Lane vehicle exiting method and device, storage medium and electronic device

Abstract

This application discloses a method and apparatus, storage medium, and electronic device for dispatching vehicles in a lane. The method includes: detecting a dispatch signal for a target lane, wherein the dispatch signal indicates the presence of a vehicle to be dispatched in the target lane; when multiple candidate vehicles match the dispatch signal for the target lane, evaluating each candidate vehicle using target evaluation parameters to obtain an evaluation result for each candidate vehicle, wherein the target evaluation parameters assess the confidence level that each candidate vehicle is a vehicle to be dispatched; and selecting a target vehicle to be dispatched from the multiple candidate vehicles based on the evaluation results of each candidate vehicle, and performing a dispatch operation corresponding to the target vehicle. This application solves the technical problem of poor vehicle dispatch accuracy caused by parallel vehicle travel in related technologies for lane-based vehicle dispatching methods.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and more specifically, to a method and apparatus for dispatching a vehicle in a lane, a storage medium, and an electronic device. 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 on the narrow strip can be deduced, and thus the wheel weight. 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 trigger signals at the entrance and exit, it is possible to determine whether a vehicle has entered / left the weighing area.

[0004] During the aforementioned vehicle weighing process, when there is a large volume of traffic, vehicles may travel in parallel. In such cases, the vehicle trajectories are close together, and there are many narrow strips triggered, leading to multiple possibilities for establishing vehicle trajectory models. Directly using the weight information detected by the weighing sensors to weigh the vehicles cannot accurately distinguish the corresponding weighing information for each vehicle, resulting in a decrease in the accuracy of vehicle dispatch.

[0005] Therefore, it is evident that the lane-based vehicle exit method in the relevant technology suffers from a technical problem of poor vehicle exit accuracy due to parallel vehicle travel. Summary of the Invention

[0006] This application provides a method and apparatus for exiting a lane-based vehicle, a storage medium, and an electronic device to at least solve the technical problem of poor vehicle exit accuracy caused by parallel driving in related technologies.

[0007] According to one aspect of the embodiments of this application, a method for dispatching a vehicle in a lane is provided, comprising: detecting a dispatch signal of a target lane, wherein the dispatch signal is used to indicate that there is a vehicle waiting to dispatch in the target lane; when there are multiple candidate vehicles matching the dispatch signal of the target lane, evaluating each of the multiple candidate vehicles using a target evaluation parameter to obtain an evaluation result for each candidate vehicle, wherein the target evaluation parameter is used to evaluate the confidence level of each candidate vehicle as the vehicle waiting to dispatch; selecting a target vehicle waiting to dispatch from the multiple candidate vehicles based on the evaluation result of each candidate vehicle, and performing a dispatch operation corresponding to the target vehicle.

[0008] According to another aspect of the embodiments of this application, a vehicle departure device for a lane is also provided, comprising: a data processing unit configured to: detect a departure signal of a target lane, wherein the departure signal is used to indicate that there is a vehicle waiting to leave in the target lane; when there are multiple candidate vehicles matching the target lane, evaluate each of the multiple candidate vehicles using target evaluation parameters to obtain an evaluation result for each candidate vehicle, wherein the target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as the vehicle waiting to leave; and select a target vehicle waiting to leave from the multiple candidate vehicles based on the evaluation result of each candidate vehicle, and perform a departure operation corresponding to the target vehicle.

[0009] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, which is configured to execute the above-described method for the exit of vehicles in the lane when it is run.

[0010] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described method for dispatching a vehicle in a lane through the computer program.

[0011] In this embodiment, an evaluation parameter is used to assess the confidence that multiple candidate vehicles corresponding to the lane to be dispatched are vehicles to be dispatched, and the vehicle to be dispatched is selected from the multiple candidate vehicles based on the evaluation result. This is achieved by detecting the dispatch signal of the target lane, where the dispatch signal indicates the presence of a vehicle to be dispatched in the target lane; when multiple candidate vehicles match the dispatch signal of the target lane, each candidate vehicle is evaluated using the target evaluation parameter to obtain an evaluation result for each candidate vehicle, where the target evaluation parameter assesses the confidence that each candidate vehicle is a vehicle to be dispatched; based on the evaluation result of each candidate vehicle, the target vehicle to be dispatched is selected from the multiple candidate vehicles, and the dispatch operation corresponding to the target vehicle is executed. Since the confidence that multiple candidate vehicles are vehicles to be dispatched is assessed using the evaluation parameter, the vehicle to be dispatched is selected, achieving the goal of selecting the vehicle to be dispatched from multiple candidate vehicles, thus improving the technical effect of improving the accuracy of the dispatch operation. This solves the technical problem in related technologies where the accuracy of vehicle dispatching is poor due to parallel vehicle travel. Attached Figure Description

[0012] 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.

[0013] 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.

[0014] Figure 1 This is a schematic diagram of the hardware environment for an optional lane vehicle exit method according to an embodiment of this application;

[0015] Figure 2 This is a schematic flowchart of an optional lane vehicle exit method according to an embodiment of this application;

[0016] Figure 3 This is a schematic diagram of an optional wheel triggering narrow strip according to an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of an optional lane vehicle exit method according to an embodiment of this application;

[0018] Figure 5 This is a schematic diagram of another optional lane vehicle exit method according to an embodiment of this application;

[0019] Figure 6 This is a schematic diagram of another optional method for a vehicle to exit a lane according to an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of an optional trigger trajectory for the left and right wheels of a vehicle according to an embodiment of this application;

[0021] Figure 8 This is a schematic diagram of an optional vehicle left and right wheel trigger sequence processing method according to an embodiment of this application;

[0022] Figure 9 This is a flowchart illustrating another optional method for exiting a vehicle in a lane according to an embodiment of this application;

[0023] Figure 10 This is a structural block diagram of an optional lane vehicle exit device according to an embodiment of this application;

[0024] Figure 11 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] According to one aspect of the embodiments of this application, a method for exiting a lane-fed vehicle is provided. Optionally, the method for exiting a lane-fed vehicle in this embodiment can be applied to, for example... Figure 1 The hardware environment shown consists of weighing component 102 and server 104. Figure 1As shown, server 104 is connected to weighing component 102 via a network and can be used to provide services (such as application services) to the weighing component or clients installed on the weighing component. A database can be set up on the server or independently of the server to provide data storage services for server 104.

[0028] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth. The weighing component 102 may be, but is not limited to, a strain sensor, a narrow bar weighing scale, a shaft assembly weighing scale, or other weighing components.

[0029] The vehicle departure method for lanes in this embodiment can be executed by server 104, weighing component 102, or jointly by server 104 and weighing component 102. Alternatively, the weighing component 102 can execute the vehicle departure method for lanes in this embodiment by a client installed on it.

[0030] The following embodiment uses the method for controlling the exit of vehicles in a lane, which is executed by server 104, as an example. Figure 2 This is a schematic flowchart of an optional lane vehicle 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:

[0031] Step S202: A vehicle exit signal for the target lane is detected, wherein the vehicle exit signal is used to indicate that there is a vehicle waiting to exit in the target lane.

[0032] The vehicle exit method in this embodiment can be applied to scenarios where vehicles exit in lanes equipped with weighing components. The aforementioned weighing components can be weighing components located on the highway, such as coil sensors, narrow strips, axle group scales, etc., used for weighing vehicles. In this embodiment, the type of weighing component is not limited.

