Lane exit method and device

Abstract

The application discloses a lane vehicle exiting method and device. The method comprises the following steps: acquiring a weighing trigger sequence corresponding to a target vehicle, wherein a plurality of rows of weighing sensors are sequentially arranged on a target lane where the target vehicle is located, and the weighing trigger sequence is used to represent the order in which the target vehicle triggers each row of weighing sensors in the plurality of rows of weighing sensors; identifying the direction of the running track of the target vehicle according to the order in which each row of weighing sensors appears in the weighing trigger sequence; when the direction of the running track of the target vehicle is identified, the direction of the running track of the target vehicle is determined as the driving direction of the target vehicle; and when it is detected that the coil sensor is extinguished and it is determined according to the driving direction of the target vehicle that the coil sensor is the next coil of the target vehicle, the vehicle exiting operation of the target vehicle is performed. Through the application, the technical problem that the exiting accuracy is poor due to the inability to guarantee the reliability of the coil in the related art is solved.

Description

Technical Field

[0001] This application relates to the field of computers, and more specifically, to a method and apparatus for exiting a vehicle lane. Background Technology

[0002] To reduce the safety hazards caused by overloaded freight vehicles and to avoid vehicle congestion due to low weighing efficiency when manually weighing vehicles on-site, dynamic weighing of vehicles can be carried out using load cells and coil sensors. Load cells can be load measurement sensors such as narrow bar (i.e., narrow bar pressure sensor), strain sensor, and axle scale.

[0003] Taking a narrow strip as an example, the narrow strip can be installed in a fixed position on the roadbed, with its upper surface flush with the road surface. When a vehicle drives over the narrow strip, it causes deformation. From this deformation, the pressure received by the narrow strip can be deduced, and thus the wheel weight can be deduced. A coil sensor can be installed at the entrance and exit of the narrow strip weighing area. When a vehicle drives over the coil, the coil senses the presence of a vehicle above and sends a trigger signal. When the vehicle leaves, the trigger signal disappears. Based on the illumination and extinguishing of the coil sensor, it is possible to determine whether a vehicle has entered / left the weighing area.

[0004] In the aforementioned vehicle weighing process, the need for vehicle dispatch can be determined by the extinguishing of a coil. However, actual driving scenarios are complex, such as following vehicles, the influence of the vehicle chassis on coil sensitivity, and the impact of vehicle speed. Relying solely on coil extinguishing to control vehicle dispatch can easily lead to abnormal dispatching. In other words, the method of dispatching vehicles based on coil extinguishing in related technologies suffers from poor dispatching accuracy due to the inability to guarantee the reliability of the coil. Summary of the Invention

[0005] This application provides a method and apparatus for vehicle departure from a lane, which at least solves the technical problem in related technologies where the departure method relies on the extinguishing of a coil, resulting in poor departure accuracy due to the inability to guarantee the reliability of the coil.

[0006] According to one aspect of the embodiments of this application, a method for vehicle departure in a lane is provided, comprising: acquiring a weighing trigger sequence corresponding to a target vehicle, wherein multiple rows of weighing sensors are sequentially arranged on a target area where the target vehicle is located, and the weighing sensor trigger sequence is used to indicate the order in which the target vehicle triggers each row of weighing sensors in the multiple rows of weighing sensors; identifying the direction of the target vehicle's running trajectory according to the order in which the rows of weighing sensors appear in the weighing trigger sequence; determining the direction of the target vehicle's running trajectory as the driving direction of the target vehicle when the direction of the target vehicle's running trajectory is identified; and performing a vehicle departure operation for the target vehicle when a coil sensor is detected to be off and the coil sensor is determined to be the next weighing coil of the target vehicle according to the driving direction of the target vehicle.

[0007] According to another aspect of the embodiments of this application, a vehicle departure device for a lane is also provided, comprising: an acquisition unit, configured to acquire a weighing trigger sequence corresponding to a target vehicle, wherein multiple rows of weighing sensors are sequentially arranged on a target area where the target vehicle is located, and the weighing trigger sequence is used to indicate the order in which the target vehicle triggers each row of weighing sensors in the multiple rows of weighing sensors; an identification unit, configured to identify the direction of the target vehicle's running trajectory according to the order in which the rows of weighing sensors appear in the weighing trigger sequence; a first determination unit, configured to determine the direction of the target vehicle's running trajectory as the driving direction of the target vehicle when the direction of the target vehicle's running trajectory is identified; and a first execution unit, configured to execute a vehicle departure operation for the target vehicle when a coil sensor is detected to be off and the coil sensor is determined to be the lower weighing coil of the target vehicle according to the driving direction of the target vehicle.

[0008] In this embodiment, the driving direction of a vehicle is determined using a trigger sequence of weighing sensors. This is achieved by acquiring a weighing trigger sequence corresponding to the target vehicle. Multiple rows of weighing sensors are sequentially arranged in the target area where the target vehicle is located. The weighing trigger sequence indicates the order in which the target vehicle triggers each row of weighing sensors. Based on the order in which the weighing sensors appear in the weighing trigger sequence, the direction of the target vehicle's trajectory is identified. Once the direction of the target vehicle's trajectory is identified, it is determined as the driving direction of the target vehicle. The method continues until the coil sensor is detected to be off. When the load cell is extinguished and the target vehicle's driving direction is determined to be the lower load cell, the vehicle dispatch operation is performed. Since the sequence of triggering the load cell exhibits different characteristics in different driving directions, the vehicle's driving direction can be determined based on the load cell's trigger sequence, which can improve the accuracy of driving direction determination. This ensures effective vehicle dispatch regardless of the reliability of the load cell, thereby improving the technical effect of improving dispatch accuracy. This solves the technical problem of poor dispatch accuracy caused by the inability to guarantee the reliability of the load cell in the related technology that relies on the extinguishing of the load cell for vehicle dispatch. Attached Figure Description

[0009] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the hardware environment for an optional lane exit method according to an embodiment of this application;

[0012] Figure 2 This is a schematic flowchart of an optional lane exit method according to an embodiment of this application;

[0013] Figure 3 This is a schematic diagram of an optional wheel triggering narrow strip according to an embodiment of this application;

[0014] Figure 4 This is a schematic diagram of an optional pre-built vehicle waiting area according to an embodiment of this application;

[0015] Figure 5 This is a schematic diagram of an optional real-time adjustment method for the waiting area range according to an embodiment of this application;

[0016] Figure 6 This is a schematic diagram of an optional numbering method for a narrow waiting area according to an embodiment of this application;

[0017] Figure 7 This is a schematic diagram of an optional vehicle pre-construction method according to an embodiment of this application;

[0018] Figure 8 This is a schematic diagram of another optional real-time adjustment method for the waiting area range according to an embodiment of this application;

[0019] Figure 9 This is a schematic flowchart of an optional lane exit method according to an embodiment of this application;

[0020] Figure 10 This is a structural block diagram of an optional lane vehicle exit device according to an embodiment of this application;

[0021] Figure 11 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to one aspect of the embodiments of this application, a method for exiting a lane is provided. Optionally, in this embodiment, the above-described method for exiting a lane can be applied to, for example... Figure 1The hardware environment shown consists of a weighing sensor 102 and a server 104. Figure 1 As shown, server 104 is connected to load cell 102 via a network and can be used to provide services (such as application services) to the load cell. A database can be set up on the server or independently to provide data storage services to server 104. Load cell 102 can be, but is not limited to, strain gauges, narrow bar load cells, shaft assembly load cells, etc.

[0025] The lane departure method in this embodiment can be executed by server 104, by weighing sensor 102, or by both server 104 and weighing sensor 102. Taking the execution of the lane departure method in this embodiment by server 104 as an example... Figure 2 This is a schematic flowchart of an optional lane exit method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0026] Step S202: Obtain the weighing trigger sequence corresponding to the target vehicle. Multiple rows of weighing sensors are sequentially arranged in the target area where the target vehicle is located. The weighing trigger sequence is used to indicate the order in which the target vehicle triggers each row of weighing sensors.

[0027] The vehicle exit method in this embodiment can be applied to scenarios where vehicles exit in areas equipped with weighing sensors. The vehicles can be ordinary trucks, long-distance passenger buses, special-purpose vehicles, or other vehicles requiring load weight detection. The vehicle exit scenarios can be the entrance and exit of a highway toll station, parking lots, docks, or other scenarios requiring vehicle weight detection; this embodiment does not limit these scenarios.

