first obtained. Priority weights for the multiple vehicles can then be calculated using a preset calculation method. The preset calculation method can be: priority weight = total waiting time / total global path length + a * current waiting time + b * total global path length. The larger the calculated priority weight, the higher the driving priority. Coefficient a can be 0.02, and coefficient b can be 0.01.

[0118] Of course, the present application is not limited to this. In some other embodiments, coefficients a and b can be adjusted according to actual needs to represent the weights of different variables (a represents the weight of the current waiting time, and b represents the weight of the total length of the global path).

[0119] After calculating each vehicle's priority weight, the vehicle's driving priority is updated accordingly. Then, each vehicle in the venue is identified as a target vehicle in descending order of driving priority, and its movement is controlled according to its current path. This way, vehicles with longer waiting times receive a higher priority, and vehicles with higher priority are dispatched more quickly, ensuring that vehicles within the venue are not stuck waiting.

[0120] In some embodiments, when determining the first meeting point of the target vehicle, a preset meeting point that is located in front of the target vehicle in the preset driving path corresponding to the target vehicle, has a distance from the target vehicle greater than a fourth threshold, and is closest to the target vehicle can be determined as the first meeting point of the target vehicle.

[0121] During implementation, the fourth threshold value may be set to be greater than or equal to the first threshold value to ensure the effectiveness of extending the current driving path. Of course, the fourth threshold value may also be set according to actual needs and is not limited here.

[0122] During specific implementation, the first threshold and the fourth threshold can be set to 10 meters. Then, when determining the first meeting point of the target vehicle, the preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle, has a distance greater than 10 meters from the target vehicle, and is closest to the target vehicle, can be determined as the first meeting point of the target vehicle. For example, in the preset driving path corresponding to the target vehicle, the preset meeting points in front of the target vehicle are O, P, Q, R, and S from near to far, among which the preset meeting points with a distance greater than 10 meters from the target vehicle are Q, R, and S. Then, when determining the first meeting point of the target vehicle, the preset meeting point Q can be determined as the first meeting point of the target vehicle. In this way, it can be ensured that after the current driving path is extended, the driving path of the target vehicle in the current time scheduling period does not need to be extended again, effectively improving the scheduling efficiency.

[0123] In actual application, a map of all driving routes within the site can be pre-created based on the actual site, and road segments, meeting areas, area types corresponding to meeting areas, meeting points, etc. in the map can be defined according to actual needs. Road segments include single-lane sections, two-lane sections, and one-way sections.

[0124] Specifically, such as Figure 2 As shown in the figure, a road section with a single lane and two-way traffic is called a single lane road section. A road section with two lanes and two-way traffic is called a two-lane road section. A road section with a single lane and one-way traffic is called a one-way road section. The meeting area is a general term for the area where side-by-side meeting, double-side meeting, reverse parking and intersections are located. These areas are Figure 2 Indicated by the gray shaded area. A meeting area will mark multiple preset meeting key points, referred to as preset meeting points. The preset meeting points in the same meeting area have the same prefix number but different suffix numbers, for example Figure 2 In the middle intersection meeting area, the preset meeting points 1-1, 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, and 1-8 all belong to the meeting area numbered 1, and there are 8 preset meeting points. Figure 2 Marking is indicated in Figure 2 Only the preset meeting points in the middle intersection meeting area and the one-way meeting area on the right side of the intersection meeting area are coded with large and small numbers.

[0125] It should be noted that only intersections that connect at least one single-lane road section and can provide oncoming vehicles with the right of way can be truly called meeting intersections. Figure 2The four outer corners of the intersection do not provide space for passing and are not true passing intersections. If all sections of an intersection are two-lane or one-way, there is no need to set up a passing area at the intersection. Furthermore, points on a single-lane road, other than pre-defined meeting points, do not function as meeting points.

[0126] Meeting areas are categorized into four types: single-lane meeting, double-lane meeting, reverse parking meeting, and intersection meeting. Additionally, for uniformity, points on both two-lane and one-way roads can be marked as meeting points. Meeting point types are as follows: single-lane meeting area meeting point type; double-lane meeting area meeting point type; reverse parking meeting area meeting point type; intersection meeting area meeting point type; point type on two-lane roads; and point type on one-way roads. The type attribute for points on one-lane roads and within meeting areas is blank by default, and therefore unmarked.