[0033] A highway may have at least one lane, and each lane may have a weighing area, within which weighing components may be installed. For a target lane in the at least one lane, multiple rows of weighing components (e.g., multiple rows of narrow strips) may be installed. Each row of weighing components may contain multiple independently operating weighing components (e.g., two weighing components). Weighing components belonging to the same row may be arranged in parallel or staggered arrangements, for example, alternating left and right rows. When a vehicle passes over the multiple rows of weighing components, the weighing components it passes over can record weighing-related information about the detected target vehicle. The weighing-related information may include, but is not limited to, at least one of the following: location information of passing the weighing component, time information of passing the weighing component, and weight information detected by the weighing component. After collecting weighing-related information (e.g., weight information, time information, location information, etc.) from the vehicle, each weighing component can upload the collected weighing-related information to the target server (an example of server 104) in real time, or it can report the collected weighing-related information of at least one vehicle to the target server at regular intervals. This embodiment does not limit this.

[0034] 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.

[0035] To improve traffic flow efficiency, at least one lane can be set up, and multiple rows of weighing devices can be installed in the at least one lane. Each lane can have at least one row of weighing devices installed, and each lane can allow at least one vehicle to pass. If a departure signal is detected (e.g., the coil sensor corresponding to the target lane is turned off), the server can determine the lane corresponding to the departure signal, i.e., the target lane. The departure signal is used to indicate that there is a vehicle waiting to exit in the target lane.

[0036] For example, the data acquisition device can determine in real time whether the information uploaded by the narrow strip belongs to the same vehicle, and determine whether the vehicles are separated by the on / off state of the coil.

[0037] Step S204: In the case of multiple candidate vehicles that match the departure signal of the target lane, each candidate vehicle is evaluated using the target evaluation parameters to obtain the evaluation result of each candidate vehicle. The target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as a vehicle to be dispatched.

[0038] When traffic is heavy, vehicles may travel side-by-side. In this situation, the trigger points of the weighing devices may be 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 weighing information uploaded by the weighing devices. These pre-created vehicles can be virtual vehicles, corresponding to a specific actual vehicle, or they can be incorrectly created due to vehicles traveling side-by-side. For example, if the trigger points of adjacent wheels of two vehicles are too close, an incorrect vehicle creation may occur. In this case, multiple vehicles exiting a single lane may also appear.

[0039] In the scenario of pre-built vehicles, multiple rows of weighing components are deployed on at least one lane. 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. 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.

[0040] 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).

[0041] Since the axle width of a vehicle is generally a fixed value, and the displacement of the axle's position information should be within a reasonable range when the vehicle continuously travels through multiple rows of weighing components (e.g., three rows of narrow strips), a waiting area range can be set for existing vehicles. This waiting area range corresponds to the distance to the existing vehicle and 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 the 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.

[0042] The server can receive the first weighing information uploaded by the target weighing component in multiple rows of weighing components. 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, which contains the weighing information matched with the first vehicle.

[0043] 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.

[0044] Optionally, after receiving the first weighing information uploaded by the target weighing component, 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 a 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 an 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 waiting area range, where the 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 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.

[0049] Optionally, the 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 a 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 a 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 waiting area range using the interval range between the third position point and the fourth position point.

[0050] 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 it 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. 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.

[0051] The server can assign vehicles to designated lanes based on detected departure signals for the target lane and then execute departure operations. These departure signals can indicate the presence of a vehicle waiting to depart in the target lane; this can be a single vehicle or multiple candidate vehicles. The departure signal can be detected by a coil sensor installed at the vehicle's entry / exit from the weighing area. For example, the on / off state of the coil sensor can be used to determine whether a vehicle is ready to depart. Upon detecting a departure signal, the server can determine that the lane corresponding to that signal is the target lane, and that a vehicle is waiting to depart in that lane.

[0052] For a target lane, if there are multiple candidate vehicles matching its departure signal, in order to determine the vehicle to depart from the candidate vehicles, each candidate vehicle can be evaluated using target evaluation parameters to obtain the evaluation result for each candidate vehicle. Target evaluation parameters can be used to assess the confidence level of each candidate vehicle as the vehicle to depart. Target evaluation parameters can be a single evaluation parameter or can include multiple evaluation parameters, which may include, but are not limited to, at least one of the following: evaluation parameters related to the vehicle's trajectory (e.g., the overlap of the trajectories of the vehicle's left and right wheels), evaluation parameters related to the vehicle's weighing information (e.g., the weight ratio of the left and right wheels), which are not limited in this embodiment.

[0053] Step S206: Based on the evaluation results of each candidate vehicle, select the target vehicle to be dispatched from multiple candidate vehicles and execute the dispatch operation corresponding to the target vehicle.

[0054] The server can determine the confidence level of each candidate vehicle as a vehicle to be dispatched based on the evaluation results of each candidate vehicle, and select the vehicle with the highest confidence level or the vehicle with a confidence level greater than or equal to the set confidence level threshold from multiple candidate vehicles as the target vehicle to be dispatched.

[0055] For example, when vehicles are running in parallel, multiple vehicles may meet the conditions for vehicle creation. These vehicles are created together and maintained in real-time. When a coil goes out, it can be determined which lane it belongs to and whether there are any vehicles updating in that lane. By determining the direction of travel of these updating vehicles, it can be confirmed whether it is a coil to be created. If multiple vehicles are identified as eligible to leave the lane, the process proceeds to the scoring module (a program module used to evaluate eligible vehicles). The scoring module scores each eligible vehicle and selects the vehicle with the highest score from among the eligible vehicles as the vehicle to be created.

[0056] like Figure 6As shown, vehicle 2 is a vehicle constructed with the distance between the right wheel of vehicle 1 and the left wheel of vehicle 3 meeting the vehicle width requirement. When the lower left coil is off, it is impossible to determine whether vehicle 1 or vehicle 2 will exit. The lane corresponding to the left coil can correspond to two candidate vehicles, vehicle 1 and vehicle 2. Relevant evaluation parameters can be used to determine the vehicle with higher confidence between vehicle 1 and vehicle 2 as the vehicle to be exited and perform the exit operation.

[0057] After identifying the target vehicle, the server can execute the corresponding vehicle dispatch operation. This dispatch operation can be performed by the dispatch module (the program module that controls vehicle dispatch). The dispatch module can identify all weighing components triggered by this vehicle, and then calculate the vehicle's weight, etc., based on the trigger information of all weighing components triggered by this vehicle.

[0058] Through steps S202 to S206, a vehicle departure signal for the target lane is detected, wherein the vehicle departure signal indicates that there is a vehicle waiting to depart in the target lane; when there are multiple candidate vehicles matching the vehicle departure signal of the target lane, each candidate vehicle is evaluated using target evaluation parameters to obtain an evaluation result for each candidate vehicle, wherein the target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as a vehicle waiting to depart; based on the evaluation result of each candidate vehicle, the target vehicle waiting to depart is selected from the multiple candidate vehicles, and the vehicle departure operation corresponding to the target vehicle is executed, which solves the technical problem of poor vehicle departure accuracy caused by parallel driving of vehicles in the lane vehicle departure method of related technologies, and improves the accuracy of vehicle departure operation execution.

[0059] In one exemplary embodiment, to improve the accuracy of the evaluation results, the target evaluation parameters may include multiple evaluation parameters to perform multi-dimensional evaluation of each candidate vehicle. These multiple evaluation parameters include at least one of the following: one or more evaluation parameters related to the vehicle's operating trajectory, and one or more evaluation parameters related to the vehicle's weighing information.