[0028] Taking a highway as an example, at least one lane can be set up on the highway (an example of the target area), and a weighing area can be configured in each of the at least one lane. Weighing sensors can be deployed in the weighing area. Multiple rows of weighing sensors (e.g., multiple rows of narrow strips) can be deployed in the at least one lane. Each row of weighing sensors can contain multiple weighing sensors (e.g., two weighing sensors). Weighing sensors belonging to the same row can be arranged side by side or not side by side, for example, alternating left and right rows. The aforementioned weighing sensors can be strain sensors, narrow strips, axle scales, or other components used for weighing vehicles. In this embodiment, the type of weighing sensor is not limited.

[0029] As a vehicle passes over multiple rows of load cells, the load cells it passes over can record the vehicle's weighing-related information. This weighing-related information may include, but is not limited to, at least one of the following: position information of the vehicle passing the load cells, time information of the vehicle passing the load cells, and weight information detected by the load cells.

[0030] After each weighing sensor collects weighing-related information of the vehicle (e.g., weight information, time information, location information, etc.), it can upload the collected weighing-related information to the server in real time (an example of server 104), or it can report the weighing-related information of at least one vehicle to the server at the same time after a period of time. This embodiment does not limit this.

[0031] For example, such as Figure 3 As shown, when a vehicle passes through multiple rows of narrow strips, the strips will upload strip triggering information, including the weight information triggered by the vehicle, the triggering time, and the triggering position information on the strip, to the data collector, which can be located on a server.

[0032] Since at least one lane can be set up on a highway, and each lane can allow at least one vehicle to pass, during periods of heavy traffic, vehicles may travel side-by-side. In this case, the trigger points of the weighing sensors on the vehicles are close together, resulting in multiple vehicles exiting a single lane. Furthermore, to ensure the server can accurately identify and distinguish vehicles in each lane during heavy traffic, the server can pre-create vehicles based on the weighing information uploaded by the weighing sensors. These pre-created vehicles can be virtual vehicles, corresponding to a specific actual vehicle, or they can be erroneously created due to vehicles traveling side-by-side. For example, if the trigger points of adjacent wheels of two vehicles are close together, an erroneous vehicle creation may occur. In this case, multiple vehicles exiting a single lane may also occur.

[0033] For the scenario of pre-built vehicles, the server can pre-build vehicles based on two historical trigger positions corresponding to two historical weighing information, and obtain the built vehicles. The distance between the two historical trigger positions is within the target distance range, and the waiting area of ​​the built vehicles is the position interval determined based on the two historical trigger positions. The built vehicles can be included in the built vehicle group.

[0034] The distance between two historical trigger locations can be understood as the vehicle width. Since the vehicle width is within a reasonable range, the distance between the two historical trigger locations used to establish the vehicle is also within a reasonable vehicle width range. Therefore, the distance between the two historical trigger locations corresponding to the two historical weighing information used in the pre-built vehicle is within the target distance range (e.g., 3m to 5m).

[0035] Since the axle width of a vehicle is generally a fixed value, and the displacement of the axle's position information when a vehicle continuously passes through multiple rows of weighing sensors (e.g., three narrow rows) should be within a reasonable range, a waiting area range can be set for existing vehicles. This waiting area range is the distance range corresponding to the existing vehicle. It can be slightly larger than the vehicle width but controlled within a reasonable range (e.g., within 0.5m to the left and right). If the trigger position corresponding to subsequently reported weighing information is located within the waiting area range of one or more existing vehicles, then the weighing information can be considered to belong to that existing vehicle.

[0036] The server can receive the first weighing information uploaded by the target weighing sensor in multiple rows of weighing sensors. The weighing trigger position corresponding to the first weighing information is the first trigger position. When there is an existing vehicle in the existing vehicle group, the first trigger position is matched with the waiting area range of the existing vehicle. If the first vehicle is matched from the existing vehicles, the first weighing information is added to the vehicle information group of the first vehicle. The first vehicle information group contains the weighing information matched with the first vehicle.

[0037] In this embodiment, if the conditions for building a vehicle are not met, the trigger location information can be assigned to the idle area and wait for the subsequent reported weighing information to be matched. The weighing trigger location corresponding to the idle area does not belong to the waiting area of ​​any existing vehicle and cannot be pre-built with the weighing trigger location corresponding to other weighing information in the idle area.

[0038] Optionally, after receiving the first weighing information uploaded by the target weighing sensor, the weighing information can be searched in the candidate weighing information group based on the distance between the first trigger position and the weighing trigger position corresponding to each candidate weighing information in the candidate weighing information group (i.e., the aforementioned idle area). The weighing trigger position corresponding to the candidate weighing information does not match the waiting area range of the built vehicle and the distance between it and the weighing trigger position corresponding to other weighing information in the candidate weighing information group is outside the target distance range. If the second weighing information is found from the candidate weighing information group, a vehicle is established based on the first trigger position and the second trigger position to obtain the second vehicle. The second trigger position is the weighing trigger position corresponding to the second weighing information, and the distance between the second trigger position and the first trigger position is within the target distance range. The built vehicle group is updated using the second vehicle to obtain the updated built vehicle group, wherein the updated built vehicle group includes the second vehicle, and the vehicle information group of the second vehicle includes the first weighing information and the second weighing information.

[0039] Optionally, establishing a vehicle based on the first trigger position and the second trigger position to obtain a second vehicle includes: determining the position point corresponding to the first trigger position after translating it a target distance along the target direction as the first position point, wherein the target direction is the direction from the second trigger position to the first trigger position; determining the position point corresponding to the second trigger position after translating it a target distance in the opposite direction of the target direction as the second position point; determining the position interval between the first position point and the second position point as the target interval range; and establishing a vehicle according to the target interval range to obtain a second vehicle, wherein the waiting area range of the second vehicle is the target interval range.

[0040] For example, such as Figure 4 As shown, based on two narrow strip trigger positions ( Figure 4 The crosshairs shown in the diagram indicate where vehicles can be pre-built. After a vehicle is pre-built, the waiting area for that vehicle (i.e., a pre-built vehicle) can be determined based on its width. This area can be within 0.5 meters to the left and right of the vehicle width. Here, the waiting area can be a lateral range perpendicular to the lane direction, regardless of the vehicle's movement along the lane. Simultaneously, it can be determined whether the narrow strip's position information falls within the waiting area of ​​a pre-built vehicle in the cache. If it does, the narrow strip is placed in the waiting area of ​​the pre-built vehicle. The same narrow strip can be marked in multiple vehicles simultaneously. If a narrow strip cannot be pre-built or placed in the waiting area of ​​a pre-built vehicle in the cache, it is placed in the idle area, waiting for other narrow strips to match.

[0041] Optionally, after searching for weighing information in the candidate weighing information group based on the distance between the first trigger position and the weighing trigger position corresponding to each candidate weighing information in the candidate weighing information group, the first weighing information can be added to the candidate weighing information group if the first trigger position meets the target conditions. The target conditions include: no weighing information is found in the candidate weighing information group whose corresponding weighing trigger position is within the target distance range from the first trigger position, and no vehicle is matched from the existing vehicles.

[0042] In this embodiment, considering the complexity of the actual driving trajectory of the vehicle, the waiting area range of the vehicle can also be updated in real time. For example, when the number of points in the waiting area of ​​the established vehicle reaches a certain number (e.g., four points), the real-time boundary range of the vehicle can be updated, thereby adjusting the waiting area range of the vehicle.

[0043] Optionally, after adding the first weighing information to the vehicle information group of the first vehicle, the first weighing information can be added to a waiting information group associated with the target waiting area range, where the target waiting area range is the waiting area range of the first vehicle; if the number of weighing information contained in the waiting information group reaches the target number, the target waiting area range is updated using the weighing information contained in the waiting information group, and the weighing information in the waiting information group is cleared.

[0044] Optionally, the target waiting area range is updated using the weighing information contained in the waiting information group, including: determining the position point corresponding to the third trigger position shifted to the left by the target distance as the third position point, wherein the third trigger position is the weighing trigger position closest to the left among the weighing trigger positions corresponding to each weighing information in the waiting information group; determining the position point corresponding to the fourth trigger position shifted to the right by the target distance as the fourth position point, wherein the fourth trigger position is the weighing trigger position closest to the right among the weighing trigger positions corresponding to each weighing information in the waiting information group; and updating the target waiting area range using the interval range between the third position point and the fourth position point.

