Automobile traffic dispatching method, device and electronic equipment

Abstract

The present application discloses a method, device, and electronic device for dispatching vehicle traffic. The method comprises: obtaining road network information of a target intersection on a road, and determining multiple vehicles communicating with the target intersection; screening the multiple vehicles based on the road network information and vehicle operation information of the multiple vehicles to determine multiple vehicles to be dispatched; processing the vehicle operation information and road network information of the vehicles to be dispatched to obtain traffic dispatch information for the vehicles to be dispatched; and dispatching the vehicles to be dispatched based on the traffic dispatch information of the vehicles to be dispatched. The present application solves the technical problem in the related art of relatively low traffic dispatch accuracy when dispatching vehicles traveling at road intersections.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and more specifically, to a method, device, and electronic device for scheduling vehicle traffic. Background Art

[0002] Unsignalized intersections have ambiguous right-of-way, making traffic control difficult and prone to accidents and congestion, impacting road efficiency and safety. With the development of automobiles, cooperative intersection traffic has emerged. Based on vehicle-to-everything (V2X) wireless communication technology, vehicles can exchange information with the outside world, enabling cooperative traffic.

[0003] Currently, the collaborative unsignalized intersection traffic algorithm in related technologies primarily employs a trajectory optimization scheduling approach. This approach utilizes model predictive control to plan the vehicle's trajectory based on its own perspective to avoid collisions with other vehicles at intersections. This approach collects limited information from onboard units, resulting in relatively low traffic scheduling accuracy. Furthermore, the collaborative unsignalized intersection traffic algorithm also employs a sequential selection scheduling approach, allocating time and space resources based on the order in which right-of-way applications are made, on a first-come, first-served basis. This approach is unavoidable and results in low traffic efficiency.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, and electronic device for scheduling the traffic of automobiles, so as to at least solve the technical problem in the related art that when scheduling the traffic of automobiles traveling at road intersections, the vehicle's driving trajectory is planned from the vehicle's own perspective, resulting in relatively low accuracy in the traffic scheduling of vehicles.

[0006] According to one aspect of an embodiment of the present application, a method for traffic scheduling of automobiles is provided, comprising: obtaining road network information of a target intersection in a road, and determining a plurality of automobiles communicating with the target intersection; screening the automobiles among the plurality of automobiles based on the road network information and vehicle operation information of the plurality of automobiles, and determining a plurality of automobiles to be scheduled; processing the vehicle operation information and road network information of the automobiles to be scheduled to obtain traffic scheduling information of the automobiles to be scheduled; and scheduling the automobiles to be scheduled based on the traffic scheduling information of the automobiles to be scheduled.

[0007] Furthermore, among multiple cars, the cars are screened based on the road network information and the vehicle operation information of the multiple cars to determine multiple cars to be dispatched, including: determining the lane where the car is located based on the road network information and the vehicle operation information of the car, and calculating the target distance between the car and the lane stop line; determining the area range based on the vehicle operation information and the target distance of the car, wherein the area range represents the area range of the import lane among the multiple import lanes included in the target intersection; among multiple cars, the cars are screened based on the area range to determine multiple cars to be dispatched.

[0008] Furthermore, the regional range is determined based on the vehicle operation information and the target distance of the vehicle, including: judging whether there is a first vehicle in the multiple lanes included in the import lane based on the vehicle operation information of the vehicle, wherein the first vehicle is a vehicle that has changed lanes; if the first vehicle does not exist in the multiple lanes, using the first threshold as the value of the regional range; if the first vehicle exists in the multiple lanes, determining the vehicle position of the first vehicle based on the target distance, and determining the regional range based on the vehicle position, the solid line length of the lane, and the first threshold.

[0009] Furthermore, the area range is determined based on the vehicle position, the length of the solid line of the lane and the first threshold, including: comparing the target distance corresponding to the vehicle position with the first threshold; if the target distance corresponding to the vehicle position is greater than the first threshold, then using the value of the first threshold as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the first threshold, then determining the area range based on the vehicle position and the length of the solid line of the lane.

[0010] Furthermore, the area range is determined based on the vehicle position and the length of the lane solid line, including: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, then using the value of the target distance corresponding to the vehicle position as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the length of the lane solid line, then using the value of the lane solid line length as the value of the area range.