[0060] Correspondingly, each candidate vehicle among multiple candidate vehicles is evaluated using the target evaluation parameters to obtain the evaluation result for each candidate vehicle, including:

[0061] S11, each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain the evaluation value corresponding to each candidate vehicle and each evaluation parameter;

[0062] S12, perform a weighted summation of the evaluation values ​​corresponding to each candidate vehicle and each evaluation parameter to obtain the evaluation result of each candidate vehicle.

[0063] For each candidate vehicle, the server can perform multi-dimensional evaluations of each candidate vehicle using each of the multiple evaluation parameters, obtaining an evaluation value for each candidate vehicle corresponding to each evaluation parameter. That is, each candidate vehicle can correspond to multiple evaluation values, and these evaluation values ​​correspond one-to-one with the multiple evaluation parameters. After obtaining the multiple evaluation values ​​for each evaluated vehicle, the server can perform a weighted summation of each evaluation value according to the weight corresponding to each evaluation parameter to obtain the evaluation result for each candidate vehicle.

[0064] Optionally, the weights corresponding to each evaluation parameter can be the same; that is, multiple evaluation parameters can correspond to the same weight, for example, all of which are 1. Multiple evaluation parameters can correspond to multiple weights, and the weights corresponding to each evaluation parameter can be the same or different. This embodiment does not impose any limitations on this.

[0065] For example, for such Figure 6 The scenario shown includes two vehicles, Vehicle 1 and Vehicle 2, that can exit lane 1. The scoring module can evaluate each vehicle using multiple evaluation parameters, including evaluation parameter A and evaluation parameter B. The evaluation values ​​obtained for Vehicle 1 are A1 and B1, respectively. Therefore, the evaluation result for Vehicle 1 is A1+B1. Similarly, the evaluation values ​​obtained for Vehicle 1 are A2 and B2, respectively. Therefore, the evaluation result for Vehicle 2 is A2+B2.

[0066] If (A1+B1) is greater than (A2+B2), the confidence level that vehicle 1 is the vehicle waiting to depart is higher than that of vehicle 2, and vehicle 1 can be determined to be the vehicle waiting to depart corresponding to lane 1. If (A1+B1) is less than (A2+B2), the confidence level that vehicle 1 is the vehicle waiting to depart is lower than that of vehicle 2, and vehicle 2 can be determined to be the vehicle waiting to depart corresponding to lane 1.

[0067] This embodiment uses multiple evaluation parameters to evaluate candidate vehicles and determine the vehicles to be dispatched. It allows for multi-dimensional evaluation of each candidate vehicle, improving the accuracy of dispatch operations.

[0068] In one exemplary embodiment, each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain an evaluation value for each candidate vehicle corresponding to each evaluation parameter, including:

[0069] S21, determine the first trigger time of the first weighing component and the second trigger time of the second weighing component, wherein the first weighing component is the first weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components corresponding to each candidate vehicle, and the second weighing component is the last weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components.

[0070] S22, determine the third trigger time of the third weighing component and the fourth trigger time of the fourth weighing component, wherein the third weighing component is the first weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components, and the fourth weighing component is the last weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components.

[0071] S23, the ratio between the first difference and the second difference is determined as the evaluation value corresponding to the first evaluation parameter for each candidate vehicle, wherein the first difference is the difference between the third trigger time and the second trigger time, the second difference is the difference between the first trigger time and the fourth trigger time, and the multiple evaluation parameters include the first evaluation parameter.

[0072] In this embodiment, the overlap of the left and right wheel trajectories (the trajectories of the left and right wheels triggering the weighing components) of the correct vehicle to be dispatched is relatively higher than that of other vehicles. Therefore, the overlap of the left and right wheel trajectories can be used as the first evaluation parameter among multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to this evaluation parameter. The overlap of the left and right wheel trajectories can be determined based on the time when the left and right wheels trigger the weighing components.

[0073] For each candidate vehicle, the server can determine the first and second weighing components among the multiple rows of weighing components triggered by each candidate vehicle. The first weighing component is the first weighing component triggered by the left wheel of each candidate vehicle in the aforementioned multiple rows of weighing components, and the time when the first weighing component is triggered for the first time is the first trigger time; the second weighing component is the last weighing component triggered by the left wheel of each candidate vehicle in the aforementioned multiple rows of weighing components, and the time when the second weighing component is triggered for the last time is the second trigger time.

[0074] The server can also separately determine the third and fourth weighing components among the multiple weighing components triggered by each candidate vehicle. The third weighing component is the first weighing component triggered by the right wheel of each candidate vehicle in the aforementioned multi-row weighing components, and the time when the third weighing component is first triggered is the third trigger time; the fourth weighing component is the last weighing component triggered by the right wheel of each candidate vehicle in the aforementioned multi-row weighing components, and the time when the fourth weighing component is last triggered is the fourth trigger time.

[0075] The evaluation value corresponding to the first evaluation parameter for each candidate vehicle can be determined based on the first trigger time, the second trigger time, the third trigger time, and the fourth trigger time. For example, the server can first determine the difference between the third trigger time and the second trigger time as the first difference, and the difference between the first trigger time and the fourth trigger time as the second difference. Then, the ratio between the first difference and the second difference is determined as the evaluation value corresponding to the first evaluation parameter for each candidate vehicle.

[0076] Optionally, the time difference between the first trigger time and the fourth trigger time, and the ratio of the time difference between the third trigger time and the second trigger time, can be determined as the first evaluation parameter. Other methods can also be used to determine the first evaluation parameter, which is not limited in this embodiment.

[0077] For example, it can determine the degree of overlap between the left and right trajectories of an existing vehicle; the higher the degree of overlap, the higher the score. Figure 7 As shown, let the trigger time of the first narrow strip of the left wheel trajectory be T. L1 The trigger time for the last narrow bar of the revolver is T. L2 The trigger time for the first narrow bar on the right wheel is T. R1 The trigger time for the last narrow bar on the right wheel is T. R2 When the overlap between the left and right tracks of the existing vehicle is higher, the ratio between the first difference and the second difference is closer to 1; when the overlap between the left and right tracks of the existing vehicle is lower, the difference between the trigger time of the first narrow strip of the right wheel track and the trigger time of the last narrow strip of the left wheel (i.e., the first difference) is smaller, and the difference between the trigger time of the first narrow strip of the left wheel and the trigger time of the last narrow strip of the right wheel (i.e., the second difference) is larger. Therefore, the ratio of the first difference to the second difference can be used as the first evaluation parameter, and the formula for calculating the first evaluation parameter can be as shown in formula (1):

[0078] (1)

[0079] Score1 is the evaluation value of the first evaluation parameter.

[0080] In this embodiment, the confidence level of a candidate vehicle as a vehicle to be dispatched is evaluated by using the overlap of the left and right wheel trajectories, which can improve the accuracy of lane departure.

[0081] In one exemplary embodiment, each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain an evaluation value for each candidate vehicle corresponding to each evaluation parameter, including:

[0082] S31, determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle, wherein the number of left wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the left wheel of each candidate vehicle, and the number of right wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the right wheel of each candidate vehicle.

[0083] S32, determine the number of left wheel triggers and the number of right wheel triggers for each candidate vehicle, wherein the number of left wheel triggers is the sum of the number of times the left wheel of each candidate vehicle triggers the weighing components in the multiple rows of weighing components, and the number of right wheel triggers is the sum of the number of times the right wheel of each candidate vehicle triggers the weighing components.

