Vehicle passage method, device, electronic device and storage medium

Abstract

The present invention discloses a vehicle passage method, device, electronic device and storage medium, the method comprising: obtaining the body width of the vehicle to be passed, and obtaining the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed; determining the maximum lateral width of the working vehicle according to the image information and a preset database; determining the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width; generating a vehicle moving request when the total passage width is greater than the body width, and the left passage width and the right passage width are both less than the body width, and prompting the working vehicle to move according to the vehicle moving request. Through the technical solution of the embodiment of the present invention, the effect of improving vehicle passage efficiency and ensuring driving safety is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle passage method, device, electronic equipment and storage medium. Background Art

[0002] The mobile battery swap port vehicle can be a vehicle that performs engineering operations, such as the mobile transportation of battery swap batteries. During the operation of the mobile battery swap port vehicle, it is common for the vehicle to be scratched.

[0003] When the mobile battery swap port vehicle is operating, some drivers of vehicles waiting to pass intend to overtake the mobile battery swap port vehicle from the rear of the mobile battery swap port vehicle (i.e. the side away from the battery swap mechanism). However, since the battery swap mechanism on the upper body of the mobile battery swap port vehicle can rotate more than 180° during operation, the battery swap batteries can be transported to other parts. During the rotation process, changes in the lateral range of the mobile battery swap port vehicle will cause changes in the impassable range, causing the drivers of the vehicles waiting to pass to not have time to brake, resulting in scratches and other accidents. This will lead to low vehicle traffic efficiency and difficulty in ensuring driving safety. Summary of the invention

[0004] The present invention provides a vehicle passage method, device, electronic equipment and storage medium to improve vehicle passage efficiency and ensure driving safety.

[0005] According to one aspect of the present invention, a vehicle passage method is provided, the method comprising:

[0006] Obtaining the body width of the vehicle to be passed, and obtaining the road width of the current road and image information of the working vehicle based on the vehicle sensor of the vehicle to be passed; wherein the working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the body;

[0007] Determining the maximum lateral width of the working vehicle according to the image information and a preset database;

[0008] Determine the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width;

[0009] When the total passage width is greater than the own vehicle body width, and the left passage width and the right passage width are both smaller than the own vehicle body width, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request.

[0010] According to another aspect of the present invention, there is provided a vehicle passage device, the device comprising:

[0011] An information acquisition module, used to acquire the body width of the vehicle to be passed, and acquire the road width of the current road based on the vehicle sensor of the vehicle to be passed, as well as image information of the working vehicle; wherein the working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the body;

[0012] A working vehicle determination module, used to determine the maximum lateral width of the working vehicle according to the image information and a preset database;

[0013] A passage width determination module, used to determine the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width;

[0014] The vehicle moving request module is used to generate a vehicle moving request when the total passage width is greater than the own vehicle body width and the left passage width and the right passage width are both smaller than the own vehicle body width, and prompt the working vehicle to move according to the vehicle moving request.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle passage method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle passage method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention obtains the body width of the vehicle to be passed, and obtains the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed, and determines the maximum lateral width of the working vehicle according to the image information and a preset database, and determines the total passing width, the left passing width and the right passing width according to the road width, the position information of the working vehicle and the maximum lateral width. When the total passing width is greater than the body width of the vehicle, and the left passing width and the right passing width are both smaller than the body width of the vehicle, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request, thereby solving the problem of low vehicle traffic efficiency and low driving safety when the working vehicle blocks the vehicle to be passed, and achieving the effect of improving vehicle traffic efficiency and ensuring driving safety.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of a flow chart of a vehicle passage method provided in Embodiment 1 of the present invention;

[0024] Figure 2 A schematic diagram of a flow chart of a vehicle passage method provided in Embodiment 2 of the present invention;

[0025] Figure 3 A schematic diagram of a flow chart of a vehicle passage method provided in Embodiment 3 of the present invention;

[0026] Figure 4 A schematic diagram of a vehicle driving process provided by Embodiment 3 of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a vehicle passage device provided in Embodiment 4 of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0032] Embodiment 1

[0033] Figure 1 This is a flow chart of a vehicle passage method provided in Embodiment 1 of the present invention. This embodiment can be applied to a situation where the vehicle to be passed cannot pass normally due to the presence of a working vehicle in the driving direction of the vehicle to be passed. The method can be applied to the vehicle to be passed. The method can be executed by a vehicle passage device. The vehicle passage device can be implemented in the form of hardware and / or software. The vehicle passage device can be configured in an electronic device, such as a vehicle-mounted device.

[0034] like Figure 1 As shown, the method includes:

[0035] S110, obtaining the body width of the vehicle to be passed, and obtaining the road width of the current road and image information of the working vehicle based on the vehicle sensor of the vehicle to be passed.

[0036] Among them, the vehicle to be passed may be a currently traveling vehicle on the driving route where there is a working vehicle. The body width may be the width of the body of the vehicle to be passed. The body width of the vehicle to be passed may be data determined and stored when the vehicle leaves the factory. The vehicle sensor may be a sensor installed on the vehicle to be passed, such as a camera, a rangefinder, etc. The current road may be the road on which the vehicle to be passed is currently traveling, and it is also the road blocked by the working vehicle. The road width may be the lateral width of the current road. The working vehicle may be a vehicle that performs work that blocks the progress of the vehicle to be passed, for example, it may be an excavator or other vehicle used for maintenance and construction. The working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the vehicle for performing work. The image information may be an image of the working vehicle collected by a camera on the vehicle to be passed.