[0045] For example, such as Figure 5 As shown, when the number of points accumulated within the waiting area of ​​an existing vehicle reaches a certain threshold (e.g., four points in this example), the real-time boundary range of the vehicle can be updated, thereby adjusting the waiting area range for that vehicle. Figure 5 The numbers 0-5 in the text are the numbers for the narrow strips. Refer to [reference needed] for the numbering method. Figure 6 .

[0046] To facilitate the description of the pre-built vehicle scheme, a narrow strip will be used as an example for explanation below. Figure 7 As shown, the vehicle pre-construction method in this application embodiment may include the following steps:

[0047] Step S702, Begin.

[0048] In step S704, when the vehicle enters the weighing area, the weighing coil lights up, the narrow bar is triggered, and the narrow bar uploads the detected trigger information to the data collector. The data collector can obtain the trigger information uploaded by the narrow bar.

[0049] Step S706: Determine whether the triggered narrow strip can be used for pre-building a vehicle (i.e., meets the pre-building conditions). If yes, proceed to step S708; otherwise, proceed to step S710.

[0050] Based on the received narrow strip trigger information and the narrow strip trigger information of the idle area, determine whether a vehicle can be pre-built. If yes, proceed to step S708; otherwise, proceed to step S710.

[0051] Step S708: Pre-build a vehicle. After pre-building a vehicle, the waiting area range of the vehicle can be obtained.

[0052] Step S710: Determine whether the triggered narrow strip can be placed in the existing vehicle waiting area. If yes, proceed to step S712; otherwise, proceed to step S714.

[0053] Step S712: Add the weighing information of the triggered narrow strip to the corresponding waiting area of ​​the existing vehicle, that is, associate the narrow strip triggering information with the corresponding waiting area of ​​the existing vehicle.

[0054] Step S714: Add the weighing information of the triggered narrow strip to the information group corresponding to the idle area.

[0055] If a vehicle cannot be pre-built or placed in the cached waiting area for existing vehicles, it will be placed in the idle area and wait for other narrow strips to match.

[0056] Step S716: Determine whether the conditions for updating the vehicle are met (i.e., determine whether the number of narrow strip trigger messages in the waiting area of ​​the built vehicle reaches 4). If yes, proceed to step S718; otherwise, proceed to step S720.

[0057] Step S718: Update vehicle boundaries and waiting area range.

[0058] Step S720: The lower coil is detected to be extinguished.

[0059] Step S722: Determine if there are any vehicles available for exiting in the corresponding lane. If yes, proceed to step S724; otherwise, end the process.

[0060] Step S724: Depart the vehicle and confirm all the narrow strip trigger information reported by the vehicle as the vehicle's weighing information, and perform subsequent operations such as calculating the vehicle weight and matching it with the vehicle information.

[0061] Step S726, End.

[0062] Alternatively, in addition to the scenario of pre-built vehicles mentioned above, vehicles can also be distinguished by lane. Based on the location information in the weighing-related information detected by the weighing sensors in each lane, the vehicles in each lane can be determined. That is, only one vehicle is allowed to pass in a lane, and the vehicles detected in each lane are all actual vehicles.

[0063] For vehicles pre-built in the aforementioned manner or determined by other methods, the server can determine the vehicle's driving direction based on the vehicle's weighing-related information. For a target vehicle, the server can determine the weighing trigger sequence corresponding to the target vehicle based on the weighing-related information already associated with the vehicle. The weighing trigger sequence indicates the order in which the target vehicle triggers the weighing sensors in each row of multi-row weighing sensors.

[0064] To determine the order in which the target vehicle triggers the load cells in multiple rows, each row of load cells can be sorted. For example, the load cells can be sorted sequentially from near to far (or from far to near) according to a preset direction of the target area (e.g., a preset forward direction). The load cells can be sorted as follows: the first row of load cells is X1, the second row is X2, and so on, resulting in X1, X2, X3, and so on. In this embodiment, the sorting method for the load cells is not limited.

[0065] Step S204: Identify the direction of the target vehicle's trajectory based on the order in which each row of weighing sensors appears in the weighing trigger sequence.

[0066] When a vehicle travels in different directions, the order in which the load cells in each row of multiple load cells are triggered will exhibit different characteristics. Therefore, the direction of the target vehicle's trajectory can be identified based on the order in which the load cells in each row appear in the weighing trigger sequence. Here, each row of load cells can contain multiple load cells, and the order in which the load cells appear in each row can be the order in which the load cells appear, counted on a row-by-row basis.

[0067] For example, there are n rows of narrow strips on a highway, the first row is X1, the second row is X2, ..., the nth row is X... n If the vehicle's direction of travel is X1 towards X n If the direction is positive (i.e., forward), then the order in which the vehicle triggers the weighing sensors will be the same as X1 to X2. n This direction matches; conversely, it matches X. n Matching to the X1 direction. Therefore, the direction of the vehicle's trajectory can be identified based on the order in which the load cells in each row appear in the weighing trigger sequence.

[0068] Step S206: If the direction of the target vehicle's trajectory is identified, the direction of the target vehicle's trajectory is determined as the target vehicle's driving direction.

[0069] In this embodiment, as the number of weighing sensors in each row of the weighing trigger sequence gradually increases, the server can continuously determine the direction of the target vehicle's trajectory. If the direction of the target vehicle's trajectory is not determined, it can continue to wait for the next uploaded weighing-related information corresponding to the target vehicle. If the direction of the target vehicle's trajectory is determined, it can stop determining the direction of the target vehicle's trajectory, or it can continue to determine the direction of the target vehicle's travel until it is determined that the target vehicle needs to be dispatched. This embodiment does not limit this.

[0070] If the direction of the target vehicle's trajectory can be identified, the server can determine the target vehicle's driving direction based on the identified trajectory. For example, if the trajectory is determined to be forward, the server can determine that the vehicle is traveling in the forward direction; if the trajectory is determined to be reverse, the server can determine that the vehicle is traveling in the reverse direction.

[0071] Step S208: If the coil sensor is detected to be off and the coil sensor is determined to be the lower coil of the target vehicle based on the driving direction of the target vehicle, the vehicle departure operation of the target vehicle is executed.

[0072] In this embodiment, coil sensors can be installed at both ends of the weighing sensor in the lane. The presence or absence of a vehicle can be determined by the activation and deactivation of the coil sensors. For example, when a vehicle enters the lane, one coil sensor illuminates; when the vehicle exits the lane, the other coil sensor deactivates. The illuminated coil sensor can be designated as the upper weighing coil, and the deactivated coil sensor as the lower weighing coil. If a coil sensor is falsely triggered, a situation may occur where the coil sensor is deactivated even though no vehicle is actually exiting.

[0073] To improve the reliability of vehicle dispatch, if the coil sensor is detected to be off, the lane to which the coil sensor belongs can be determined first. Based on the driving direction of the vehicles in that lane, it can be determined whether the coil sensor is the vehicle's downstream coil. Based on the determination result, it can be determined whether the vehicle needs to be dispatched.

[0074] If the coil sensor is detected to be off, the server can determine the lane to which the coil sensor belongs, for example, the target lane, and whether there is an updating vehicle in that lane. The updating vehicle in the target lane is the target vehicle. Based on the target vehicle's direction of travel, it can be determined whether the coil sensor is the target vehicle's downstream coil. For example, if the target vehicle's direction of travel is pointing towards the coil sensor, then it can be considered the target vehicle's downstream coil.

[0075] If the extinguished coil sensor is identified as the lower coil of the target vehicle, the server can perform a vehicle release operation on the target vehicle. For example, it can identify all weighing-related information associated with the target vehicle, determine the weight of the target vehicle based on all weighing-related information, charge the target vehicle, and perform a release operation on the target vehicle, such as opening the gate of the target lane to release the target vehicle.

[0076] Through steps S202 to S208, a weighing trigger sequence corresponding to the target vehicle is obtained. Multiple rows of weighing sensors are sequentially arranged in the target area where the target vehicle is located. The weighing trigger sequence indicates the order in which the target vehicle triggers each row of weighing sensors. Based on the order of appearance of each row of weighing sensors in the weighing trigger sequence, the direction of the target vehicle's trajectory is identified. Once the direction of the target vehicle's trajectory is identified, it is determined as the target vehicle's driving direction. When the coil sensor is detected to be off, and the coil sensor is determined to be the target vehicle's lower weighing coil based on the target vehicle's driving direction, the vehicle is dispatched. This solves the technical problem in related technologies where the method of dispatching a vehicle by relying on the extinguishing of the coil results in poor dispatching accuracy due to the inability to guarantee the coil's reliability, thus improving the accuracy of vehicle dispatching.