[0084] S33, the difference between 1 and the first target ratio is determined as the evaluation value corresponding to the second evaluation parameter for each candidate vehicle, wherein the first target ratio is the ratio of the first reference value and the second reference value, the first reference value is the absolute value of the difference between the first ratio and the second ratio, the second reference value is the maximum value between the first ratio and the second ratio, the first ratio is the ratio of the number of left wheel triggers to the number of left wheel trigger rows, the second ratio is the ratio of the number of right wheel triggers to the number of right wheel trigger rows, and the multiple evaluation parameters include the second evaluation parameter.

[0085] In this embodiment, compared to the similarity of the number of triggers of the left and right wheels (the number of times the left and right wheels trigger the weighing component) of other vehicles (i.e., the similarity of the number of triggers), the similarity of the number of triggers of the left and right wheels of the correct vehicle to be dispatched is relatively higher. Therefore, the similarity of the average number of triggers of the left and right wheels triggering the weighing component can be used as the second evaluation parameter among multiple evaluation parameters to evaluate each candidate vehicle, and an evaluation value corresponding to this evaluation parameter can be obtained.

[0086] For each candidate vehicle, the server can first determine the corresponding left-wheel trigger row number and right-wheel trigger row number. Here, the left-wheel trigger row number is the sum of the number of times the left wheels of each candidate vehicle trigger each row of weighing components, and the right-wheel trigger row number is the sum of the number of times the right wheels of each candidate vehicle trigger each row of weighing components. The server can accumulate the number of left-wheel trigger rows (counted on a row-by-row basis) for each candidate vehicle's first left-wheel trigger sequence, and accumulate the number of right-wheel trigger rows for each candidate vehicle's first right-wheel trigger sequence. The first left-wheel trigger sequence represents the order in which the left wheels of each candidate vehicle trigger each row of weighing components, and the first right-wheel trigger sequence represents the order in which the right wheels of each candidate vehicle trigger each row of weighing components.

[0087] The server can also determine the number of left-wheel triggers and the number of right-wheel triggers for each candidate vehicle. Here, the left-wheel trigger count is the sum of the number of times the left wheels of each candidate vehicle trigger each of the multiple rows of weighing components, and the right-wheel trigger count is the sum of the number of times the right wheels of each candidate vehicle trigger each of the multiple rows of weighing components. The server can accumulate the left-wheel trigger count for each weighing component in the second left-wheel trigger sequence for each candidate vehicle, and accumulate the right-wheel trigger count for each weighing component in the second right-wheel trigger sequence for each candidate vehicle. The second left-wheel trigger sequence represents the order in which the left wheels of each candidate vehicle trigger each of the multiple rows of weighing components, and the second right-wheel trigger sequence represents the order in which the right wheels of each candidate vehicle trigger each of the weighing components.

[0088] The server can determine the second evaluation parameter based on at least one of the following: the number of left-wheel trigger rows and the number of right-wheel trigger rows, the number of left-wheel triggers and the number of right-wheel triggers. For example, the ratio of the number of left-wheel trigger rows to the number of right-wheel trigger rows can be used as the second evaluation parameter; another example is the ratio of the number of left-wheel triggers to the number of right-wheel triggers; yet another example is the ratio between the sum of the number of left-wheel trigger rows and the number of left-wheel triggers and the sum of the number of right-wheel trigger rows and the number of right-wheel triggers.

[0089] In this embodiment, the server can use the ratio of the number of left wheel triggers to the number of left wheel trigger rows as a first ratio, the ratio of the number of right wheel triggers to the number of right wheel trigger rows as a second ratio, the maximum value between the first ratio and the second ratio as a second reference value, the absolute value of the difference between the first ratio and the second ratio as a first reference value, the ratio of the first reference value and the second reference value as a first target ratio, and the difference between 1 and the first target ratio as the evaluation value corresponding to the second evaluation parameter for each candidate vehicle.

[0090] For example, the average number of triggers after removing the weights from the narrow strips on the left and right wheels of a vehicle is determined. The closer the average number of triggers for the left and right wheels are, the higher the score. Let L be the number of narrow strips triggered by the left wheel. R The right wheel triggers the narrow strip number R. R The number of times the narrow bar is triggered by the revolver is L. C The number of times the narrow bar is triggered by the right wheel is R. C Then, the formula for calculating the second evaluation parameter can be shown in formula (2):

[0091] (2)

[0092] Score2 is the evaluation value of the second evaluation parameter.

[0093] This embodiment assesses the confidence level of a candidate vehicle as the vehicle to be dispatched based on the similarity of the average number of triggers of the weighing components triggered by the left and right wheels, thereby improving the accuracy of lane departure.

[0094] In one exemplary embodiment, each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain an evaluation value for each candidate vehicle corresponding to each evaluation parameter, including:

[0095] S41, determine the left wheel triggering component and the right wheel triggering component in the target triggering sequence, wherein the target triggering sequence is used to indicate the order in which each candidate vehicle triggers each weighing component in the multi-row weighing components, the left wheel triggering component is the weighing component triggered by the left wheel of each candidate vehicle, and the right wheel triggering component is the weighing component triggered by the right wheel of each candidate vehicle;

[0096] S42, determine the number of adjacent times of the left wheel triggering component and the right wheel triggering component in the target triggering sequence as the number of zero crossings for each candidate vehicle;

[0097] S43, the zero-crossing count and the total number of times the weighing component is adjacent in the target trigger sequence are used to determine the evaluation value corresponding to the third evaluation parameter for each candidate vehicle, wherein the multiple evaluation parameters include the third evaluation parameter.

[0098] In this embodiment, the zero-crossing rate (the ratio of left and right wheels triggering sequentially) of the correct vehicle to be dispatched is relatively higher than that of other vehicles. Therefore, the zero-crossing rate of each candidate vehicle can be used as the third evaluation parameter among multiple evaluation parameters to evaluate each candidate vehicle and obtain the evaluation value corresponding to this evaluation parameter.

[0099] For each candidate vehicle, the server can first determine the target trigger sequence corresponding to each candidate vehicle. Here, the target trigger sequence is used to indicate the order in which each candidate vehicle triggers each weighing component in the multi-row weighing components. Then, the left wheel trigger component and the right wheel trigger component in the target trigger sequence are determined. The left wheel trigger component is the weighing component triggered by the left wheel of each candidate vehicle in the target trigger sequence, and the right wheel trigger component is the weighing component triggered by the right wheel of each candidate vehicle in the target trigger sequence.

[0100] The server can determine the number of times the left-wheel triggering component and the right-wheel triggering component are adjacent in the target triggering sequence. This number of adjacent occurrences can be the number of times any two adjacent weighing components contain both the left-wheel and right-wheel triggering components. To determine the number of adjacent occurrences, the server can iterate through the target triggering sequence, starting from the first triggering component, and sequentially perform a statistical operation on each weighing component in the target triggering sequence as the current weighing component, until the current weighing component is the last weighing component in the target triggering sequence. The statistical operation is as follows: determine whether the next weighing component is triggered by the same wheel; if not, increment the adjacent occurrence count by 1; if so, skip it.

[0101] The aforementioned number of adjacent numbers represents the number of zero-crossings for each candidate vehicle. The server can determine the evaluation value for each candidate vehicle corresponding to the third evaluation parameter by combining the number of zero-crossings with the total number of adjacent weighing components in the target trigger sequence. The total number of adjacent weighing components in the target trigger sequence can be the total number of weighing components included in the target trigger sequence minus 1.