[0011] Furthermore, the vehicle operation information and road network information of the car to be dispatched are processed to obtain the traffic dispatch information of the car to be dispatched, including: inputting the vehicle operation information and road network information of the car to be dispatched into the target model; solving the target model to obtain the traffic dispatch information of the car to be dispatched.

[0012] Furthermore, the target model is generated by the following method: determining the reference positions of multiple vehicles to be dispatched based on vehicle operation information and road network information of the vehicles to be dispatched; determining the target position relationship between the vehicles to be dispatched and the reference position; and generating the target model based on the relationship between the reference position and the target position.

[0013] Furthermore, based on the relationship between the reference position and the target position, a target model is generated, including: based on the relationship between the reference position and the target position, determining a path fleet position information set, a conflicting vehicle information set, and a conflicting distance information set corresponding to the car to be scheduled, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the car to be scheduled when passing the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple cars to be scheduled that have conflicts when passing the target intersection, and the conflicting distance information set is a set of distance information of conflicting distances corresponding to the cars to be scheduled that have conflicts; based on the path fleet position information set, the conflicting vehicle information set, and the conflicting distance information set, multiple constraints are generated; with the average delay of multiple cars to be scheduled being less than a preset threshold as the first objective function, a target model is generated based on the first objective function and the multiple constraints.

[0014] Furthermore, the target model is solved to obtain traffic scheduling information of the vehicles to be scheduled, including: solving the target model based on the linear constraints among the multiple constraints to obtain an initial solution of the target model; generating a second objective function based on the nonlinear constraints among the multiple constraints and the first objective function; solving the target model based on the initial solution and the second objective function to obtain traffic scheduling information of the vehicles to be scheduled.

[0015] Furthermore, based on the traffic scheduling information of the car to be scheduled, the car to be scheduled is scheduled, including: determining the target driving speed and target driving acceleration of the car to be scheduled based on the traffic scheduling information of the car to be scheduled; generating target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, issuing the target control instructions to the car to be scheduled respectively to control the car to be scheduled to travel according to the target driving speed and target driving acceleration.

[0016] According to another aspect of an embodiment of the present application, a method for traffic scheduling of automobiles is also provided, including: obtaining road network information of a target intersection in a road uploaded by a client; determining multiple automobiles communicating with the target intersection in a cloud server; screening the multiple automobiles according to the road network information and vehicle operation information of the multiple automobiles to determine multiple automobiles to be scheduled; processing the vehicle operation information and road network information of the automobiles to be scheduled to obtain traffic scheduling information of the automobiles to be scheduled; and feeding back the traffic scheduling information of the automobiles to be scheduled to the client, so that the automobiles to be scheduled can be scheduled based on the traffic scheduling information of the automobiles to be scheduled.

[0017] According to another aspect of an embodiment of the present application, a traffic scheduling device for automobiles is also provided, including: a first acquisition unit, used to acquire road network information of a target intersection in a road, and determine multiple automobiles communicating with the target intersection; a first processing unit, used to screen automobiles among multiple automobiles based on road network information and vehicle operation information of multiple automobiles, and determine multiple automobiles to be scheduled; a second processing unit, used to process the vehicle operation information and road network information of the automobiles to be scheduled, and obtain traffic scheduling information of the automobiles to be scheduled; and a third processing unit, used to schedule the automobiles to be scheduled based on the traffic scheduling information of the automobiles to be scheduled.

[0018] Furthermore, the first processing unit includes: a first determination subunit, used to determine the lane where the car is located based on the road network information and the vehicle operation information of the car, and calculate the target distance between the car and the lane stop line; a second determination subunit, used to determine the area range based on the vehicle operation information and the target distance of the car, wherein the area range represents the area range of the import lanes among the multiple import lanes included in the target intersection; a third determination subunit, used to screen the cars among the multiple cars based on the area range, and determine multiple cars to be dispatched.

[0019] Furthermore, the second determination subunit includes: a first judgment module, used to judge whether there is a first car in the multiple lanes included in the import lane based on the vehicle operation information of the car, wherein the first car is a car that has changed lanes; a first determination module, used to use the first threshold as the value of the area range if the first car does not exist in the multiple lanes; a second determination module, used to determine the vehicle position of the first car based on the target distance if the first car exists in the multiple lanes, and determine the area range based on the vehicle position, the solid line length of the lane and the first threshold.