[0037] Specifically, the body width of the vehicle to be passed is obtained. The vehicle sensor installed on the vehicle to be passed can detect the current road and determine the road width of the current road. In addition, the vehicle sensor installed on the vehicle to be passed can scan and / or photograph the vehicle to be passed on the current road to obtain image information of the working vehicle.

[0038] Exemplarily, the camera may include a front camera and a rear camera. Optionally, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. Optionally, the camera may also include a flash, which may be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0039] S120: Determine the maximum lateral width of the working vehicle according to the image information and a preset database.

[0040] The preset database may be a database storing image information and data information of various types of working vehicles. The maximum lateral width may be the maximum projection width corresponding to the rotation of the mechanical arm on the vehicle body when the working vehicle is working.

[0041] Specifically, after obtaining the image information of the working vehicle, the image information is matched in a preset database to obtain data information of the working vehicle corresponding to the image information, and the maximum lateral width of the working vehicle is obtained from the data information, or the maximum lateral width of the working vehicle is calculated based on the data information.

[0042] S130. Determine a total passage width, a left passage width, and a right passage width according to the road width, the position information of the working vehicle, and the maximum lateral width.

[0043] The position information may be the horizontal position of the working vehicle on the current road. For example, the position information may be the position of the center line of the maximum lateral width of the working vehicle along the driving direction of the current road. The total passage width may be the road width that is available on the current road and can accommodate other vehicles. The left passage width may be the road width that is available on the left side of the current road and can accommodate other vehicles. The right passage width may be the road width that is available on the right side of the current road and can accommodate other vehicles.

[0044] Specifically, after determining the road width and the maximum lateral width of the working vehicle, the difference between the two can be used as the total passage width. Furthermore, the total passage width can be divided into the left passage width and the right passage width according to the position information of the working vehicle, or the width between the left edge of the working vehicle when working and the left edge of the current road can be determined as the left passage width, and the width between the right edge of the working vehicle when working and the right edge of the current road can be determined as the right passage width according to the position information of the working vehicle and the maximum lateral width.

[0045] S140: When the total traffic width is greater than the vehicle body width, and the left traffic width and the right traffic width are both less than the vehicle body width, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request.

[0046] The vehicle moving request may be a request for the work vehicle to move left or right.

[0047] Specifically, when the total traffic width is greater than the width of the vehicle itself, it means that the current road is passable by the vehicle to be passed. However, since the left traffic width and the right traffic width are both smaller than the width of the vehicle itself, it means that the vehicle to be passed cannot pass directly from the left or right side of the working vehicle, and the working vehicle needs to move the vehicle to provide enough passage space for the vehicle to be passed. Therefore, a moving vehicle request is generated to prompt the working vehicle to move the vehicle through the moving vehicle request. The moving vehicle request may be sent directly to the working vehicle, so that the working vehicle moves the vehicle when it receives the moving vehicle request. The moving vehicle request may also be forwarded or converted into a prompt message through a third-party server, and then forwarded to the working vehicle, so that the working vehicle moves the vehicle when it receives the prompt message.

[0048] Optionally, when the left side traffic width is greater than the vehicle body width or the right side traffic width is greater than the vehicle body width, the vehicle to be passed is controlled to pass.

[0049] Specifically, if the left passage width is greater than the body width, it means that the left side of the working vehicle can accommodate the vehicle to pass. At this time, the vehicle to pass can be controlled to pass from the left side of the working vehicle. If the right passage width is greater than the body width, it means that the right side of the working vehicle can accommodate the vehicle to pass. At this time, the vehicle to pass can be controlled to pass from the right side of the working vehicle.

[0050] Optionally, when the total passing width is smaller than the width of the vehicle body itself, an alternative driving path is obtained, and the vehicle to be passed is controlled to travel along the alternative driving path.

[0051] The alternative driving route may be a route to the destination other than the current driving route.

[0052] Specifically, if the total passage width is less than the width of the vehicle, it indicates that the working vehicles on the current road cannot accommodate the passing vehicles. In this case, an alternative driving path can be obtained and driven along the alternative path to avoid the working vehicles on the current road.

[0053] The technical solution of the embodiment of the present invention obtains the body width of the vehicle to be passed, and obtains the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed, and determines the maximum lateral width of the working vehicle according to the image information and a preset database, and determines the total passing width, the left passing width and the right passing width according to the road width, the position information of the working vehicle and the maximum lateral width. When the total passing width is greater than the body width of the vehicle, and the left passing width and the right passing width are both smaller than the body width of the vehicle, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request, thereby solving the problem of low vehicle traffic efficiency and low driving safety when the working vehicle blocks the vehicle to be passed, and achieving the effect of improving vehicle traffic efficiency and ensuring driving safety.