[0102] For example, such as Figure 8 As shown, a single trigger of the left wheel can be recorded as -1, and a single trigger of the right wheel as 1. After placing the left and right wheels in the same array, they are sorted according to the time sequence. The zero-crossing rate is then calculated, which is the number of zero-crossings divided by the total number of triggers. In the sorted array, a change from -1 to 1 or from 1 to -1 counts as one zero-crossing. The number of zero-crossings for connecting lines is calculated as the ratio of the number of zero-crossings to the total number of connecting lines. The zero-crossing rate can be denoted as Score3, which is the evaluation value of the third evaluation parameter. Here, in the narrow strip trigger sequence of each candidate vehicle, the narrow strips triggered by the left wheel can be replaced with -1, and the narrow strips triggered by the right wheel can be replaced with 1. Then, the number of zero-crossings is calculated and divided by the total number of triggers to obtain the zero-crossing rate for each candidate vehicle.

[0103] This embodiment assesses the confidence level of a candidate vehicle as a vehicle to be dispatched based on the zero-crossing rate of each candidate vehicle, thereby improving the accuracy of lane departure.

[0104] In one exemplary embodiment, each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain an evaluation value for each candidate vehicle corresponding to each evaluation parameter, including:

[0105] S51, determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle, wherein the number of left wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the left wheel of each candidate vehicle, and the number of right wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the right wheel of each candidate vehicle.

[0106] S52, determine the left wheel deformation parameter and the right wheel deformation parameter for each candidate vehicle, wherein the left wheel deformation parameter is the sum of the maximum deformation parameters generated by the weighing components in the multiple rows of weighing components when the left wheel of each candidate vehicle is triggered, and the right wheel deformation parameter is the sum of the maximum deformation parameters generated by the weighing components in the multiple rows of weighing components when the right wheel of each candidate vehicle is triggered.

[0107] S53, the difference between 1 and the second target ratio is determined as the evaluation value corresponding to the fourth evaluation parameter for each candidate vehicle, wherein the second target ratio is the ratio of the third reference value and the fourth reference value, the third reference value is the absolute value of the difference between the third ratio and the fourth ratio, the fourth reference value is the maximum value between the third ratio and the fourth ratio, the third ratio is the ratio of the left wheel deformation parameter to the number of left wheel triggers, the fourth ratio is the ratio of the right wheel deformation parameter to the number of right wheel triggers, and the multiple evaluation parameters include the fourth evaluation parameter.

[0108] In this embodiment, compared to the similarity of the left and right wheel weights (the weight of the left wheel and the weight of the right wheel) of other vehicles, the similarity of the left and right wheel weights of the correct vehicle to be dispatched is relatively higher. Therefore, the similarity of the left and right wheel weights can be used as the fourth evaluation parameter among multiple evaluation parameters to evaluate each candidate vehicle, and an evaluation value corresponding to this evaluation parameter can be obtained.

[0109] For each candidate vehicle, the server can determine the number of left and right wheel trigger rows corresponding to each candidate vehicle. The method for determining the number of left and right wheel trigger rows is similar to that in the previous embodiments and will not be repeated here. Each time the vehicle's wheels trigger the weighing components, the deformation of the weighing components can be a process of increasing and then decreasing. The maximum deformation parameter of the weighing components (or, the maximum deformation of the weighing components) is positively correlated with the weight of the wheel; that is, the greater the deformation, the heavier the wheel. The server can also determine the left wheel deformation parameter and the right wheel deformation parameter for each candidate vehicle. Here, the left wheel deformation parameter is the sum of the maximum deformation parameters generated by the left wheel of each candidate vehicle triggering multiple rows of weighing components each time, while the right wheel deformation parameter is the sum of the maximum deformation parameters generated by the right wheel of each candidate vehicle triggering multiple rows of weighing components each time. The left wheel deformation parameter is positively correlated with the weight of the left wheel of each candidate vehicle, while the right wheel deformation parameter is positively correlated with the weight of the right wheel of each candidate vehicle.

[0110] After obtaining the number of trigger rows for the left wheel, the number of trigger rows for the right wheel, the sum of the deformation parameters for the left wheel, and the sum of the deformation parameters for the right wheel, the server can evaluate the similarity of the weights of the left and right wheels based on all or part of these parameters; this is the fourth evaluation parameter. For example, the server can use the ratio of the sum of the deformation parameters for the left wheel to the number of trigger rows for the left wheel as the third ratio, and the ratio of the sum of the deformation parameters for the right wheel to the number of trigger rows for the right wheel as the fourth ratio; the absolute value of the difference between the third and fourth ratios as the third reference value, and the maximum value between the third and fourth ratios as the fourth reference value; the ratio between the third and fourth reference values ​​as the second target ratio; and the difference between 1 and the second target ratio as the evaluation value corresponding to the fourth evaluation parameter for each candidate vehicle.

[0111] For example, under normal circumstances, the weight of the left and right wheels of the same vehicle will not differ significantly. When judging the weight of the left and right wheels, the greater the difference in weight, the lower the score. Let L be the sum of the maximum values ​​of the left narrow strip. W The sum of the maximum values ​​of the narrow strips on the right is R. W The left narrow strip triggers the number of narrow strip rows as L. R The number of narrow strips triggered by the right narrow strip is R. R Then, the formula for calculating the fourth evaluation parameter can be shown in formula (3):

[0112] (3)

[0113] Score4 is the evaluation value of the second evaluation parameter.

[0114] This embodiment assesses the confidence level of a candidate vehicle as the vehicle to be dispatched based on the similarity of the weights of the left and right wheels of each candidate vehicle, thereby improving the accuracy of lane departure.

[0115] In one exemplary embodiment, after detecting a vehicle departure signal for the target lane, the method further includes:

[0116] S61, if there is a candidate vehicle that matches the target lane, the candidate vehicle is identified as the target vehicle to be dispatched, and the dispatch operation corresponding to the target vehicle is executed.

[0117] After detecting a vehicle departure signal in the target lane, if multiple candidate vehicles exist, the confidence level of the candidate vehicles can be evaluated using target evaluation parameters. Here, the target evaluation result can include all or part of the four evaluation parameters (i.e., the first evaluation parameter, the second evaluation parameter, the third evaluation parameter, and the fourth evaluation parameter) in the aforementioned embodiments. The evaluation method can be: summing the evaluation values ​​of each evaluation parameter to obtain the total evaluation value for each candidate vehicle (e.g., the total score is the sum of the four scores). The accuracy rate (i.e., the aforementioned confidence level) of each candidate vehicle as the vehicle to depart is determined based on the magnitude of the total evaluation value; the higher the evaluation value, the higher the accuracy rate.

[0118] In this embodiment, if there is a candidate vehicle that matches the target lane, the matched candidate vehicle can be used as the target vehicle to be dispatched, and the dispatch operation corresponding to the target vehicle can be executed. Here, the dispatch operation can be to calculate the weight of the target vehicle, or to charge according to the vehicle weight, etc., which is not limited here.

[0119] For example, when a coil sensor is off, the lane to which this coil belongs can be determined, and it can be confirmed whether there is a vehicle being updated (i.e., an existing vehicle) in this lane. By determining the direction of travel of the vehicle being updated, it can be confirmed whether it is the next coil for this vehicle. If so, the process can proceed to the scoring module. After the scoring module identifies the target vehicle, the vehicle dispatch module executes the dispatch operation corresponding to the target vehicle. The vehicle dispatch module can identify all the narrow strip sensors triggered by this vehicle, and then calculate the vehicle's weight, etc., based on the narrow strip triggering information of all the narrow strip sensors triggered by this vehicle.