[0020] Furthermore, the second determination module includes: a first comparison submodule, used to compare the target distance corresponding to the vehicle position with a first threshold; a first determination submodule, used to use the value of the first threshold as the value of the area range if the target distance corresponding to the vehicle position is greater than the first threshold; and a second determination submodule, used to determine the area range based on the vehicle position and the solid line length of the lane if the target distance corresponding to the vehicle position is less than or equal to the first threshold.

[0021] Furthermore, the second determination submodule includes: a second comparison submodule, used to compare the target distance corresponding to the vehicle position with the length of the solid line of the lane; a third determination submodule, used to use the numerical value of the target distance corresponding to the vehicle position as the value of the area range if the target distance corresponding to the vehicle position is greater than the length of the solid line of the lane; and a fourth determination submodule, used to use the numerical value of the length of the solid line of the lane as the value of the area range if the target distance corresponding to the vehicle position is less than or equal to the length of the solid line of the lane.

[0022] Furthermore, the second processing unit includes: a first input subunit, used to input vehicle operation information and road network information of the car to be scheduled into the target model; a first calculation subunit, used to solve the target model to obtain the traffic scheduling information of the car to be scheduled.

[0023] Furthermore, the traffic scheduling device for automobiles also includes the following units, which are used to generate a target model through the following method: a first determination unit, which is used to determine the reference positions of multiple automobiles to be scheduled based on the vehicle operation information and road network information of the automobiles to be scheduled; a second determination unit, which is used to determine the target position relationship between the automobiles to be scheduled and the reference position; and a first generation unit, which is used to generate a target model based on the relationship between the reference position and the target position.

[0024] Furthermore, the first generation unit includes: a fourth determination subunit, for determining a path fleet position information set, a conflicting vehicle information set, and a conflicting distance information set corresponding to the car to be scheduled based on the relationship between the reference position and the target position, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the car to be scheduled when passing the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple cars to be scheduled that have conflicts when passing the target intersection, and the conflicting distance information set is a set of distance information of conflicting distances corresponding to the cars to be scheduled that have conflicts; the first generation subunit is for generating multiple constraint conditions based on the path fleet position information set, the conflicting vehicle information set, and the conflicting distance information set; the second generation subunit is for generating a target model based on the first objective function and multiple constraint conditions, with the average delay of multiple cars to be scheduled being less than a preset threshold as the first objective function.

[0025] Furthermore, the first calculation subunit includes: a first calculation module, used to solve the target model based on the linear constraints among multiple constraints to obtain an initial solution of the target model; a first generation module, used to generate a second objective function based on the nonlinear constraints among multiple constraints and the first objective function; a second calculation module, used to solve the target model based on the initial solution and the second objective function to obtain the traffic scheduling information of the vehicle to be scheduled.

[0026] Furthermore, the third processing unit includes: a fifth determination subunit, used to determine the target driving speed and target driving acceleration of the vehicle to be scheduled based on the traffic scheduling information of the vehicle to be scheduled; a third generation subunit, used to generate target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, respectively send the target control instructions to the vehicle to be scheduled to control the vehicle to be scheduled to travel according to the target driving speed and target driving acceleration.

[0027] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which stores a program, wherein when the program is running, the device where the storage medium is located is controlled to execute any one of the above-mentioned vehicle traffic scheduling methods.

[0028] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes any one of the above-mentioned vehicle traffic scheduling methods when running.

[0029] In an embodiment of the present application, a method is adopted in which road network information of a target intersection on a road is obtained and a plurality of vehicles communicating with the target intersection are determined; among the plurality of vehicles, the vehicles are screened based on the road network information and vehicle operation information of the plurality of vehicles to determine a plurality of vehicles to be dispatched; the vehicle operation information and road network information of the vehicles to be dispatched are processed to obtain traffic scheduling information of the vehicles to be dispatched; and the vehicles to be dispatched are dispatched based on the traffic scheduling information of the vehicles to be dispatched. In this method, the vehicles to be dispatched are screened based on the road network information and vehicle operation information of the plurality of vehicles to determine a plurality of vehicles to be dispatched. During the process of dispatching the vehicles to be dispatched, the vehicle operation information and road network information of the vehicles to be dispatched are processed to obtain more accurate traffic scheduling information, significantly improving the accuracy of traffic scheduling and achieving the purpose of providing more accurate traffic scheduling information for vehicles at the intersection, thereby achieving the technical effect of improving the accuracy of vehicle traffic scheduling, thereby solving the technical problem in the related art of planning the vehicle's driving trajectory from the vehicle's own perspective when performing traffic scheduling on vehicles traveling at a road intersection, resulting in relatively low traffic scheduling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 is a schematic diagram of a computer terminal provided according to Embodiment 1 of the present application;