[0054] Embodiment 2

[0055] Figure 2 This is a flow chart of a vehicle passing method provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment can refer to the detailed description of the technical solution for the specific implementation methods of determining the maximum lateral width and determining the total passing width, the left passing width and the right passing width. The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0056] like Figure 2 As shown, the method includes:

[0057] S210, obtaining the body width of the vehicle to be passed, and obtaining the road width of the current road and image information of the working vehicle based on the vehicle sensor of the vehicle to be passed.

[0058] S220: Determine the operation information of the operation vehicle according to the image information and a preset database.

[0059] The operation information may be data information of the operation vehicle when it is operating. The operation information includes the length of the mechanical arm, the lateral rotation angle, and the body angle. The length of the mechanical arm may be the longest length of the mechanical arm used for operation on the operation vehicle. The lateral rotation angle may be the angle at which the mechanical arm can be rotated laterally when the operation vehicle is operating, for example: 360°, etc. The body angle may be the angle between the body direction of the operation vehicle and the current road direction.

[0060] Specifically, the image information is matched in a preset database to determine the type of vehicle that the work vehicle is. Furthermore, the data information corresponding to the work vehicle can be determined from the preset database, and the length of the mechanical arm and the lateral rotation angle can be specifically determined. In addition, the image information can be analyzed to determine the angle between the body of the work vehicle and the current road, that is, the body angle.

[0061] S230: Determine the working width of the working vehicle according to the length of the robot arm and the lateral rotation angle, and determine the maximum lateral width of the working vehicle according to the working width and the body angle.

[0062] The working width may be the maximum width involved when the working vehicle is working.

[0063] Specifically, the fan-shaped area that the robot can reach can be determined by calculating the length of the robot arm and the lateral rotation angle, and the projection length of the fan-shaped area in the direction perpendicular to the vehicle body can be determined. This projection length is the working width of the working vehicle. Then, the working width is projected to the horizontal direction of the current road according to the vehicle body angle to obtain the maximum lateral width of the working vehicle.

[0064] S240: Determine the difference between the road width and the maximum lateral width as the total traffic width.

[0065] S250. According to the position information of the working vehicle, determine that the distance between the position information and the right boundary of the current road is the first distance, and the distance between the position information and the left boundary of the current road is the second distance.

[0066] Specifically, the positions of the right and left boundaries of the current road can be determined based on the image information, and then the distance between the working vehicle position information and the right boundary of the current road can be calculated, and the calculation result can be used as the first distance. The distance between the working vehicle position information and the left boundary of the current road can also be calculated, and the calculation result can be used as the second distance.

[0067] S260: Determine a right traffic width according to the first distance and the maximum lateral width, and determine a left traffic width according to the second distance and the maximum lateral width.

[0068] Specifically, the first distance is subtracted from half of the maximum lateral width, and the result is used as the right passage width. The second distance is subtracted from half of the maximum lateral width, and the result is used as the left passage width.

[0069] S270: When the total traffic width is greater than the vehicle body width, and the left traffic width and the right traffic width are both less than the vehicle body width, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request.

[0070] Optionally, when the total traffic width is greater than the width of the vehicle itself, the left traffic width and the right traffic width are both smaller than the width of the vehicle itself, and the left traffic width is greater than the right traffic width, a request to move the vehicle to the right is generated and sent to the working vehicle; when the total traffic width is greater than the width of the vehicle itself, the left traffic width and the right traffic width are both smaller than the width of the vehicle itself, and the left traffic width is not greater than the right traffic width, a request to move the vehicle to the left is generated and sent to the working vehicle.

[0071] The request to move the vehicle to the right may be a request for requesting the working vehicle to move to the right, and the request to move the vehicle to the left may be a request for requesting the working vehicle to move to the left.

[0072] Specifically, when the total passage width is greater than the width of the vehicle itself, it means that the current road is accessible to vehicles waiting to pass. However, since the left passage width and the right passage width are both smaller than the width of the vehicle itself, it means that the vehicle waiting to pass cannot pass directly from the left or right side of the working vehicle, and the working vehicle needs to move the vehicle to provide sufficient passage space for the vehicle waiting to pass. If the left passage width is greater than the right passage width, it means that the distance the working vehicle moves to the right is smaller than the distance it moves to the left. Therefore, a request to move the vehicle to the right is generated, and the request to move the vehicle to the right is sent to the working vehicle, so that the working vehicle moves to the right when it receives the request to move the vehicle to the right. If the left passage width is not greater than the right passage width, it means that the distance the working vehicle moves to the left is smaller than the distance it moves to the right. Therefore, a request to move the vehicle to the left is generated, and the request to move the vehicle to the left is sent to the working vehicle, so that the working vehicle moves to the left when it receives the request to move the vehicle to the left.

[0073] Optionally, when the total passage width is greater than the width of the vehicle itself, the left passage width and the right passage width are both smaller than the width of the vehicle itself, and the left passage width is not smaller than the right passage width, a request to move the vehicle to the right is generated and sent to the working vehicle; when the total passage width is greater than the width of the vehicle itself, the left passage width and the right passage width are both smaller than the width of the vehicle itself, and the left passage width is smaller than the right passage width, a request to move the vehicle to the left is generated and sent to the working vehicle.

[0074] The difference between the above two optional implementations is that when the left traffic width is equal to the right traffic width, a request to move the vehicle to the left or to the right can be generated, so that the working vehicle can move to the left or to the right, both of which can achieve fast and accurate moving of the working vehicle.