[0077] In one exemplary embodiment, identifying the direction of the target vehicle's trajectory based on the order in which each row of weighing sensors appears in the weighing trigger sequence includes:

[0078] S11, determine the total number of times each first component sequence in the first component sequence group appears in the weighing trigger sequence to obtain the first reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of weighing sensors in the first direction in the multi-row weighing sensors.

[0079] S12, determine the total number of times each second component sequence in the second component sequence group appears in the weighing trigger sequence to obtain the second reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of weighing sensors in the second direction, which is the opposite direction of the first direction;

[0080] S13, if the first reference count is greater than the second reference count, the first direction is determined as the direction of the target vehicle's trajectory;

[0081] S14, if the first reference number is less than the second reference number, the second direction is determined as the direction of the target vehicle's trajectory.

[0082] In this embodiment, when determining the direction of the vehicle's trajectory, the total number of times the first component sequence group appears in the weighing trigger sequence and the total number of times the second component sequence group appears in the weighing trigger sequence can be counted to obtain a first reference count and a second reference count. Here, each first component sequence in the first component sequence group represents the order of at least two consecutive rows of weighing sensors in the first direction, while each second component sequence in the second component sequence group represents the order of at least two consecutive rows of weighing sensors in the second direction, where the second direction is the opposite direction of the first direction.

[0083] For example, for the aforementioned n rows of narrow strips, we can count the occurrences of all positive sequences according to the sequence of the trigger numbers of the narrow strips; that is, the statistical sequence is X1X2……X n The number of times it appears, X1X2……X n-1 The frequency of occurrence is counted, and so on, until the frequency of all forward sequences has been counted. The sum of the frequency of all forward sequences is the forward count. Similarly, the frequency of occurrence of all reverse sequences is counted, i.e., the sequence is X. n X n-1 ...the number of times X1 appears, X n X n-1 ...The number of times X2 appears is counted, and so on, until the number of times all reverse sequences appear is counted. The sum of the number of times all reverse sequences appear is the number of reverse sequences.

[0084] Taking three rows of narrow strips as an example, such as Figure 6 As shown, the occurrence counts of all X1X2X3, X1X2, and X2X3 in the weighing trigger sequence can be counted to obtain the occurrence count of the forward sequence. The occurrence counts of all X3X2X1, X3X2, and X2X1 in the weighing trigger sequence can be counted to obtain the occurrence count of the reverse sequence. Here, X1 includes narrow strips N0 and N3, X2 includes narrow strips N1 and N4, and X3 includes narrow strips N2 and N5.

[0085] After obtaining the first reference count and the second reference count, the server can compare the first reference count and the second reference count to determine the direction of the target vehicle's trajectory. If the first reference count is greater than the second reference count, the direction of the target vehicle's trajectory can be determined as the first direction. Conversely, if the first reference count is less than the second reference count, the direction of the target vehicle's trajectory can be determined as the second direction. If the first reference count is equal to the second reference count, the direction of the target vehicle's trajectory cannot be determined at this time, and the server can wait for the next determination.

[0086] In this embodiment, the direction of the vehicle's trajectory can be determined by judging the total number of times two consecutive rows of weighing sensors in two opposite directions appear in the weighing trigger sequence, thereby improving the accuracy of determining the direction of the vehicle's trajectory.

[0087] In one exemplary embodiment, identifying the direction of the target vehicle's trajectory based on the order in which each row of weighing sensors appears in the weighing trigger sequence includes:

[0088] S21, Based on the order in which each row of weighing sensors appears in the first trigger sequence, identify the direction of the running trajectory of the left wheel of the target vehicle, wherein the first trigger sequence is used to indicate the order in which the left wheel triggers each row of weighing sensors in the multi-row weighing sensor.

[0089] S22, Based on the order in which each row of weighing sensors appears in the second trigger sequence, identify the direction of the running trajectory of the right wheel of the target vehicle, wherein the second trigger sequence is used to indicate the order in which the right wheel triggers each row of weighing sensors in the multi-row weighing sensor.

[0090] S23, determine the direction of the target vehicle's trajectory based on the direction of the left wheel's trajectory and the direction of the right wheel's trajectory.

[0091] In this embodiment, the order in which the target vehicle triggers each row of weighing sensors can be determined by the axle as a unit, and this can be used as the weighing trigger sequence. Alternatively, the order in which the left or right wheel triggers each row of weighing sensors can be determined by using the left or right wheel as a reference, and this can also be used as the weighing trigger sequence.

[0092] To improve the accuracy of trajectory direction determination, the vehicle trajectory direction can be determined separately for the left and right wheel trigger sequences. The weighing trigger sequence can include a first trigger sequence (i.e., the left wheel trigger sequence) indicating the order in which the left wheel triggers each row of weighing sensors in the multi-row weighing sensor array, and a second trigger sequence (i.e., the right wheel trigger sequence) indicating the order in which the right wheel triggers each row of weighing sensors in the multi-row weighing sensor array.

[0093] For the left wheel trigger sequence, the server can identify the direction of the target vehicle's left wheel trajectory based on the order of appearance of each row of weighing sensors in the first trigger sequence. For the right wheel trigger sequence, the server can identify the direction of the target vehicle's right wheel trajectory based on the order of appearance of each row of weighing sensors in the second trigger sequence. Determining the direction of the left and right wheel trajectories is similar to the previous embodiments, and other methods can also be used; this embodiment does not limit this. Optionally, the corresponding trigger sequence can be determined only when the number of weighing sensors triggered by the left and right wheels reaches a trigger quantity threshold. This embodiment does not limit this.

[0094] For example, such as Figure 6 As shown, assume there are three rows of narrow strips, each row containing two strips. The left strips are numbered 0, 1, and 2. The server can determine the direction of the left and right wheel trajectories separately. This can be done by statistically analyzing the sequence of the strip trigger numbers. Specifically, the server can count the number of occurrences of the forward sequence 012, 01, 12 and the reverse sequence 210, 21, 10 for the left wheel. The direction of the left wheel can be determined by counting these two sequences. The right wheel's direction can be determined similarly.

[0095] Based on the directions of the left and right wheel trajectories, the server can determine the direction of the target vehicle's trajectory. For example, the server can determine the direction of one wheel's trajectory as the target vehicle's trajectory. Or, the server can determine the consistency between the directions of the left and right wheel trajectories; if they are consistent, the direction of the consistent trajectory is determined as the target vehicle's trajectory.

[0096] In this embodiment, by determining the order in which the weighing sensors are triggered by the left and right wheels, the direction of the running trajectory of the left and right wheels is determined, thereby determining the direction of the vehicle's running trajectory, which can improve the accuracy of determining the direction of the vehicle's running trajectory.

[0097] In one exemplary embodiment, identifying the direction of the left wheel trajectory of the target vehicle according to the order in which the weighing sensors appear in the first trigger sequence includes:

[0098] S31, determine the total number of times each first component sequence in the first component sequence group appears in the first trigger sequence to obtain the third reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of load cells in the first direction in the multi-row load cells;

[0099] S32, determine the total number of times each second component sequence in the second component sequence group appears in the first trigger sequence to obtain the fourth reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of load cells in the second direction, which is the opposite direction of the first direction;

[0100] S33, if the third reference number is greater than the fourth reference number, the first direction is determined as the direction of the left wheel's running trajectory;

[0101] S34, if the third reference number is less than the fourth reference number, the second direction is determined as the direction of the left wheel's running trajectory.

[0102] In this embodiment, the running trajectory direction of the left and right wheels of the target vehicle can be determined on a wheel-by-wheel basis.

[0103] When determining the direction of the left wheel's trajectory, the total number of times the first component sequence group and the total number of times the second component sequence group appears in the first trigger sequence can be counted to obtain the third and fourth reference counts. If the third reference count is greater than the fourth reference count, the first direction can be determined as the direction of the left wheel's trajectory; if the third reference count is less than the fourth reference count, the second direction can be determined as the direction of the left wheel's trajectory.

[0104] Correspondingly, based on the order in which the weighing sensors appear in the second trigger sequence, the direction of the right wheel trajectory of the target vehicle is identified, including:

[0105] S35, determine the total number of times each first component sequence in the first component sequence group appears in the second trigger sequence to obtain the fifth reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of load cells in the first direction;

[0106] S36, determine the total number of times each second component sequence in the second component sequence group appears in the second trigger sequence to obtain the sixth reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of load cells in the second direction, which is the opposite direction of the first direction;

[0107] S37, if the fifth reference number is greater than the sixth reference number, the first direction is determined as the direction of the right wheel's running trajectory;

[0108] S38, if the fifth reference number is less than the sixth reference number, the second direction is determined as the direction of the right wheel's running trajectory.