[0127] It should be noted that the large numbers of preset meeting points in different meeting areas cannot be repeated. In a meeting area, the global number of one of the preset meeting points can be selected as the large number of all preset meeting points in the area. Only the meeting points in the four meeting areas of one-way meeting, two-way meeting, reverse parking meeting, and intersection meeting need to be marked with large and small numbers. In the reverse parking meeting and intersection meeting areas, the two meeting points on the opposite sections of the single-lane road section need to be staggered a certain distance in the direction of the path to ensure that the vehicles giving way and the vehicles traveling normally can be at these two points at the same time.

[0128] There are many types of conflicts between vehicle paths and between paths and vehicles, which usually include four types: opposite-direction conflicts, same-direction conflicts, intersection conflicts, and vehicle-road conflicts. Figure 3 As shown in the figure, there are seven vehicles, AGV1-7. AGV1 and AGV2 are traveling in different directions, preventing safe passage, a situation known as a head-on conflict. AGV6 and AGV7 are both traveling to the left, and the path of the vehicle behind, AGV7, crosses AGV6, a situation known as a same-direction conflict. AGV4 is traveling right, and AGV5 is traveling upward, so their paths intersect, a situation known as an intersection conflict. AGV1's path is to travel right and then reverse into a parking space. AGV3, however, is currently in the parking space and has no path, so its current position conflicts with AGV1's path, a situation known as a vehicle-road conflict. Vehicle-road conflicts are categorized as conflicts between actual vehicles and their paths and conflicts between virtual vehicles and their paths. A conflict between an actual vehicle and its path occurs when it interferes with vehicles traveling on the path. A conflict between a virtual vehicle and its path occurs only when the path passes through the meeting point coordinates of a virtual vehicle. A conflict between a virtual vehicle and its path is not considered a conflict unless the path does not pass through the meeting point coordinates. All of these conflicts are not permitted in the vehicle scheduling process.

[0129] like Figure 4 As shown in , the dotted line route is the preset driving path of the target vehicle agv1 from the starting point to the end point. Figure 5 As shown, the dotted line route is the first target driving path sent to the target vehicle agv1; when the remaining distance of the first target driving path is less than the first threshold, the remaining distance of the first target driving path is extended, and the extended path is as shown in Figure 6 As shown by the dotted line; then the extension is carried out in a circular manner, and the paths of the extended parts are as follows Figure 7-11 As shown by the dotted line in . Figure 12 The figure shows that the target vehicle agv1 has traveled to the end of the preset driving path. At this time, the driving task is completed and a new target driving path for the target vehicle agv1 is waiting to be generated.

[0130] Figure 13 The figure shows a one-way passing process. In the figure, AGV1 arrives at the passing area first. When the remaining distance of AGV1's current path is detected to be less than the first threshold, the path is updated and extended. However, a conflict with AGV2 is detected, and AGV1's original path is ultimately maintained.

[0131] If the remaining distance of AGV1's current path is less than the second threshold, and if the endpoint of AGV1's current path still conflicts with the pre-set path of AGV2, AGV1 enters the yield state and a virtual vehicle corresponding to AGV1 is generated at pre-set meeting point 2-1. A suitable yield point (pre-set meeting point 2-2) is then found for AGV1, and a route to that point is generated and sent to AGV1. If it is detected that AGV1 has reached the yield point and the conflicting vehicle AGV2 is still interfering with AGV1's future path, AGV1 is controlled to wait at the yield point. If it is detected that the remaining length of AGV2's current path is less than a first threshold, the path is updated and extended. If no conflict is detected (the path does not need to pass through the preset yield point where AGV1's corresponding virtual vehicle is located, i.e., there is no virtual vehicle-road conflict), AGV2's current path is extended without AGV2 entering the yield state. If it is detected that AGV2 continues to move forward until it no longer interferes with AGV1's future path, a path to the nearest passing point beyond a fourth threshold is generated based on AGV1's current position. After detecting no conflict, this path is directly issued to AGV1. If it is detected that the end point of the path issued to AGV1 is located in a different passing area than AGV1's current passing area, the virtual vehicle corresponding to AGV1 generated at the preset passing point 2-1 is deleted. This concludes the passing process.

[0132] Figure 14This represents a double-passing process. Double-passing is similar to single-passing, except that both vehicles must reach their respective passing points before yielding. During this process, both vehicles must enter the yielding state and generate their own virtual vehicles.