[0075] Based on the above example, after sending the vehicle moving request to the working vehicle, it is also possible to further determine whether the working vehicle has performed a vehicle moving operation so that the waiting vehicle can move. This can be achieved in the following ways:

[0076] Obtain the response time of the operating vehicle; if the response time is less than the preset time, control the vehicle to be passed through; if the response time is not less than the preset time, control the vehicle to be passed to turn around.

[0077] The response time may be the time from when the vehicle to be passed sends a request to move the vehicle to when the working vehicle is detected to move the vehicle. The preset time may be the maximum time that the vehicle to be passed waits for the working vehicle to move the vehicle.

[0078] Specifically, after the vehicle to be passed issues a request to move the vehicle, the working vehicle is detected by the vehicle sensor of the vehicle to be passed. When the working vehicle performs the moving operation, the time interval between this time and the time when the moving request is issued is determined, which is the response time of the working vehicle. If the response time is less than the preset time, it means that the waiting time of the vehicle to be passed is not long, and the vehicle to be passed can be controlled to pass. If the response time is not less than the preset time, it means that the working vehicle has not performed the moving operation when the preset time is reached. At this time, the vehicle to be passed no longer waits, and the vehicle to be passed can be controlled to turn around and choose other routes.

[0079] Optionally, in order to improve the safety of the vehicles to be passed and the working vehicles, a sensing device may be installed around the working vehicle to determine the distance between the vehicles to be passed and the working vehicle, so as to facilitate the judgment of the collision risk, including:

[0080] The sensing distance between the vehicle to be passed and the working vehicle is obtained; when the sensing distance is less than the preset distance, the vehicle to be passed is controlled to brake.

[0081] The sensing distance may be the straight-line distance between the sensing device installed around the working vehicle and the sensing device installed on the vehicle to be passed. The preset distance may be a pre-set distance for measuring whether there is a risk of scratching.

[0082] Specifically, according to the sensing devices installed around the working vehicle and the sensing devices installed on the vehicle to be passed, the sensing distance between the vehicle to be passed and the working vehicle can be obtained in real time. The relationship between the sensing distance and the preset distance is judged. If the sensing distance is greater than or equal to the preset distance, it means that there is no risk of scratching and the vehicle can pass normally; if the sensing distance is less than the preset distance, it means that there is a risk of scratching and the vehicle to be passed needs to be braked urgently to improve driving safety.

[0083] The technical solution of the embodiment of the present invention obtains the body width of the vehicle to be passed, obtains the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed, determines the working information of the working vehicle according to the image information and a preset database, determines the working width of the working vehicle according to the length of the mechanical arm and the lateral rotation angle, determines the maximum lateral width of the working vehicle according to the working width and the body angle, determines the difference between the road width and the maximum lateral width as the total passage width, determines the distance between the position information and the right boundary of the current road as the first distance and the distance between the position information and the left boundary of the current road as the second distance according to the position information of the working vehicle, determines the right passage width according to the first distance and the maximum lateral width, and determines the left passage width according to the second distance and the maximum lateral width, generates a vehicle moving request when the total passage width is greater than the body width of the vehicle, and the left passage width and the right passage width are both less than the body width of the vehicle, and prompts the working vehicle to move according to the vehicle moving request, solves the problem of low vehicle passage efficiency and low driving safety when the working vehicle blocks the vehicle to be passed, and achieves the effect of improving vehicle passage efficiency and ensuring driving safety.

[0084] Embodiment 3

[0085] Figure 3 This is a flow chart of a vehicle passage method provided by Embodiment 3 of the present invention. Figure 3 As shown, the method includes:

[0086] 1. Obtain the body width (body width) of the vehicle to be driven (the vehicle to be passed), and obtain the road width of the passing road (the current road).

[0087] The vehicle to be driven may be a vehicle that needs to pass; the vehicle body width may be the maximum width of the vehicle to be driven; and the road width may be the total length of the entire lateral width of the road.

[0088] Optionally, assuming that the passable road is a rural road, when the vehicle is passing on the rural road, if Figure 4 As shown, the road width of the passable road is L1, the driving direction of the vehicle A to be driven is shown by the arrow, and the body width of the vehicle A to be driven is L5.

[0089] 2. Obtain the operating width (maximum lateral width) of the target mobile battery swap port vehicle (operating vehicle) during operation.

[0090] Among them, the target mobile battery swap port vehicle may be a mobile battery swap port vehicle that is performing other engineering operations in front of the vehicle to be driven, for example, the target mobile battery swap port vehicle may be an excavator.

[0091] Optional, such as Figure 2 As shown in the figure, the target mobile battery exchange port vehicle B is an excavator. After the driving vehicle A monitors the excavator in front of it, it identifies the type of excavator. It can be shared with the Internet platform in real time, and the excavator situation can be uploaded by means of pictures, videos, etc. to obtain the excavator information, including height, width, rotation angle, etc. After identification, the maximum lateral width L2 (such as Figure 2 As shown, it is the maximum projection width of the excavator rotating 360°). Figure 2 Only the situation where the excavator's digging mouth is on the right side is shown, but it actually also includes the situation on the left side, that is, the width is the farthest left and right distance in the entire operation process. This embodiment takes the excavator's digging mouth on the right side as an example. The maximum rotation width of the excavator is L2. Therefore, the operating width of the target mobile battery exchange port vehicle during operation is L2.