[0109] When determining the direction of the right wheel's trajectory, the total number of times the first component sequence group appears in the second trigger sequence and the total number of times the second component sequence group appears in the second trigger sequence can be counted to obtain the fifth reference count and the sixth reference count. If the fifth reference count is greater than the sixth reference count, the first direction can be determined as the direction of the right wheel's trajectory; if the fifth reference count is less than the sixth reference count, the second direction can be determined as the direction of the right wheel's trajectory.

[0110] In this embodiment, by determining the total number of times the weighing sensors of the left and right wheels appear in two consecutive rows in two opposite directions in the first and second trigger sequences, the trajectory directions of the left and right wheels are determined respectively, thereby improving the accuracy of trajectory determination. In an exemplary embodiment, before identifying the direction of the target vehicle's trajectory based on the order of appearance of each row of weighing sensors in the weighing trigger sequence, the above method further includes:

[0111] S41, according to the order in which the target vehicle triggers each row of weighing sensors, determine every four position points detected by each row of weighing sensors as a group of position points, and obtain multiple groups of position points;

[0112] S42, the weighing sensor corresponding to the position point to the left of the center point of each of the multiple sets of position points is determined as the weighing sensor triggered by the left wheel, and the first triggering sequence is obtained;

[0113] S43, the weighing sensor corresponding to the position point to the right of the center point of each group of position points is determined as the weighing sensor triggered by the right wheel, and the second triggering sequence is obtained.

[0114] In this embodiment, the trigger sequence of the left and right wheels of the target vehicle can be determined based on the location points where the target vehicle triggers each weighing sensor. When the target vehicle passes through the target area, the location points where each wheel of the target vehicle triggers each row of weighing sensors can be determined. According to the order in which each wheel of the target vehicle triggers each row of weighing sensors, every four location points can be grouped into a set of location points, resulting in multiple sets of location points for the target vehicle. Optionally, each set of location points can also have other paired quantities, such as 2, 6, or 8. This embodiment does not limit the number of location points in each set.

[0115] After obtaining multiple sets of location points, for each set, the server can determine the center point of that set based on the coordinates of each point within it. For example, the average of the x-coordinates of the four location points can be used as the x-coordinate of the center point. In this case, the trigger position only has coordinates perpendicular to the lane direction, with no other coordinates. Alternatively, the average of the x-coordinates of the four location points can be used as the x-coordinate of the center point, and the average of the y-coordinates of the four location points can be used as the y-coordinate of the center point. In this case, the x-coordinate is perpendicular to the lane direction, and the y-coordinate can be parallel to the lane direction or a time coordinate. This embodiment does not limit the method used to determine the center point of a set of location coordinates.

[0116] After determining the center point of each set of position points, the weighing sensor corresponding to the position point to the left of the center point of each set of position points can be identified as the weighing sensor triggered by the left wheel, thus obtaining the first triggering sequence. The weighing sensor corresponding to the position point to the right of the center point of each set of position points can be identified as the weighing sensor triggered by the right wheel, thus obtaining the second triggering sequence.

[0117] For example, such as Figure 5 As shown, when the number of points in the waiting area of ​​the built vehicle reaches a certain number (i.e., 4), the direction and real-time boundary range of the vehicle can be updated according to the existing narrow strip sequence, and then the waiting area range of the vehicle can be adjusted. The center point of the four points in the waiting area is found and recorded. The recorded center points are connected, and the two sides after the connection are the left and right wheel trajectories, i.e., the left wheel trigger sequence and the right wheel trigger sequence.

[0118] In this embodiment, the center point is determined by grouping four position points, and then the left and right wheel trigger sequences are divided based on the determined center point, which can improve the accuracy of determining the left and right wheel trigger sequences.

[0119] In an exemplary embodiment, determining the direction of the target vehicle's trajectory based on the direction of the left wheel's trajectory and the direction of the right wheel's trajectory includes:

[0120] S51, when the direction of the left wheel's running trajectory is the same as the direction of the right wheel's running trajectory, the direction of the left wheel's running trajectory or the direction of the right wheel's running trajectory is determined as the direction of the target vehicle's running trajectory.

[0121] S52, when the direction of the left wheel's trajectory is inconsistent with the direction of the right wheel's trajectory, determine the direction of the target vehicle's trajectory that has not been identified.

[0122] To determine the direction of the target vehicle's trajectory, the server can first check if the directions of the left and right wheel trajectories are the same. If they are the same, the common direction can be determined as the direction of the target vehicle's trajectory; otherwise, it can wait for the next judgment process, or determine that the direction of the target vehicle's trajectory cannot be identified.

[0123] For example, when it is determined that the directions of the left and right wheel trajectories are inconsistent, we can wait for the next vehicle update (e.g., adding associated weighing information) and re-determine the direction. As the number of trigger points (i.e., weighing information) associated with the vehicle increases, the direction determination will become more and more accurate.

[0124] Optionally, if the server fails to identify the direction of the target vehicle's trajectory, other devices can be used to identify it. For example, image acquisition devices (such as cameras or action cameras) can be deployed at a certain location in the target area. The server can send instruction information to the image acquisition devices to obtain image information of the target vehicle, and then identify and analyze the acquired image information to obtain the target vehicle's driving direction. Alternatively, the driving direction of the target vehicle can be determined by combining other information; this embodiment does not limit this approach.

[0125] This embodiment improves the accuracy of determining the vehicle's trajectory direction by judging whether the directions of the left and right wheel trajectories are consistent.

[0126] In one exemplary embodiment, after determining the direction of the target vehicle's trajectory based on the weighing trigger sequence, the method further includes:

[0127] S61, if the direction of the target vehicle's trajectory is not identified, determine the number of times the operation has been performed corresponding to the target vehicle, wherein the number of times the direction of the target vehicle's trajectory has been identified according to the weighing trigger sequence;

[0128] S62, if the number of executions is less than the predetermined threshold and the number of new triggers of the target vehicle's multi-row weighing sensors reaches the target number, update the weighing trigger sequence;

[0129] S63, based on the updated weighing trigger sequence, re-identify the direction of the target vehicle's trajectory and update the number of executions.

[0130] In this embodiment, when the weighing sensor is triggered a limited number of times, the direction of the vehicle's trajectory cannot usually be identified. Therefore, multiple rounds of identification can be used to determine the direction of the vehicle's trajectory. To avoid excessive system resource consumption due to multiple identification operations, which could affect server performance, a threshold number of times the trajectory direction identification can be performed can be set, i.e., a predetermined threshold number, to ensure that the identification operation is performed at most the predetermined threshold number.

[0131] If the direction of the target vehicle's trajectory is not identified, the server can determine the number of times the operation has been performed corresponding to the target vehicle, that is, the number of times the direction of the target vehicle's trajectory has been identified based on the weighing trigger sequence. If the number of operations has reached a predetermined threshold, a new round of identification will not be performed. If the number of operations has not reached the predetermined threshold, the server can update the weighing trigger sequence and use the updated weighing trigger sequence to re-identify the direction of the target vehicle's trajectory.

[0132] Optionally, the condition for updating the weighing trigger sequence can be: the number of newly added weighing-related information associated with the target vehicle reaches a target number (e.g., 4), or other conditions. For example, the direction of the target vehicle's running trajectory can be identified once when the number of weighing-related information associated with the target vehicle is a multiple of 4. This embodiment does not limit this.

[0133] Before or after each identification of the target vehicle's trajectory direction, the number of executions can be updated, for example, by incrementing the number of executions by 1, as long as the recorded number of executions is the same as the actual number of executions.

[0134] For example, if the number of direction determinations has not reached the predetermined number (e.g., 5 times), the vehicle's direction can be determined before updating the vehicle's waiting area range. In this case, when the number of narrow strip information associated with the vehicle is 4, the vehicle's direction is determined for the first time, and the vehicle's weighing trigger information is updated; when the number of narrow strip information associated with the vehicle is 8, the vehicle's direction is determined for the second time, and the vehicle's weighing trigger information is updated; and so on, until the number of direction determinations reaches 5, such as... Figure 8 As shown, direction determination is no longer performed at this point.

[0135] In this embodiment, by setting the number of times the vehicle's trajectory direction is identified and determining the direction of the vehicle's trajectory according to the set number of identifications, excessive system resources can be avoided due to multiple identification operations, thus improving the server's operating performance.