[0133] Figure 15 Indicates the reverse parking process. The reverse parking process is similar to the one-way passing process, except that both vehicles in conflict can enter the passing area. In principle, the vehicle that reaches the passing area first will enter the passing area and yield.

[0134] Figure 16 This represents the process of meeting at an intersection. Meeting at an intersection is similar to the process of reversing into a parking space, but the difference is that there may be multiple feasible solutions for meeting at an intersection, and the one with the lowest cost (the shortest yielding route) is selected. The details will not be repeated here.

[0135] The embodiment of the present application also provides a vehicle dispatching device, such as Figure 17 As shown, the device at least includes: a first detection module 1701, which is used to detect whether the current driving path needs to be extended when the target vehicle is driving along the current driving path, and the target vehicle is any one of multiple vehicles in the site; a determination module 1702, which is used to determine the first meeting point of the target vehicle if the current driving path needs to be extended; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and the distance between the target vehicle and the target vehicle is greater than or equal to the remaining length of the current driving path; an acquisition module 1703, which is used to extend the current driving path based on the first meeting point to obtain a target driving path; a second detection module 1704, which is used to detect whether the target driving path conflicts with the current driving paths of other vehicles; other vehicles are vehicles other than the target vehicle among the multiple vehicles; a control module 1705, which is used to control the target vehicle to travel along the target driving path if the target driving path does not conflict with the current driving paths of other vehicles.

[0136] Optionally, the determination module 1702 can also be used to: if the target driving path conflicts with the current driving path of other vehicles, determine a second meeting point for the target vehicle; wherein the second meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is closest to the first meeting point between the first meeting point and the target vehicle; use the second meeting point as the first meeting point, and return to the step of extending the current driving path based on the first meeting point to obtain the target driving path.

[0137] Optionally, when detecting whether the current driving path needs to be extended, the first detection module 1701 can be specifically used to: detect whether the remaining length of the current driving path is less than a first threshold value, and whether the end point of the current driving path is the end point of a preset driving path; if the remaining length of the current driving path is less than the first threshold value, and the end point of the current driving path is not the end point of the preset driving path, it is determined that the current driving path of the target vehicle needs to be extended; if the remaining length of the current driving path is greater than or equal to the first threshold value, or the end point of the current driving path is the end point of the preset driving path, it is determined that the current driving path of the target vehicle does not need to be extended.

[0138] Optionally, the second detection module 1704 can also be used to: detect whether the remaining length of the current driving path of the target vehicle is less than a second threshold; the second threshold is less than the first threshold; if the remaining length is less than the second threshold, then detect whether the end point of the remaining length conflicts with the current driving path of other vehicles; if there is a conflict, then detect whether the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle; if the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, control the target vehicle to enter the meeting and yielding state.

[0139] Optionally, when controlling the target vehicle to enter the meeting and yielding state, the second detection module 1704 can also be used to: determine the target meeting area where the end point of the remaining road length is located and the target area type corresponding to the target meeting area; determine the meeting and yielding point of the target vehicle from all preset meeting points in the target meeting area according to the target meeting area and the target area type; generate a meeting and yielding instruction including the meeting and yielding point, and issue it to the target vehicle.

[0140] Optionally, the second detection module 1704 may be further configured to: if the target vehicle reaches the end of the remaining distance, mark the end of the remaining distance as an occupied meeting point corresponding to the target vehicle.

[0141] Optionally, the control module 1705 can also be specifically used to: if the target vehicle is in a meeting and yielding state, detect whether the end point of the target driving path and the meeting and yielding point belong to the same meeting area; if the end point of the target driving path and the meeting and yielding point do not belong to the same meeting area, release the occupation of the occupied meeting point corresponding to the target vehicle.

[0142] Optionally, the second detection module 1704 can be specifically used to: detect whether the minimum distance between the target driving path and the current driving paths of other vehicles is less than a third threshold, and detect whether the target driving path passes through the occupied meeting points corresponding to other vehicles; if the minimum distance between the target driving path and the current driving paths of other vehicles is less than the third threshold, or the target driving path passes through the occupied meeting points corresponding to other vehicles, it is determined that the target driving path conflicts with the current driving paths of other vehicles.