[0092] 3. Calculate the preset passage width (total passage width) of the passage road based on the road width and the working width.

[0093] The preset passage width includes the left passage width and the right passage width. If the target mobile battery swap port vehicle is an excavator, the preset passage width can be the maximum width of the excavator's operating cylinder from the left and right sides of the road; the left passage width can be the maximum width of the excavator's operating cylinder from the left side of the road; the right passage width can be the maximum width of the excavator's operating cylinder from the right side of the road.

[0094] Optional, such as Figure 2 As shown, the preset passage width, including the left passage width L4 and the right passage width L3, can be calculated by subtracting the road width L1 from the working width L2 of the excavator B.

[0095] 4. Compare the preset clearance width with the vehicle body width.

[0096] Specifically, the preset passage width and the width of the vehicle body can be compared to determine whether the vehicle to be driven can pass safely. If the preset passage width is greater than the width of the vehicle body, the vehicle to be driven can pass safely, and step 5 is executed; if the preset passage width is less than the width of the vehicle body, the vehicle to be driven cannot pass safely, and the vehicle to be driven can interact with other vehicles to allow vehicles that can pass safely to pass first, or generate a prompt to prompt the vehicle to be driven to turn around or find another path to exit.

[0097] 5. If the preset passage width is greater than the vehicle body width and the right passage width is greater than the left passage width, the vehicle to be driven sends a request to move left to the working vehicle.

[0098] Among them, the request to move the vehicle to the left can be a request issued by the vehicle to be driven to the target mobile battery swap port vehicle to make the target mobile battery swap port vehicle move to the left.

[0099] Specifically, if the preset passage width is greater than the vehicle body width, the vehicle to be driven can pass safely. Since the target mobile battery swap port vehicle is operating in front of the vehicle to be driven, if the right passage width is greater than the left passage width, it can be determined that the vehicle to be driven can pass safely from the right side of the road. The vehicle to be driven can generate and send a request to move left to instruct the target mobile battery swap port vehicle to move left to give way.

[0100] 6. According to the request to move the car to the left, the target vehicle of the battery swap port is controlled to give way.

[0101] Specifically, in order to enable the waiting vehicle to pass, when the remaining lateral width of the road is sufficient for the waiting vehicle to pass, the target mobile battery swap port vehicle can be instructed to give way according to the left move request sent by the waiting vehicle to allow the waiting vehicle to pass. Figure 4 As shown, in theory, excavator B needs to be instructed to move to the leftmost side of the road (i.e., reduce L4 and increase L3). During the process of instructing excavator B to move, the distance of L3 can be monitored in real time. As long as L3>L5, the vehicle A to be driven can pass. In some specific embodiments, various reference data such as the response time of the target mobile battery swap port vehicle, the efficiency of rural road vehicle traffic, and whether there is a scratch with other vehicles can be obtained and summarized, and the driver of the target mobile battery swap port vehicle can be evaluated, so as to reward or punish the driver according to the evaluation results.

[0102] In some embodiments of the present invention, after comparing the size relationship between the preset passage width and the vehicle body width, the method further includes:

[0103] If the preset passage width is greater than the vehicle body width and the left passage width is greater than the right passage width, a request to move right sent by the vehicle to be driven is obtained. The request to move right can be a request sent by the vehicle to be driven to the target mobile battery swap port vehicle to move the target mobile battery swap port vehicle to the right.

[0104] Specifically, if the preset passage width is greater than the vehicle body width, the vehicle to be driven can pass safely. Since the target mobile battery swap port vehicle is operating in front of the vehicle to be driven, if the left passage width is greater than the right passage width, it can be determined that the vehicle to be driven can pass safely from the left side of the road. By obtaining the right-moving request generated by the vehicle to be driven, the target mobile battery swap port vehicle can be instructed to move right to give way.

[0105] According to the request to move right, the target vehicle at the battery swap port is instructed to give way.

[0106] Specifically, in order to enable the waiting vehicle to pass, when the remaining lateral width of the road is sufficient for the waiting vehicle to pass, the target mobile battery swap port vehicle can be instructed to give way according to the right move request sent by the waiting vehicle to allow the waiting vehicle to pass. Figure 4 As shown, in theory, excavator B needs to be instructed to move to the far right side of the road (i.e., reduce L3 and increase L4). During the process of instructing excavator B to move, the distance of L4 can be monitored in real time. As long as L4>L5, the vehicle A to be driven can pass. In some specific embodiments, a variety of reference data such as the response time of the target mobile battery swap port vehicle, the traffic efficiency of rural road vehicles, and whether there are any scratches with other vehicles can be obtained and summarized to evaluate the driver of the target mobile battery swap port vehicle, so as to reward or punish the driver according to the evaluation results. By real-time monitoring of the preset passage width and the left and right passage widths, the target mobile battery swap port vehicle is instructed to move, so as to avoid accidents such as scratches and improve road traffic efficiency.

[0107] In some embodiments of the present invention, obtaining the operating width of a target mobile battery swap port vehicle during operation includes:

[0108] Obtain the robotic arm length and rotation angle (lateral rotation angle) of the target mobile battery swap port vehicle.