[0136] In one exemplary embodiment, after determining the number of executions corresponding to the target vehicle, the method further includes:

[0137] S71, when the number of executions reaches a predetermined threshold, the initial driving direction is determined as the driving direction of the target vehicle. The initial driving direction is determined based on the positional relationship between the coil sensor triggered by the target vehicle and the target area, and the position of the first weighing sensor in the weighing trigger sequence among the multiple rows of weighing sensors.

[0138] If the direction of the target vehicle's trajectory is still not identified after a predetermined number of executions, it can be considered that the target vehicle's trajectory direction cannot be identified through the weighing trigger sequence. In this case, the initial driving direction of the target vehicle can be determined as its driving direction. The initial driving direction of the target vehicle can be determined based on at least one of the following: the positional relationship between the coil sensor triggered by the target vehicle and the target area, and the position of the foremost weighing sensor in the weighing trigger sequence among multiple rows of weighing sensors.

[0139] For example, when pre-building a vehicle, the vehicle direction is initially determined based on the two triggered location points and the coil. The direction of oncoming vehicles is determined by determining whether the coil is the front or rear coil of this lane, and whether the two triggered location points belong to the first or last row of narrow lanes.

[0140] If the vehicle direction is still not determined after the number of direction judgments reaches the limit, the vehicle direction can be determined by the order in which the coils are triggered. For example, if the first coil to be triggered is the front coil, and the left wheel direction is determined to be forward or no direction is determined, and the right wheel direction is determined to be reverse or no direction is determined, then the vehicle direction is determined to be forward by triggering the front coil first.

[0141] In this embodiment, when the number of executions reaches a predetermined threshold, the initial driving direction is determined as the driving direction of the target vehicle, which can improve the comprehensiveness of the vehicle driving direction judgment and thus improve the efficiency of vehicle dispatch.

[0142] In an exemplary embodiment, after determining the direction of the target vehicle's trajectory as the target vehicle's driving direction, the method further includes:

[0143] S81, if the detected coil sensor is off, determine the target lane to which the coil sensor belongs, where the target vehicle is a vehicle in the target lane;

[0144] S82, when the target vehicle is traveling in the direction of the coil sensor, determine that the coil sensor is the target vehicle's coil.

[0145] In this embodiment, the server can detect that the coil sensor is off. In this case, the server can determine the lane to which the coil sensor belongs, i.e., the target lane, and determine whether there is an updating vehicle (e.g., an updated existing vehicle) in the target lane, and the updating vehicle in the target lane is the target vehicle.

[0146] If the target vehicle's travel direction is towards the coil sensor, meaning the target vehicle's travel direction is pointing towards the coil sensor, it can be determined that this coil is the target vehicle's downstream coil. Otherwise, it is determined that this coil is not the target vehicle's downstream coil, and the coil sensor may have been erroneously turned off. In this case, the number of times the coil sensor turned off can be recorded, and a prompt message can be sent to associated devices to indicate that the coil sensor has triggered an abnormality, so that maintenance of the coil sensor can be performed.

[0147] In this embodiment, when the coil sensor is off, the vehicle's driving direction is used to determine whether the coil sensor is in operation (hereinafter referred to as the coil) and whether the vehicle needs to be dispatched, thereby improving the efficiency and accuracy of dispatching vehicles.

[0148] The method for vehicle exiting a lane in this application embodiment will be explained below with reference to optional examples. In the optional examples, the multiple rows of weighing components are multiple rows of narrow strips that are not arranged side by side.

[0149] This optional example provides a vehicle direction determination scheme for a non-on-site law enforcement system. It updates the vehicle's driving direction in real time by determining the number of occurrences of valid sequences. The more narrow lines a vehicle triggers, the higher the accuracy of the driving direction determination. This method of determining driving direction can accurately determine the exit direction when there are many vehicles, and the determined direction can be used during vehicle exit detection or image capture.

[0150] The lane exit method in the optional example can be applied to a non-site enforcement system for vehicle exit, which includes the following modules in its architecture:

[0151] 1) Pre-built vehicle module, used to pre-build vehicles when there are two idle narrow strips with a distance that meets the reasonable vehicle width;

[0152] 2) Vehicle information maintenance module, used to place the currently triggered narrow strip into possible existing vehicles based on the location of the narrow strip trigger, and update the relevant vehicle information;

[0153] 3) Vehicle dispatch module, used to perform vehicle dispatch-related operations after receiving the corresponding coil signal.

[0154] like Figure 9 As shown, the process of the lane exit method in this optional example may include the following steps:

[0155] Step S902, pre-build the vehicle.

[0156] When the narrow bar is triggered, the aforementioned method is used. Figure 7 The method shown in the diagram pre-builds a vehicle, resulting in a pre-built vehicle.

[0157] Step S904: Initially determine the direction by the sequence of coils and narrow strips.

[0158] After a vehicle is pre-built, its direction can be initially determined based on the location of the triggering narrow strip and the triggering status of the coils. For example, the direction of oncoming vehicles can be determined by determining whether the triggered coil is the front or rear coil of the current lane, and whether the triggered narrow strip is the first or last row of narrow strips in the current lane.

[0159] Step S906, update the vehicle.

[0160] Upon receiving new narrow lane information, the vehicle information can be updated based on the trigger location of the narrow lane and the existing waiting area range of the vehicles; that is, the narrow lane information within the vehicle's waiting area can be updated. The update method can be as follows: Figure 7 As shown.

[0161] Step S908: Divide the left and right trajectories according to the left and right sides of the line connecting the center points.

[0162] When the number of points in the waiting area for vehicles already built reaches a certain threshold, the center point of the vehicle can be updated based on the existing narrow strip sequence (the narrow strip sequence of all narrow strips triggered by vehicles already built, with the same function as the aforementioned weighing trigger sequence). The left and right trajectories are then divided based on the left and right sides of the line connecting the center points, which can be the left and right wheel trigger sequences. For example, when the number of points (i.e., narrow strip information) in the waiting area for vehicles already built reaches four, the center point of the four points in the waiting area can be determined, and the point to the left of the center point can be determined as the point of the left wheel trajectory, and the point to the right of the center point can be determined as the point of the right wheel trajectory, thereby updating the left and right wheel trigger sequences.

[0163] In addition, the boundary range of existing vehicles can be updated, thereby adjusting the waiting area range for those vehicles to obtain an updated waiting area range. The updated waiting area range contains no points. Once points belonging to the existing vehicles are subsequently identified, they can be added to the updated waiting area range.

[0164] Step S910: Perform two-way sequence counting statistics.

[0165] The trajectory direction determination module can determine the trajectory direction of the left wheel based on the left wheel trigger sequence and the trajectory direction of the right wheel based on the right wheel trigger sequence.

[0166] When determining the trajectory direction of the left or right wheel, you can first count the sequences of the two directions separately to determine the number of occurrences of the forward sequence and the number of occurrences of the reverse sequence.

[0167] Step S912: Compare the counting results to determine the trajectory direction.

[0168] Compare the counting results to determine the trajectory direction of the left and right wheels respectively. For either the left or right wheel trigger sequence, the sequence is considered forward if the number of occurrences of the forward sequence is greater than the number of occurrences of the reverse sequence, and backward if the number of occurrences of the reverse sequence is greater than the number of occurrences of the forward sequence.

[0169] Step S914: Determine whether the left and right trajectory directions are consistent. If yes, proceed to step S918; otherwise, proceed to step S916.

[0170] Step S916: Determine if the number of direction judgments has reached the rated number. If yes, proceed to step S918; otherwise, proceed to step S906.

[0171] When the left and right wheel directions are determined to be inconsistent, and the number of direction determinations has not reached the limit (e.g., 5 times), you can wait for the next vehicle update (i.e., when there are 4 points in the waiting area) and re-determine the direction.

[0172] Step S918: Use the coil to determine the vehicle's direction.

[0173] If the vehicle direction cannot be determined after the maximum number of direction determination attempts, the direction is determined by determining whether the front coil or the rear coil is triggered first.

[0174] Step S920: Provide the vehicle direction.

[0175] This optional example demonstrates how the vehicle's direction of travel can be updated in real time by determining the number of occurrences of a valid sequence. By combining this with information such as coil data to assist in determining the direction of travel, the accuracy of the direction determination can be improved.

[0176] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions.