[0143] Optionally, the vehicle dispatching device may further include a priority update module, which may be specifically used to: update the driving priority of each vehicle in the site according to preset rules; sequentially select each vehicle in the site as a target vehicle in descending order of driving priority; and control the operation of the target vehicle according to the current driving path of the target vehicle.

[0144] Optionally, when updating the driving priority of each vehicle in the venue according to preset rules, the priority update module can be specifically used to: calculate the priority weights of multiple vehicles based on the global path information of multiple vehicles; the global path information includes the total length of the global path, the total waiting time, and the waiting time at the current position; and update the driving priority of each vehicle based on the priority weight of each vehicle.

[0145] Optionally, when determining the first meeting point of the target vehicle, the determination module 1702 can be specifically used to: determine a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle, has a distance from the target vehicle greater than a fourth threshold, and is closest to the target vehicle as the first meeting point of the target vehicle.

[0146] It should be understood that the specific implementation of the vehicle dispatching device provided in the embodiments of the present application can refer to the specific implementation of the vehicle dispatching method described in any of the above embodiments, and will not be repeated here.

[0147] The present application also provides a vehicle dispatching device, such as Figure 18 As shown, the vehicle dispatching device may include: a memory 1801 and a processor 1802; wherein the memory 1801 is connected to the processor 1802 and is used to store programs; the processor 1802 is used to implement the vehicle dispatching method disclosed in any of the above embodiments by running the program stored in the memory 1801.

[0148] Specifically, the vehicle dispatching device may further include: a bus, a communication interface 1803 , an input device 1804 and an output device 1805 .

[0149] The processor 1802, the memory 1801, the communication interface 1803, the input device 1804 and the output device 1805 are interconnected via a bus.

[0150] A bus may include a pathway that transfers information between components of a computer system.

[0151] Processor 1802 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0152] The processor 1802 may include a main processor, and may also include a baseband chip, a modem, etc.

[0153] The memory 1801 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. More specifically, the memory 1801 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0154] The input device 1804 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0155] Output device 1805 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0156] The communication interface 1803 may include any transceiver or similar device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0157] The processor 1802 executes the program stored in the memory 1801 and calls other devices, which can be used to implement the various steps of the vehicle scheduling method provided in the embodiment of the present application.

[0158] An embodiment of the present application further provides a vehicle dispatching system, which may include the vehicle dispatching device as described in any of the above embodiments.

[0159] Another embodiment of the present application further provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the various steps of the vehicle scheduling method provided in any of the above embodiments are implemented.

[0160] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0161] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0162] The steps in the methods of the various embodiments of the present application can be adjusted in order, combined, and deleted according to actual needs.

[0163] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0164] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0165] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0166] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0167] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0168] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0169] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0170] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle dispatching method, characterized in that: include: During a process in which a target vehicle is traveling along a current driving path, detecting whether the current driving path needs to be extended, the target vehicle being any one of a plurality of vehicles in the site; If the current driving path needs to be extended, determining a first meeting point for the target vehicle; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and the distance between the target vehicle and the target vehicle is greater than or equal to the remaining distance of the current driving path; Extending the current driving path based on the first meeting point to obtain a target driving path; Detecting whether the target driving path conflicts with a current driving path of another vehicle; the other vehicle is a vehicle other than the target vehicle among the multiple vehicles; If there is no conflict, control the target vehicle to travel according to the target driving path; if the target driving path conflicts with the current driving path of other vehicles, determine a second meeting point for the target vehicle; wherein the second meeting point is a preset meeting point between the first meeting point and the target vehicle in the preset driving path corresponding to the target vehicle, which is closest to the first meeting point; use the second meeting point as the first meeting point, and return to the step of extending the current driving path based on the first meeting point to obtain the target driving path.

2. The method according to claim 1, characterized in that The detecting whether the current driving path needs to be extended includes: Detecting whether the remaining distance of the current driving path is less than a first threshold, and whether the end point of the current driving path is the end point of the preset driving path; If the remaining distance of the current driving path is less than a first threshold, and the end point of the current driving path is not the end point of the preset driving path, determining that the current driving path of the target vehicle needs to be extended; If the remaining distance of the current driving path is greater than or equal to a first threshold, or the end point of the current driving path is the end point of the preset driving path, it is determined that there is no need to extend the current driving path of the target vehicle.