[0109] The length of the mechanical arm may be the maximum length of the mechanical arm of the target mobile battery swap port vehicle in an extended state when the target mobile battery swap port vehicle is in a stationary state. The rotation angle may be the angle increased by the rotation of the fuselage of the target mobile battery swap port vehicle during normal operation.

[0110] Optionally, the target mobile battery swap port vehicle will bring about an increase in the lateral width during normal operation. For example, if the target mobile battery swap port vehicle is an excavator, the excavator in front can be identified through the monitoring camera of the vehicle to be driven, such as by taking and uploading picture information of the excavator, and obtaining the excavator's information through server recognition, including height, body width, mechanical arm length, rotation angle, etc.

[0111] According to the rotation angle and the length of the robotic arm, the lateral rotation width of the target mobile battery swap port vehicle during operation is calculated.

[0112] Among them, the lateral rotation width can be the lateral width of the target mobile battery swap port vehicle that changes with the change of its rotation angle during normal operation.

[0113] Specifically, the lateral rotation width of the target mobile battery swap port vehicle can be calculated in real time according to the change of the rotation angle. To ensure the traffic safety of the vehicles to be driven, taking the maximum lateral rotation width of the target mobile battery swap port vehicle as an example, assuming that the target mobile battery swap port vehicle is an excavator, the maximum projection width of the excavator in the 360° direction is obtained, and the maximum lateral width of the excavator during normal operation, that is, the maximum lateral rotation width, is obtained.

[0114] The working width is determined by the lateral rotation width.

[0115] Specifically, the lateral rotation width detected in real time can be used as the operating width of the target mobile battery swap port vehicle during normal operation. Figure 2 As shown, taking the maximum lateral rotation width of excavator B as an example, the maximum lateral rotation width is taken as the working width L2. The lateral rotation width is calculated by the rotation angle of the target mobile battery swap port vehicle to obtain the working width, so as to avoid the collision between the working vehicle and the vehicle to be driven to the greatest extent and ensure driving safety.

[0116] In some embodiments of the present invention, after comparing the size relationship between the preset passage width and the vehicle body width, the method further includes:

[0117] If the preset clearance width is smaller than the vehicle body width, the vehicle to be driven will be prompted to turn around.

[0118] Optionally, if the preset width of the road is smaller than the width of the vehicle body, the vehicle to be driven cannot safely pass through this road section. Therefore, a prompt can be generated to remind the vehicle to be driven to turn around or find other ways to exit.

[0119] In some specific embodiments, after the vehicle that cannot pass turns around, it can interact with other vehicles behind it, allowing vehicles that can pass to pass first, while prompting vehicles that cannot pass to turn around, thereby improving road traffic efficiency.

[0120] In some embodiments of the present invention, the method further comprises:

[0121] Compare the left side traffic width or the right side traffic width with the vehicle body width.

[0122] Specifically, after calculating the left and right traffic widths, the left and right traffic widths and the vehicle body widths can be compared first to determine whether the current left and right traffic widths allow the vehicle to pass safely.

[0123] Specifically, if the left-side passage width or the right-side passage width is greater than the vehicle body width, a passage prompt is generated. If the current left-side passage width is greater than the vehicle body width, the current left-side passage width allows the vehicle to pass safely, so a passage prompt can be generated to remind the vehicle to pass directly; if the current right-side passage width is greater than the vehicle body width, the current right-side passage width allows the vehicle to pass safely, so a passage prompt can be generated to remind the vehicle to pass directly.

[0124] In some specific embodiments, if the current left-side traffic width or right-side traffic width is smaller than the vehicle body width, the current left-side traffic width or right-side traffic width does not allow the vehicle to pass safely. Therefore, a step of comparing the size relationship between the preset traffic width and the vehicle body width can be performed to improve the safety of road traffic.

[0125] In some embodiments of the present invention, the method further comprises:

[0126] Get the response time (response duration) of the target mobile battery swap port vehicle in response to the request to move left.

[0127] Among them, the response time can be the length of time it takes for the target mobile battery swap port vehicle to respond to the request to move left.

[0128] Specifically, after instructing the target mobile battery swap port vehicle to move left to make way according to the request to move left, the response time of the target mobile battery swap port vehicle can be obtained to determine whether the target mobile battery swap port vehicle makes way.

[0129] If the response time is less than the preset time (preset duration), a passage prompt is generated.

[0130] Specifically, if the response time of the target mobile battery swap port vehicle is less than the preset time, it can be determined that the target mobile battery swap port vehicle responds to the request of the vehicle to be driven and gives way within the preset time range, so a passage prompt can be generated to remind the vehicle to be driven to pass; if the response time of the target mobile battery swap port vehicle is greater than the preset time, it can be determined that the target mobile battery swap port vehicle does not respond to the request of the vehicle to be driven within the set time range, and a turn prompt can be generated to remind the vehicle to be driven to turn around.

[0131] Optionally, if the target mobile battery swap port vehicle continues to operate for more than a certain period of time, causing serious congestion of vehicles behind, such as squeezing more than 20 vehicles within 1 minute, the data can be collected and reported to the road traffic control department, which will instruct the target mobile battery swap port vehicle to stop operating and give way.