[0120] This embodiment allows for the direct dispatch of a vehicle when only one vehicle is available, without the need for vehicle evaluation, thereby improving vehicle dispatch efficiency.

[0121] The following explanation, using optional examples, illustrates the method for vehicles exiting a lane in this application. In this optional example, the multi-row weighing components are multi-row narrow strips (or, multi-row narrow strip sensors), with each row containing two non-parallel narrow strips.

[0122] In related technologies, the method of classifying vehicles according to wheel trigger trajectories cannot accurately classify vehicles when vehicles are traveling in parallel because the vehicle trajectories are too close and there are too many narrow strip triggers (i.e., it is impossible to accurately distinguish which vehicle the narrow strip belongs to). The real-time trajectory processing method cannot correct when parallel vehicles are assigned to the wrong vehicle, and when there are too many narrow strip triggers, it is impossible to accurately distinguish which vehicle the narrow strip belongs to.

[0123] To address at least one of the aforementioned technical problems, this optional example provides a vehicle allocation scheme based on a strip sensor suitable for off-site law enforcement systems. When the coil is off, if multiple vehicles are available to proceed, the correct vehicle is determined through a scoring method. This not only ensures vehicle allocation for straight-going vehicles but also guarantees accurate vehicle allocation even in situations with high traffic volume.

[0124] The vehicle information processing method in this optional example can be applied to a non-on-site law enforcement system, which includes the following modules in its architecture:

[0125] (1) Pre-built vehicle module, used to perform pre-built vehicle processing when the distance between two idle narrow strips (i.e., the narrow strip trigger information of the narrow strip) meets the reasonable vehicle width;

[0126] (2) Vehicle information maintenance module, which is used to place the currently triggered narrow strip into possible vehicles according to the location of the narrow strip trigger (i.e., associate the narrow strip trigger information with the vehicle) and update the vehicle-related information;

[0127] (3) Scoring module, used to score multiple vehicles if multiple vehicles are associated with the coil after receiving the corresponding coil signal;

[0128] (4) Vehicle dispatch module, used to select the vehicle with the higher score as the target vehicle and then perform the vehicle dispatch related operations.

[0129] Combination Figure 6 and Figure 9 As shown, the process of the lane vehicle exit method in this optional example may include the following steps:

[0130] Step S902, Begin.

[0131] In step S904, 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.

[0132] Step S906: 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 S908; otherwise, proceed to step S910.

[0133] 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 S908; otherwise, proceed to step S910.

[0134] Step S908: Pre-build a vehicle. After pre-building a vehicle, the waiting area range of the vehicle can be obtained.

[0135] Step S910: Determine whether the triggered narrow strip can be placed in the waiting area of ​​the existing vehicle. If yes, proceed to step S912; otherwise, proceed to step S914.

[0136] Step S912: 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.

[0137] Step S914: Add the weighing information of the triggered narrow strip to the information group corresponding to the idle area.

[0138] 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.

[0139] Step S916: Determine whether the conditions for updating the vehicle are met (e.g., determine whether the number of narrow strip trigger messages in the waiting area of ​​the built vehicle has reached 4). If yes, proceed to step S918; otherwise, proceed to step S920.

[0140] Step S918: Update vehicle boundaries and waiting area range.

[0141] Step S920: The lower coil is detected to be extinguished.

[0142] Step S922: Determine if there are any vehicles available for exiting in the corresponding lane. If yes, proceed to step S924; otherwise, end the process.

[0143] Step S924: Determine if there are multiple vehicles available to exit in the lane. If yes, proceed to step S926; otherwise, proceed to step S930.

[0144] Step S926: Enter the scoring module to score multiple vehicles that are ready to be dispatched.

[0145] Step S928: Select the vehicle with the higher score as the target vehicle to be dispatched, and execute the corresponding dispatch operation.

[0146] Step S930: 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.

[0147] Step S932, End.

[0148] This optional example demonstrates how, when multiple vehicles are operating in parallel, all possible vehicles can be created simultaneously. When a vehicle departs, a scoring module scores the vehicles, and the vehicle with the highest score is selected as the departure weight. By using the scoring method, the correct vehicle among the parallel vehicles can be found. This solves the problem of not being able to identify the actual vehicle when there are many parallel vehicles at stations with high traffic volume, thus improving the accuracy of lane departure.

[0149] It should be noted that, for the sake of simplicity, the foregoing 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, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0150] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0151] According to another aspect of the embodiments of this application, a vehicle exiting device for implementing the above-described vehicle exiting method for lane vehicles 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:

[0152] Data processing unit 1002 is configured to:

[0153] A vehicle exit signal for the target lane was detected, whereby the vehicle exit signal is used to indicate that there is a vehicle waiting to exit in the target lane;

[0154] In the case of multiple candidate vehicles that match the departure signal of the target lane, each candidate vehicle is evaluated using target evaluation parameters to obtain the evaluation result of each candidate vehicle. The target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as a vehicle to be dispatched.

[0155] Based on the evaluation results of each candidate vehicle, the target vehicle to be dispatched is selected from multiple candidate vehicles, and the dispatch operation corresponding to the target vehicle is executed.

[0156] It should be noted that the data processing unit 1002 in this embodiment can be used to execute the above steps S202, S204 and S206.

[0157] The above modules detect the vehicle departure signal of the target lane, which indicates that there is a vehicle waiting to leave in the target lane. When there are multiple candidate vehicles that match the vehicle departure signal of the target lane, each candidate vehicle is evaluated using target evaluation parameters to obtain an evaluation result for each candidate vehicle. The target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as a vehicle waiting to leave. Based on the evaluation results of each candidate vehicle, the target vehicle waiting to leave is selected from the multiple candidate vehicles, and the vehicle departure operation corresponding to the target vehicle is executed. This solves the technical problem of poor vehicle departure accuracy caused by parallel driving of vehicles in the lane vehicle departure method of related technologies, and improves the accuracy of vehicle departure operation execution.

[0158] In one exemplary embodiment, the target evaluation parameters include multiple evaluation parameters. The data processing unit is further configured to:

[0159] Each candidate vehicle is evaluated separately using each of the multiple evaluation parameters to obtain the evaluation value for each candidate vehicle corresponding to each evaluation parameter.

[0160] The evaluation results for each candidate vehicle are obtained by weighted summing of the evaluation values ​​corresponding to each evaluation parameter.

[0161] In one exemplary embodiment, the data processing unit is further configured to:

[0162] Determine the first trigger time of the first weighing component and the second trigger time of the second weighing component, wherein the first weighing component is the first weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components corresponding to each candidate vehicle, and the second weighing component is the last weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components.

[0163] The third trigger time of the third weighing component and the fourth trigger time of the fourth weighing component are determined. The third weighing component is the first weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components, and the fourth weighing component is the last weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components.

[0164] The ratio between the first difference and the second difference is determined as the evaluation value for each candidate vehicle corresponding to the first evaluation parameter. The first difference is the difference between the third trigger time and the second trigger time, and the second difference is the difference between the first trigger time and the fourth trigger time. The multiple evaluation parameters include the first evaluation parameter.