[0177] According to another aspect of the embodiments of this application, a vehicle exit device for implementing the above-described vehicle exit method for a lane is also provided. Figure 10 This is a structural block diagram of an optional lane vehicle exit device according to an embodiment of this application, such as... Figure 10 As shown, the device may include:

[0178] The acquisition unit 1002 is used to acquire the weighing trigger sequence corresponding to the target vehicle. Multiple rows of weighing sensors are arranged sequentially in the target area where the target vehicle is located. The weighing trigger sequence is used to indicate the order in which the target vehicle triggers each row of weighing sensors in the multiple rows of weighing sensors.

[0179] The identification unit 1004, connected to the acquisition unit 1002, is used to identify the direction of the target vehicle's running trajectory according to the order of appearance of each row of weighing sensors in the weighing trigger sequence.

[0180] The first determining unit 1006 is connected to the identification unit 1004 and is used to determine the direction of the target vehicle's trajectory as the driving direction of the target vehicle when the direction of the target vehicle's trajectory is identified.

[0181] The first execution unit 1008, connected to the first determination unit 1006, is used to execute the vehicle departure operation of the target vehicle when the coil sensor is detected to be off and the coil sensor is determined to be the target vehicle's coil according to the target vehicle's driving direction.

[0182] It should be noted that the acquisition unit 1002 in this embodiment can be used to execute the above step S202, the identification unit 1004 in this embodiment can be used to execute the above step S204, the first determination unit 1006 in this embodiment can be used to execute the above step S206, and the first execution unit 1008 in this embodiment can be used to execute the above step S208.

[0183] The above modules obtain a weighing trigger sequence corresponding to the target vehicle. Multiple rows of weighing sensors are sequentially arranged in the target area where the target vehicle is located. The weighing trigger sequence indicates the order in which the target vehicle triggers each row of weighing sensors. Based on the order of appearance of each row of weighing sensors in the weighing trigger sequence, the direction of the target vehicle's trajectory is identified. Once the direction of the target vehicle's trajectory is identified, it is determined as the target vehicle's driving direction. When the coil sensor is detected to be off, and the coil sensor is determined to be the target vehicle's lower weighing coil based on the target vehicle's driving direction, the vehicle is dispatched. This solves the technical problem of poor dispatch accuracy caused by the inability to guarantee the reliability of the coil in the previous method of dispatching the vehicle based on the extinguishing of the coil, thus improving the accuracy of dispatching the vehicle.

[0184] In one exemplary embodiment, the identification unit 1004 includes:

[0185] The first determining module is used to determine the total number of times each first component sequence in the first component sequence group appears in the weighing trigger sequence to obtain a first reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of weighing sensors in the first direction in the multi-row weighing sensors.

[0186] The second determining module is used to determine the total number of times each second component sequence in the second component sequence group appears in the weighing trigger sequence to obtain a second reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of weighing sensors in the second direction, which is the opposite direction of the first direction;

[0187] The third determining module is used to determine the first direction as the direction of the target vehicle's trajectory when the first reference number is greater than the second reference number;

[0188] The fourth determining module is used to determine the second direction as the direction of the target vehicle's trajectory when the first reference number is less than the second reference number.

[0189] In one exemplary embodiment, the identification unit 1004 includes:

[0190] The first identification module is used to identify the direction of the running trajectory of the left wheel of the target vehicle according to the order in which each row of weighing sensors appears in the first trigger sequence, wherein the first trigger sequence is used to indicate the order in which the left wheel triggers each row of weighing sensors in the multi-row weighing sensor.

[0191] The second identification module is used to identify the direction of the running trajectory of the right wheel of the target vehicle according to the order in which each row of weighing sensors appears in the second trigger sequence. The second trigger sequence is used to indicate the order in which the right wheel triggers each row of weighing sensors in the multi-row weighing sensor.

[0192] The fifth determining module is used to determine the direction of the target vehicle's trajectory based on the direction of the left wheel's trajectory and the direction of the right wheel's trajectory.

[0193] In one exemplary embodiment, the first identification module includes:

[0194] The first determining submodule is used to determine the total number of times each first component sequence in the first component sequence group appears in the first trigger sequence to obtain the third reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of load cells in the first direction in the multi-row load cells.

[0195] The second determining submodule is used to determine the total number of times each second component sequence in the second component sequence group appears in the first trigger sequence to obtain the fourth reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of load cells in the second direction, which is the opposite direction of the first direction;

[0196] The third determining submodule is used to determine the first direction as the direction of the left wheel's running trajectory when the third reference number is greater than the fourth reference number;

[0197] The fourth determining submodule is used to determine the second direction as the direction of the left wheel's running trajectory when the third reference number is less than the fourth reference number;

[0198] The second identification module includes:

[0199] The fifth determining submodule is used to determine the total number of times each first component sequence in the first component sequence group appears in the second trigger sequence to obtain the fifth reference number, wherein each first component sequence is used to represent the order of at least two consecutive rows of load cells in the first direction in the multi-row load cells;

[0200] The sixth determining submodule is used to determine the total number of times each second component sequence in the second component sequence group appears in the second trigger sequence to obtain the sixth reference number, wherein each second component sequence is used to represent the order of at least two consecutive rows of load cells in the second direction, which is the opposite direction of the first direction;

[0201] The seventh determination submodule is used to determine the first direction as the direction of the right wheel's running trajectory when the fifth reference number is greater than the sixth reference number;

[0202] The eighth determination submodule is used to determine the second direction as the direction of the right wheel's running trajectory when the fifth reference number is less than the sixth reference number.

[0203] In one exemplary embodiment, the above-described apparatus further includes:

[0204] The second determining unit is used to determine four position points from each row of weighing sensors detected by the weighing triggering position points in the weighing triggering sequence as a group of position points before identifying the direction of the target vehicle's running trajectory according to the order in which the weighing sensors in each row appear in the weighing triggering sequence, thereby obtaining multiple groups of position points.

[0205] The third determining unit is used to determine the weighing sensor corresponding to the position point located to the left of the center point of each of the multiple sets of position points as the weighing sensor triggered by the left wheel, and to obtain the first triggering sequence.

[0206] The fourth determining unit is used to determine the weighing sensor corresponding to the position point located to the right of the center point of each group of position points as the weighing sensor triggered by the right wheel, and to obtain the second triggering sequence.

[0207] In one exemplary embodiment, the fifth determining module includes:

[0208] The first determining submodule is used to determine the direction of the left wheel's trajectory or the direction of the right wheel's trajectory as the direction of the target vehicle's trajectory when the direction of the left wheel's trajectory is the same as the direction of the right wheel's trajectory.

[0209] The second determination submodule is used to determine the direction of the unidentified target vehicle's trajectory when the direction of the left wheel's trajectory is inconsistent with the direction of the right wheel's trajectory.

[0210] In one exemplary embodiment, the above-described apparatus further includes:

[0211] The fifth determining unit is used to determine the number of times the target vehicle's trajectory has been executed when the direction of the target vehicle's trajectory has not been identified after determining the direction of the target vehicle's trajectory according to the weighing trigger sequence. The number of times the target vehicle's trajectory has been executed is the number of times the direction of the target vehicle's trajectory has been identified according to the weighing trigger sequence.

[0212] The update unit is used to update the weighing trigger sequence when the number of executions is less than a predetermined threshold and the number of new triggers of the target vehicle's multi-row weighing sensors reaches the target number.

[0213] The second execution unit is used to re-identify the direction of the target vehicle's trajectory based on the updated weighing trigger sequence, and update the number of executions.

[0214] In one exemplary embodiment, the above-described apparatus further includes:

[0215] The sixth determining unit is used to determine the initial driving direction as the driving direction of the target vehicle after determining the number of executions corresponding to the target vehicle and when the number of executions reaches a predetermined threshold. The initial driving direction is determined based on the positional relationship between the coil sensor triggered by the target vehicle and the target area, as well as the position of the first weighing sensor in the weighing trigger sequence among the multiple rows of weighing sensors.

[0216] In one exemplary embodiment, the above-described apparatus further includes:

[0217] The seventh determining unit is used to determine the target lane to which the coil sensor belongs when the coil sensor is detected to be off, wherein the target vehicle is a vehicle in the target lane;

[0218] The eighth determining unit is used to determine that the coil sensor is the coil of the target vehicle when the target vehicle's driving direction is towards the coil sensor.

[0219] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0220] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for the vehicle exit method of any of the lanes described in the embodiments of this application.

[0221] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0222] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0223] S1, Obtain the weighing trigger sequence corresponding to the target vehicle, wherein multiple rows of weighing sensors are sequentially arranged in the target area where the target vehicle is located, and the weighing trigger sequence is used to indicate the order in which the target vehicle triggers each row of weighing sensors in the multiple rows of weighing sensors.