[0132] In some embodiments of the present invention, the method further comprises:

[0133] Obtain the sensing distance between the vehicle to be driven and the target mobile battery swap port vehicle.

[0134] Among them, the sensing distance can be the straight-line distance between the sensing device added around the rotating area of ​​the target mobile battery exchange port vehicle and the sensing device installed on the vehicle to be driven.

[0135] Specifically, in order to avoid the risk of scratching the target mobile battery swap port vehicle due to the driver of the vehicle to be driven making inaccurate predictions and insisting on moving forward, the sensing distance between the vehicle to be driven and the target mobile battery swap port vehicle can be obtained in real time to determine whether there is a collision risk.

[0136] If the sensing distance is less than the preset distance, the target mobile battery swap port vehicle will be braked.

[0137] Specifically, the preset distance can be set according to demand. If the sensing distance is less than the preset distance, there is a risk of scratching, and the vehicle needs to be braked urgently; if the sensing distance is greater than the preset distance, there is no risk of scratching, and a passing prompt can be generated to improve driving safety.

[0138] The technical solution of the embodiment of the present invention first obtains the body width of the vehicle to be driven, the road width of the passage road and the operating width of the target mobile battery swap port vehicle during operation, and then calculates the preset passage width of the passage road based on the road width and the operating width, and then compares the size relationship between the preset passage width and the body width. If the preset passage width is greater than the body width and the right-side passage width is greater than the left-side passage width, the request to move left sent by the vehicle to be driven is obtained, and finally, according to the request to move left, the target mobile battery swap port vehicle is instructed to give way and pass, which can improve the travel efficiency of rural roads, protect the vehicle to be driven from colliding with the target mobile battery swap port vehicle when driving on rural roads, and enhance driving safety.

[0139] Embodiment 4

[0140] Figure 5 This is a schematic diagram of the structure of a vehicle passage device provided by the fourth embodiment of the present invention. Figure 5 As shown, the device comprises:

[0141] Among them, the information acquisition module 310 is used to obtain the body width of the vehicle to be passed, and obtain the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed; wherein the working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the body; the working vehicle determination module 320 is used to determine the maximum lateral width of the working vehicle according to the image information and a preset database; the passage width determination module 330 is used to determine the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width; the vehicle moving request module 340 is used to generate a vehicle moving request when the total passage width is greater than the body width of the vehicle, and the left passage width and the right passage width are both smaller than the body width of the vehicle, and prompt the working vehicle to move according to the vehicle moving request.

[0142] Optionally, the device also includes: a traffic judgment module, which is used to control the vehicle to pass when the left traffic width is greater than the vehicle body width or the right traffic width is greater than the vehicle body width; when the total traffic width is less than the vehicle body width, obtain an alternative driving path and control the vehicle to pass to travel along the alternative driving path.

[0143] Optionally, the work vehicle determination module 320 is also used to determine the work information of the work vehicle based on the image information and a preset database; wherein the work information includes the length of the robotic arm, the lateral rotation angle and the body angle; based on the length of the robotic arm and the lateral rotation angle, the work width of the work vehicle is determined, and based on the work width and the body angle, the maximum lateral width of the work vehicle is determined.

[0144] Optionally, the vehicle moving request module 340 is further used to generate a request to move the vehicle to the right and send the request to move the vehicle to the working vehicle when the total passage width is greater than the width of the vehicle body, the left passage width and the right passage width are both smaller than the width of the vehicle body, and the left passage width is greater than the right passage width; and generate a request to move the vehicle to the left and send the request to move the vehicle to the working vehicle when the total passage width is greater than the width of the vehicle body, the left passage width and the right passage width are both smaller than the width of the vehicle body, and the left passage width is not greater than the right passage width. The working vehicle; or, when the total passage width is greater than the own vehicle width, the left passage width and the right passage width are both smaller than the own vehicle width, and the left passage width is not smaller than the right passage width, a request to move the vehicle to the right is generated and sent to the working vehicle; when the total passage width is greater than the own vehicle width, the left passage width and the right passage width are both smaller than the own vehicle width, and the left passage width is smaller than the right passage width, a request to move the vehicle to the left is generated and sent to the working vehicle.

[0145] Optionally, after sending the vehicle moving request to the working vehicle, the device also includes: a response judgment module, used to obtain the response time of the working vehicle; when the response time is less than a preset time, controlling the vehicle to pass through; when the response time is not less than a preset time, controlling the vehicle to pass to turn around.

[0146] Optionally, the device further includes: a sensing judgment module, used for obtaining a sensing distance between the vehicle to be passed and the working vehicle; and controlling the braking of the vehicle to be passed when the sensing distance is less than a preset distance.

[0147] Optionally, the passage width determination module 330 is also used to determine the difference between the road width and the maximum lateral width as the total passage width; determine the distance between the position information and the right boundary of the current road as the first distance, and the distance between the position information and the left boundary of the current road as the second distance according to the position information of the working vehicle; determine the right passage width according to the first distance and the maximum lateral width, and determine the left passage width according to the second distance and the maximum lateral width.