[0165] In one exemplary embodiment, the data processing unit is further configured to:

[0166] Determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle. The number of left wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the left wheel of each candidate vehicle. The number of right wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the right wheel of each candidate vehicle.

[0167] Determine the number of left wheel triggers and the number of right wheel triggers for each candidate vehicle. The number of left wheel triggers is the sum of the number of times the left wheel of each candidate vehicle triggers the weighing components in the multiple rows of weighing components, and the number of right wheel triggers is the sum of the number of times the right wheel of each candidate vehicle triggers the weighing components.

[0168] The difference between 1 and the first target ratio is determined as the evaluation value corresponding to the second evaluation parameter for each candidate vehicle. The first target ratio is the ratio of the first reference value and the second reference value. The first reference value is the absolute value of the difference between the first ratio and the second ratio. The second reference value is the maximum value between the first ratio and the second ratio. The first ratio is the ratio of the number of left wheel triggers to the number of left wheel trigger rows. The second ratio is the ratio of the number of right wheel triggers to the number of right wheel trigger rows. The multiple evaluation parameters include the second evaluation parameter.

[0169] In one exemplary embodiment, the data processing unit is further configured to:

[0170] The left wheel triggering component and the right wheel triggering component in the target triggering sequence are determined. The target triggering sequence is used to indicate the order in which each candidate vehicle triggers each weighing component in the multi-row weighing components. The left wheel triggering component is the weighing component triggered by the left wheel of each candidate vehicle, and the right wheel triggering component is the weighing component triggered by the right wheel of each candidate vehicle.

[0171] The number of adjacent times between the left wheel triggering component and the right wheel triggering component in the target triggering sequence is determined as the number of zero crossings for each candidate vehicle;

[0172] The zero-crossing count and the total number of times the weighing component is adjacent in the target trigger sequence are used to determine the evaluation value for each candidate vehicle and the third evaluation parameter, where the multiple evaluation parameters include the third evaluation parameter.

[0173] In one exemplary embodiment, the data processing unit is further configured to:

[0174] Determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle. The number of left wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the left wheel of each candidate vehicle. The number of right wheel trigger rows is the sum of the number of times each row of weighing components is triggered by the right wheel of each candidate vehicle.

[0175] Determine the left wheel deformation parameter and the right wheel deformation parameter for each candidate vehicle, wherein the left wheel deformation parameter is the sum of the maximum deformation parameters generated by the weighing components in the multiple rows of weighing components when the left wheel of each candidate vehicle is triggered, and the right wheel deformation parameter is the sum of the maximum deformation parameters generated by the weighing components in the multiple rows of weighing components when the right wheel of each candidate vehicle is triggered.

[0176] The difference between 1 and the second target ratio is determined as the evaluation value for each candidate vehicle corresponding to the fourth evaluation parameter. The second target ratio is the ratio of the third reference value and the fourth reference value. The third reference value is the absolute value of the difference between the third ratio and the fourth ratio. The fourth reference value is the maximum value between the third ratio and the fourth ratio. The third ratio is the ratio of the left wheel deformation parameter to the number of left wheel triggers. The fourth ratio is the ratio of the right wheel deformation parameter to the number of right wheel triggers. The multiple evaluation parameters include the fourth evaluation parameter.

[0177] In one exemplary embodiment, the data processing unit is further configured to:

[0178] After detecting a vehicle departure signal for the target lane, if there is a candidate vehicle matching the target lane, the candidate vehicle is identified as the target vehicle to be dispatched, and the dispatch operation corresponding to the target vehicle is executed.

[0179] 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.

[0180] 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 the program code of any of the lane vehicle exit methods described in the embodiments of this application.

[0181] 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.

[0182] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0183] S1, a vehicle departure signal is detected in the target lane, wherein the vehicle departure signal is used to indicate that there is a vehicle waiting to exit in the target lane;

[0184] S2, when there are multiple candidate vehicles that match the departure signal of the target lane, each candidate vehicle is evaluated using the target evaluation parameters to obtain the evaluation result of each candidate vehicle. The target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as a vehicle to be dispatched.

[0185] S3 selects the target vehicle to be dispatched from multiple candidate vehicles based on the evaluation results of each candidate vehicle, and performs the dispatch operation corresponding to the target vehicle.

[0186] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0187] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0188] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described method for exiting a vehicle in a lane is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0189] 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.

[0190] Memory 1106 is used to store computer programs;

[0191] When processor 1102 executes a computer program stored in memory 1106, it performs the following steps:

[0192] S1, a vehicle departure signal is detected in the target lane, wherein the vehicle departure signal is used to indicate that there is a vehicle waiting to exit in the target lane;

[0193] S2, when there are multiple candidate vehicles that match the target lane, each candidate vehicle is evaluated using the target evaluation parameters to obtain the evaluation result of each candidate vehicle. The target evaluation parameters are used to evaluate the confidence level of each candidate vehicle as the vehicle to be driven.

[0194] S3 selects the target vehicle to be dispatched from multiple candidate vehicles based on the evaluation results of each candidate vehicle, and performs the dispatch operation corresponding to the target vehicle.

[0195] Optionally, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0196] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0197] As an example, the memory 1106 described above may include, but is not limited to, the data processing unit 1002 in the vehicle dispatching device for the lane vehicle. Furthermore, it may include, but is not limited to, other module units in the vehicle dispatching device for the lane vehicle, which will not be elaborated upon in this example.

[0198] The processor mentioned above can be a general-purpose processor, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0199] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0200] Those skilled in the art will understand that Figure 11The structure shown is for illustrative purposes only. The device that implements the above-mentioned method for vehicles to exit the lane can be a terminal device, such as a smartphone (e.g., an Android phone, an iOS phone), a tablet computer, a PDA, a mobile internet device (MID), a PAD, or other terminal devices. Figure 11 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 11 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 11 The different configurations shown.

[0201] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0202] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0203] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0204] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0205] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0206] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0207] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or at least two units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0208] 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 for exiting a vehicle in a lane, characterized in that, include: A vehicle departure signal for the target lane is detected, wherein the vehicle departure signal is used to indicate that there is a vehicle waiting to leave in the target lane; if there is a candidate vehicle that matches the target lane, the candidate vehicle is identified as the target vehicle waiting to leave, and a vehicle departure operation corresponding to the target vehicle is executed. In the presence of multiple candidate vehicles matching the exit signal of the target lane, each of the multiple candidate vehicles is evaluated using target evaluation parameters; wherein, the target evaluation parameters include multiple evaluation parameters; the multiple evaluation parameters include at least one of a first evaluation parameter, a second evaluation parameter, a third evaluation parameter, and a fourth evaluation parameter: The overlap of the left and right wheel trajectories is used as the first evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the first evaluation parameter; the similarity of the average number of triggers of the weighing component by the left and right wheels is used as the second evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the second evaluation parameter; the zero-crossing rate of each candidate vehicle is used as the third evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the third evaluation parameter; the similarity of the weights of the left and right wheels is used as the fourth evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the fourth evaluation parameter; For each candidate vehicle, the evaluation value corresponding to the first evaluation parameter, the evaluation value corresponding to the second evaluation parameter, the evaluation value corresponding to the third evaluation parameter, and the evaluation value corresponding to the fourth evaluation parameter are determined as the evaluation result of each candidate vehicle, wherein the target evaluation parameter is used to evaluate the confidence level of each candidate vehicle as the vehicle to be selected; Based on the evaluation results of each candidate vehicle, a target vehicle to be dispatched is selected from the plurality of candidate vehicles, and the dispatch operation corresponding to the target vehicle is executed.