3. The method according to claim 2, characterized in that Also includes: Detecting whether the remaining distance of the current driving path of the target vehicle is less than a second threshold; The second threshold is less than the first threshold; If the remaining road length is less than a second threshold, detecting whether an end point of the remaining road length conflicts with a current driving path of the other vehicle; If there is a conflict, detecting whether the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle; If the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, the target vehicle is controlled to enter a meeting and yielding state.

4. The method according to claim 3, characterized in that Controlling the target vehicle to enter a passing and yielding state includes: Determining a target meeting area where an end point of the remaining road length is located and a target area type corresponding to the target meeting area; Determining a yield point for the target vehicle from all preset meeting points in the target meeting area according to the target meeting area and the target area type; A yield instruction including the yield point is generated and sent to the target vehicle.

5. The method according to claim 4, characterized in that In the case where the end point of the current driving path of the conflicting vehicle conflicts with the preset driving path corresponding to the target vehicle, the method further includes: If the target vehicle reaches the end point of the remaining road length, the end point of the remaining road length is marked as an occupied meeting point corresponding to the target vehicle.

6. The method according to claim 5, characterized in that Before controlling the target vehicle to travel according to the target driving path, the method further includes: If the target vehicle is in a yielding state, detecting whether the end point of the target driving path and the yielding point belong to the same meeting area; If the end point of the target driving path and the oncoming vehicle yield point do not belong to the same oncoming vehicle area, the occupied oncoming vehicle point corresponding to the target vehicle is released.

7. The method according to claim 5, characterized in that Detecting whether the target driving path conflicts with the current driving paths of other vehicles includes: detecting whether a minimum distance between the target driving path and the current driving path of the other vehicle is less than a third threshold, and detecting whether the target driving path passes through an occupied meeting point corresponding to the other vehicle; If the minimum distance between the target driving path and the current driving path of the other vehicle is less than a third threshold, or the target driving path passes through an occupied meeting point corresponding to the other vehicle, it is determined that the target driving path conflicts with the current driving path of the other vehicle.

8. The method according to claim 1, characterized in that Before detecting whether the current driving path of the target vehicle needs to be extended, the method further includes: Update the driving priority of each vehicle in the venue according to preset rules; In descending order of driving priority, each vehicle in the site is sequentially selected as the target vehicle; The target vehicle is controlled to operate according to the current driving path of the target vehicle.

9. The method according to claim 8, characterized in that The updating of the driving priority of each vehicle in the site according to the preset rules includes: Calculating priority weights of the multiple vehicles based on their global path information, wherein the global path information includes a total length of the global path, a total waiting time, and a waiting time at the current position; The driving priority of each vehicle is updated according to the priority weight of each vehicle.

10. The method according to claim 1, characterized in that Determining a first meeting point of the target vehicle includes: A preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle, has a distance from the target vehicle greater than a fourth threshold, and is closest to the target vehicle, is determined as the first meeting point of the target vehicle.

11. A vehicle dispatching device, characterized in that: include: A first detection module is used to detect whether a target vehicle needs to extend its current driving path when the target vehicle is traveling along the current driving path, wherein the target vehicle is any one of multiple vehicles in the site; a determination module, configured to determine a first meeting point for the target vehicle if the current driving path needs to be extended; wherein the first meeting point is a preset meeting point in the preset driving path corresponding to the target vehicle, which is located in front of the target vehicle and has a distance from the target vehicle greater than or equal to the remaining length of the current driving path; An acquisition module, configured to extend the current driving path based on the first meeting point to obtain a target driving path; A second detection module is configured to detect whether the target driving path conflicts with a current driving path of another vehicle; the other vehicle is a vehicle other than the target vehicle among the multiple vehicles; The control module is configured to control the target vehicle to travel along the target driving path if there is no conflict between the target driving path and the current driving path of other vehicles; determine a second meeting point for the target vehicle if there is a conflict between the target driving path and the current driving path of other vehicles; wherein the second meeting point is a preset meeting point between the first meeting point and the target vehicle in the preset driving path corresponding to the target vehicle and is closest to the first meeting point; use the second meeting point as the first meeting point, and return to the step of extending the current driving path based on the first meeting point to obtain the target driving path.

12. A vehicle dispatching device, characterized in that: include: a processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is used to call and execute the computer program in the memory to perform the vehicle dispatching method according to any one of claims 1 to 10.

13. A vehicle dispatching system, characterized in that: Comprising the vehicle dispatching device as described in claim 12.

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