[0224] S2, based on the order in which each row of weighing sensors appears in the weighing trigger sequence, identify the direction of the target vehicle's running trajectory;

[0225] S3, after identifying the direction of the target vehicle's trajectory, determine the direction of the target vehicle's trajectory as the target vehicle's driving direction;

[0226] S4, if the coil sensor is detected to be off and the coil sensor is determined to be the lower coil of the target vehicle based on the driving direction of the target vehicle, the vehicle dispatch operation of the target vehicle is executed.

[0227] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0228] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described lane departure method is also provided, which may be a server, a terminal, or a combination thereof.

[0229] Figure 11 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 11 As shown, it includes a processor 1102, a communication interface 1104, a memory 1106, and a communication bus 1108. The processor 1102, communication interface 1104, and memory 1106 communicate with each other via the communication bus 1108.

[0230] Memory 1106 is used to store computer programs;

[0231] When the processor 1102 executes the computer program stored in the memory 1106, it performs the above steps S1 to S4.

[0232] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of exiting a driveway, characterized by, The method comprises: obtaining a weighing trigger sequence corresponding to a target vehicle, wherein a plurality of rows of weighing sensors are sequentially arranged on a target area where the target vehicle is located, and the weighing trigger sequence is used to represent an order in which the target vehicle triggers each row of weighing sensors in the plurality of rows of weighing sensors; determining, in a position point detected by each row of weighing sensors in an order in which the target vehicle triggers each row of weighing sensors, a group of position points from each pair of position points, to obtain a plurality of groups of position points; determining, as weighing sensors triggered by left wheels, weighing sensors corresponding to position points on a left side of a center point of each group of position points in the plurality of groups of position points, to obtain a first trigger sequence; and determining, as weighing sensors triggered by right wheels, weighing sensors corresponding to position points on a right side of the center point of each group of position points in the plurality of groups of position points, to obtain a second trigger sequence; identifying a direction of a running track of the target vehicle according to an order in which each row of weighing sensors appears in the weighing trigger sequence, comprising: identifying a direction of a running track of left wheels of the target vehicle according to an order in which each row of weighing sensors appears in the first trigger sequence, wherein the first trigger sequence is used to represent an order in which the left wheels trigger each row of weighing sensors in the plurality of rows of weighing sensors; identifying a direction of a running track of right wheels of the target vehicle according to an order in which each row of weighing sensors appears in the second trigger sequence, wherein the second trigger sequence is used to represent an order in which the right wheels trigger each row of weighing sensors in the plurality of rows of weighing sensors; and determining the direction of the running track of the target vehicle according to the direction of the running track of the left wheels and the direction of the running track of the right wheels; in a case where the direction of the running track of the target vehicle is identified, determining the direction of the running track of the target vehicle as a driving direction of the target vehicle; in a case where it is detected that a coil sensor is extinguished and it is determined, according to the driving direction of the target vehicle, that the coil sensor is a next coil of the target vehicle, performing a vehicle-out operation of the target vehicle.

2. The method according to claim 1, wherein The method further comprises: determining a total number of occurrences of each first component sequence in the first trigger sequence, to obtain a third reference number, wherein each first component sequence is used to represent an order of at least two continuous rows of load sensors in a first direction; determining a total number of occurrences of each second component sequence in the first trigger sequence, to obtain a fourth reference number, wherein each second component sequence is used to represent an order of at least two continuous rows of load sensors in a second direction, the second direction being an opposite direction of the first direction; in a case where the third reference number is greater than the fourth reference number, determining the first direction as the direction of the left-side wheel running track; in a case where the third reference number is less than the fourth reference number, determining the second direction as the direction of the left-side wheel running track. The method further comprises: determining a total number of occurrences of each first component sequence in the second trigger sequence, to obtain a fifth reference number, wherein each first component sequence is used to represent an order of at least two continuous rows of load sensors in a first direction; determining a total number of occurrences of each second component sequence in the second trigger sequence, to obtain a sixth reference number, wherein each second component sequence is used to represent an order of at least two continuous rows of load sensors in a second direction, the second direction being an opposite direction of the first direction; in a case where the fifth reference number is greater than the sixth reference number, determining the first direction as the direction of the right-side wheel running track; in a case where the fifth reference number is less than the sixth reference number, determining the second direction as the direction of the right-side wheel running track.

3. The method of claim 1, wherein, The method further comprises: determining the direction of the target vehicle running track according to the direction of the left-side wheel running track and the direction of the right-side wheel running track. In a case where the direction of the left-side wheel running track and the direction of the right-side wheel running track are consistent, the direction of the left-side wheel running track or the direction of the right-side wheel running track is determined as the direction of the target vehicle running track. In a case where the direction of the left-side wheel running track and the direction of the right-side wheel running track are inconsistent, it is determined that the direction of the target vehicle running track is not identified.

4. The method of claim 1, wherein, The method further comprises: after determining the direction of the target vehicle running track according to the trigger sequence of the load, the method further comprises: In a case where a direction of the target vehicle running track is not identified, a performed number corresponding to the target vehicle is determined, wherein the performed number is a number of times that the direction of the target vehicle running track has been identified according to the weighing trigger sequence; In a case where the performed number is less than a predetermined number threshold and a newly added number of times that the target vehicle triggers the multiple rows of weighing sensors reaches a target number, the weighing trigger sequence is updated; According to the updated weighing trigger sequence, the direction of the target vehicle running track is re-identified, and the performed number is updated.

5. The method of claim 4, wherein, After the determination of the performed number corresponding to the target vehicle, the method further comprises: In a case where the performed number reaches the predetermined number threshold, an initial driving direction is determined as the driving direction of the target vehicle, wherein the initial driving direction is determined according to a positional relationship between the coil sensor triggered by the target vehicle and the target area and a position of the most front weighing sensor in the multiple rows of weighing sensors in the weighing trigger sequence.

6. The method according to any one of claims 1 to 5, characterized in that, After the direction of the target vehicle running track is determined as the driving direction of the target vehicle, the method further comprises: In a case where the coil sensor is detected to be extinguished, a target lane to which the coil sensor belongs is determined, wherein the target vehicle is a vehicle on the target lane; In a case where the driving direction of the target vehicle is toward the coil sensor, the coil sensor is determined as a next coil of the target vehicle.

7. A vehicle exit device for a lane, characterized in that, Comprise: An acquisition unit is configured to acquire a weighing trigger sequence corresponding to a target vehicle, wherein multiple rows of weighing sensors are sequentially arranged on a target area where the target vehicle is located, and the weighing trigger sequence is used to indicate an order in which the target vehicle triggers each row of weighing sensors in the multiple rows of weighing sensors; A second determination unit is configured to determine, in each pair of position points in position points detected by each row of weighing sensors in the order in which the target vehicle triggers each row of weighing sensors, a group of position points, to obtain multiple groups of position points; A third determination unit is configured to determine, as a weighing sensor triggered by a left wheel, a weighing sensor corresponding to a position point located on a left side of a center point of each group of position points in the multiple groups of position points, to obtain a first trigger sequence; and A fourth determination unit is configured to determine, as a weighing sensor triggered by a right wheel, a weighing sensor corresponding to a position point located on a right side of the center point of each group of position points in the multiple groups of position points, to obtain a second trigger sequence. The identification unit is used for identifying the direction of the target vehicle running track according to the sequence of the appearance of the rows of load sensors in the load triggering sequence, comprising: a first identification module, used for identifying the direction of the left wheel running track of the target vehicle according to the sequence of the appearance of the rows of load sensors in the first triggering sequence, wherein the first triggering sequence is used for representing the sequence of the left wheel triggering the rows of load sensors; a second identification module, used for identifying the direction of the right wheel running track of the target vehicle according to the sequence of the appearance of the rows of load sensors in the second triggering sequence, wherein the second triggering sequence is used for representing the sequence of the right wheel triggering the rows of load sensors; and a fifth determination module, used for determining the direction of the target vehicle running track according to the direction of the left wheel running track and the direction of the right wheel running track; The first determination unit is used for determining the direction of the target vehicle running track as the driving direction of the target vehicle in the case of identifying the direction of the target vehicle running track. The first execution unit is used for executing the vehicle-out operation of the target vehicle in the case of detecting that the coil sensor is extinguished and determining that the coil sensor is the next coil of the target vehicle according to the driving direction of the target vehicle.

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