2. The method according to claim 1, characterized in that, The evaluation of each candidate vehicle among the plurality of candidate vehicles using target evaluation parameters includes: Each candidate vehicle is evaluated using each of the multiple evaluation parameters to obtain an evaluation value for each candidate vehicle corresponding to each evaluation parameter. The evaluation results for each candidate vehicle are obtained by weighted summing of the evaluation values ​​corresponding to each evaluation parameter.

3. The method according to claim 2, characterized in that, The step of evaluating each candidate vehicle by using the overlap of the left and right wheel trajectories as the first evaluation parameter among the plurality of evaluation parameters to obtain an evaluation value corresponding to the first evaluation parameter includes: Determine the first trigger time of the first weighing component and the second trigger time of the second weighing component, wherein the first weighing component is the first weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components corresponding to each candidate vehicle, and the second weighing component is the last weighing component triggered by the left wheel of each candidate vehicle in the multi-row weighing components. The third trigger time of the third weighing component and the fourth trigger time of the fourth weighing component are determined, wherein the third weighing component is the first weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components, and the fourth weighing component is the last weighing component triggered by the right wheel of each candidate vehicle in the multi-row weighing components. The ratio between the first difference and the second difference is determined as the evaluation value corresponding to each candidate vehicle and the first evaluation parameter, wherein the first difference is the difference between the third trigger time and the second trigger time, the second difference is the difference between the first trigger time and the fourth trigger time, and the plurality of evaluation parameters include the first evaluation parameter.

4. The method according to claim 2, characterized in that, The step of evaluating each candidate vehicle by using the similarity of the average number of triggers of the weighing components on the left and right wheels as the second evaluation parameter among the multiple evaluation parameters, and obtaining an evaluation value corresponding to the second evaluation parameter, includes: Determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle, wherein the number of left wheel trigger rows is the sum of the number of times the left wheel of each candidate vehicle triggers each row of weighing components, and the number of right wheel trigger rows is the sum of the number of times the right wheel of each candidate vehicle triggers each row of weighing components; The number of left wheel triggers and the number of right wheel triggers corresponding to each candidate vehicle are determined, wherein the number of left wheel triggers is the sum of the number of times the left wheel of each candidate vehicle triggers the weighing components in the multi-row weighing components, and the number of right wheel triggers is the sum of the number of times the right wheel of each candidate vehicle triggers the weighing components; The difference between 1 and the first target ratio is determined as the evaluation value corresponding to each candidate vehicle and the second evaluation parameter. The first target ratio is the ratio of the first reference value and the second reference value. The first reference value is the absolute value of the difference between the first ratio and the second ratio. The second reference value is the maximum value between the first ratio and the second ratio. The first ratio is the ratio of the number of left wheel triggers to the number of left wheel trigger rows. The second ratio is the ratio of the number of right wheel triggers to the number of right wheel trigger rows. The plurality of evaluation parameters includes the second evaluation parameter.

5. The method according to claim 2, characterized in that, The step of evaluating each candidate vehicle by using its zero-crossing rate as the third evaluation parameter among multiple evaluation parameters to obtain an evaluation value corresponding to the third evaluation parameter includes: The left wheel triggering component and the right wheel triggering component in the target triggering sequence are determined, wherein the target triggering sequence is used to indicate the order in which each candidate vehicle triggers each weighing component in the multi-row weighing components, the left wheel triggering component is the weighing component triggered by the left wheel of each candidate vehicle, and the right wheel triggering component is the weighing component triggered by the right wheel of each candidate vehicle; The number of times the left wheel triggering component and the right wheel triggering component are adjacent in the target triggering sequence is determined as the number of zero crossings for each candidate vehicle; The zero-crossing count and the total number of times the weighing component is adjacent in the target trigger sequence are determined as the evaluation value corresponding to the third evaluation parameter for each candidate vehicle, wherein the plurality of evaluation parameters include the third evaluation parameter.

6. The method according to claim 2, characterized in that, The step of evaluating each candidate vehicle by using the similarity of the weights of the left and right wheels as the fourth evaluation parameter among the plurality of evaluation parameters, and obtaining an evaluation value corresponding to the fourth evaluation parameter, includes: Determine the number of left wheel trigger rows and the number of right wheel trigger rows corresponding to each candidate vehicle, wherein the number of left wheel trigger rows is the sum of the number of times the left wheel of each candidate vehicle triggers each row of weighing components, and the number of right wheel trigger rows is the sum of the number of times the right wheel of each candidate vehicle triggers each row of weighing components; Determine the left wheel deformation parameter and the right wheel deformation parameter for each candidate vehicle, wherein the left wheel deformation parameter is the sum of the maximum deformation parameters generated by the left wheel of each candidate vehicle triggering the weighing components in the multi-row weighing components each time, and the right wheel deformation parameter is the sum of the maximum deformation parameters generated by the right wheel of each candidate vehicle triggering the weighing components in the multi-row weighing components each time; The difference between 1 and the second target ratio is determined as the evaluation value corresponding to the fourth evaluation parameter for each candidate vehicle. The second target ratio is the ratio of the third reference value and the fourth reference value. The third reference value is the absolute value of the difference between the third ratio and the fourth ratio. The fourth reference value is the maximum value between the third ratio and the fourth ratio. The third ratio is the ratio of the left wheel deformation parameter to the number of left wheel triggers. The fourth ratio is the ratio of the right wheel deformation parameter to the number of right wheel triggers. The plurality of evaluation parameters includes the fourth evaluation parameter.

7. A vehicle exit device for a lane, characterized in that, include: The data processing unit is configured to: A vehicle departure signal for a target lane is detected, wherein the vehicle departure signal is used to indicate that there is a vehicle waiting to depart in the target lane; after detecting the vehicle departure signal for the target lane, if there is a candidate vehicle matching the target lane, the candidate vehicle is determined as the target vehicle waiting to depart, and a vehicle departure operation corresponding to the target vehicle is executed. In the presence of multiple candidate vehicles matching the exit signal of the target lane, each of the multiple candidate vehicles is evaluated using target evaluation parameters; wherein, the target evaluation parameters include multiple evaluation parameters; the multiple evaluation parameters include at least one of a first evaluation parameter, a second evaluation parameter, a third evaluation parameter, and a fourth evaluation parameter: The overlap of the left and right wheel trajectories is used as the first evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the first evaluation parameter; the similarity of the average number of triggers of the weighing component by the left and right wheels is used as the second evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the second evaluation parameter; the zero-crossing rate of each candidate vehicle is used as the third evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the third evaluation parameter; the similarity of the weights of the left and right wheels is used as the fourth evaluation parameter among the multiple evaluation parameters to evaluate each candidate vehicle, obtaining an evaluation value corresponding to the fourth evaluation parameter; For each candidate vehicle, the evaluation value corresponding to the first evaluation parameter, the evaluation value corresponding to the second evaluation parameter, the evaluation value corresponding to the third evaluation parameter, and the evaluation value corresponding to the fourth evaluation parameter are determined as the evaluation result of each candidate vehicle, wherein the target evaluation parameter is used to evaluate the confidence level of each candidate vehicle as the vehicle to be selected; Based on the evaluation results of each candidate vehicle, a target vehicle to be dispatched is selected from the plurality of candidate vehicles, and the dispatch operation corresponding to the target vehicle is executed.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 6 through the computer program.

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