[0148] The technical solution of the embodiment of the present invention obtains the body width of the vehicle to be passed, and obtains the road width of the current road and the image information of the working vehicle based on the vehicle sensor of the vehicle to be passed, and determines the maximum lateral width of the working vehicle according to the image information and a preset database, and determines the total passing width, the left passing width and the right passing width according to the road width, the position information of the working vehicle and the maximum lateral width. When the total passing width is greater than the body width of the vehicle, and the left passing width and the right passing width are both smaller than the body width of the vehicle, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request, thereby solving the problem of low vehicle traffic efficiency and low driving safety when the working vehicle blocks the vehicle to be passed, and achieving the effect of improving vehicle traffic efficiency and ensuring driving safety.

[0149] The vehicle passage device provided in the embodiment of the present invention can execute the vehicle passage method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0150] Embodiment 5

[0151] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0152] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0153] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0154] Optionally, the input unit 16 may be a camera, and the camera may include a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera may further include a flash. The flash may be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0155] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle passage method.

[0156] In some embodiments, the vehicle passage method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle passage method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle passage method in any other appropriate manner (e.g., by means of firmware).

[0157] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0158] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0159] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0161] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0162] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0163] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0164] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle passage method, It is characterized in that include: Obtaining the body width of the vehicle to be passed, and obtaining the road width of the current road and image information of the working vehicle based on the vehicle sensor of the vehicle to be passed; wherein the working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the body; Determining the maximum lateral width of the working vehicle according to the image information and a preset database; Determine the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width; When the total passage width is greater than the own vehicle body width, and the left passage width and the right passage width are both smaller than the own vehicle body width, a vehicle moving request is generated, and the working vehicle is prompted to move according to the vehicle moving request.

2. The method according to claim 1, It is characterized in that Also includes: When the left side passage width is greater than the vehicle body width or the right side passage width is greater than the vehicle body width, controlling the vehicle to be passed; In the case where the total passing width is smaller than the own vehicle body width, an alternative driving path is obtained, and the vehicle to be passed is controlled to travel along the alternative driving path.

3. The method according to claim 1, It is characterized in that Determining the maximum lateral width of the working vehicle according to the image information and a preset database includes: Determine the operation information of the operation vehicle according to the image information and a preset database; wherein the operation information includes the length of the robot arm, the lateral rotation angle and the body angle; The working width of the working vehicle is determined according to the length of the mechanical arm and the lateral rotation angle, and the maximum lateral width of the working vehicle is determined according to the working width and the vehicle body angle.

4. The method according to claim 1, It is characterized in that When the total passage width is greater than the vehicle body width, and the left passage width and the right passage width are both less than the vehicle body width, generating a vehicle moving request, and prompting the working vehicle to move according to the vehicle moving request, including: In the case where the total passage width is greater than the own vehicle body width, the left passage width and the right passage width are both less than the own vehicle body width, and the left passage width is greater than the right passage width, a request to move the vehicle to the right is generated and sent to the working vehicle; In the case where the total passage width is greater than the own vehicle body width, the left passage width and the right passage width are both less than the own vehicle body width, and the left passage width is not greater than the right passage width, a request to move the vehicle to the left is generated and sent to the working vehicle; or When the total passage width is greater than the own vehicle body width, the left passage width and the right passage width are both less than the own vehicle body width, and the left passage width is not less than the right passage width, a request to move the vehicle to the right is generated and sent to the working vehicle; When the total passage width is greater than the own vehicle body width, the left passage width and the right passage width are both smaller than the own vehicle body width, and the left passage width is smaller than the right passage width, a request to move the vehicle to the left is generated and sent to the work vehicle.

5. The method according to claim 1, It is characterized in that After sending the vehicle moving request to the working vehicle, the method further includes: Obtaining the response time of the operating vehicle; When the response time is shorter than a preset time, controlling the vehicle to be passed to pass; When the response time is not less than the preset time, the vehicle to be passed is controlled to turn around.

6. The method according to claim 1, It is characterized in that Also includes: Acquiring a sensing distance between the vehicle to be passed and the working vehicle; When the sensing distance is less than a preset distance, the vehicle to be passed is controlled to brake.

7. The method according to claim 1, It is characterized in that The determining of the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width includes: Determine the difference between the road width and the maximum lateral width as the total traffic width; According to the position information of the working vehicle, determining that the distance between the position information and the right boundary of the current road is a first distance, and the distance between the position information and the left boundary of the current road is a second distance; The right passage width is determined according to the first distance and the maximum lateral width, and the left passage width is determined according to the second distance and the maximum lateral width.

8. A vehicle passage device, It is characterized in that include: An information acquisition module, used to acquire the body width of the vehicle to be passed, and acquire the road width of the current road based on the vehicle sensor of the vehicle to be passed, as well as image information of the working vehicle; wherein the working vehicle includes a body and a mechanical arm, and the mechanical arm is arranged on the body; A working vehicle determination module, used to determine the maximum lateral width of the working vehicle according to the image information and a preset database; A passage width determination module, used to determine the total passage width, the left passage width and the right passage width according to the road width, the position information of the working vehicle and the maximum lateral width; The vehicle moving request module is used to generate a vehicle moving request when the total passage width is greater than the own vehicle body width and the left passage width and the right passage width are both smaller than the own vehicle body width, and prompt the working vehicle to move according to the vehicle moving request.

9. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle passage method according to any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle passage method according to any one of claims 1 to 7 when executed.

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