[0032] Figure 2 This is a flow chart of a method for scheduling vehicle traffic according to the first embodiment of the present application;

[0033] Figure 3 Schematic diagram of an optional vehicle traffic scheduling method provided according to the first embodiment of the present application;

[0034] Figure 4is a schematic diagram of optional intersection vehicle positions provided according to Example 1 of the present application;

[0035] Figure 5 This is a flow chart of a method for scheduling vehicle traffic according to the second embodiment of the present application;

[0036] Figure 6 Schematic diagram of a vehicle traffic dispatching device according to the third embodiment of the present application;

[0037] Figure 7 This is a schematic diagram of a computing terminal provided according to Example 4 of the present application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0041] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following interpretations:

[0042] Vehicle-road collaboration: By utilizing advanced wireless communication technology, vehicles and roads can achieve effective collaboration in perception, decision-making and other dimensions.

[0043] On-board unit, in English On Board Unit, referred to as OBU.

[0044] Road Side Unit, referred to as RSU.

[0045] A vehicle equipped with a communication system, also known as an Equipped Vehicle (EV).

[0046] Cooperative Intersection Passing (CIP): Vehicles equipped with OBUs (Electric Vehicles) and roadside units (RSUs) collaborate to pass through intersections safely and efficiently.

[0047] Example 1

[0048] According to an embodiment of the present application, a method for scheduling the passage of automobiles is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal (or mobile device) for implementing a method for scheduling vehicle traffic is shown in FIG. Figure 1 As shown, the computer terminal (or mobile device) 10 may include a processor set 102 (the processor set 102 may include but is not limited to a processing device such as a microprocessor MCU (Microcontroller Unit) or a programmable logic device FPGA (Field Programmable Gate Array), and the processor set 102 may include a processor set, Figure 1 102a, 102b, ..., 102n are used to illustrate), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0050] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computer terminal 10 (or mobile device).

[0051] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the vehicle traffic scheduling method in the embodiments of the present application. The processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, thereby implementing the aforementioned vehicle traffic scheduling method. The memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and such remote memory may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0052] The transmission device 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 10. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0053] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0054] Unsignalized intersections have ambiguous right-of-way, making traffic control difficult and prone to accidents and congestion, impacting road efficiency and safety. With the development of automobiles, vehicle-to-everything (V2X) wireless communication technology allows vehicles to exchange information with the outside world, enabling coordinated traffic flow.

[0055] Currently, the collaborative unsignalized intersection traffic algorithm in related technologies primarily employs a trajectory optimization scheduling approach. This approach utilizes model predictive control to plan the vehicle's trajectory based on its own perspective to avoid collisions with other vehicles at intersections. This approach collects limited information from onboard units, resulting in relatively low accuracy in traffic scheduling. Furthermore, the collaborative unsignalized intersection traffic algorithm also employs a sequential selection scheduling approach, allocating time and space resources on a first-come, first-served basis based on the order in which right-of-way applications are made. This approach cannot avoid delays, results in low traffic efficiency, and fails to effectively achieve vehicle-road collaboration.

[0056] In the above technical background, the present application provides Figure 2 The traffic scheduling method of the car shown. Figure 2 This is a flow chart of a method for scheduling vehicle traffic according to the first embodiment of the present application. The method includes:

[0057] Step S201: Obtain road network information of a target intersection on the road, and determine a plurality of vehicles communicating with the target intersection.

[0058] Optionally, the target intersection can be any unsignaled intersection on the road, and the road network information includes but is not limited to lane information, conflict areas within the intersection, and other information. The car can be a vehicle EV equipped with a communication system. Through the communication system installed on the vehicle, the car can interact with the outside world. For example, a vehicle EV equipped with an on-board unit OBU can interact with the roadside unit RSU through the OBU.

[0059] Specifically, for any unsignalized intersection on the road, road network information such as lane information and conflict zones within the intersection is obtained, and multiple vehicles communicating with the intersection are identified. Because the roadside units (RSUs) installed at the intersection can communicate with the on-board units (OBUs) in vehicles within the sensing range, multiple vehicles (i.e., vehicles within the sensing range) can be identified based on the RSUs.

[0060] Step S202 , screening the multiple vehicles based on the road network information and the vehicle operation information of the multiple vehicles to determine multiple vehicles to be dispatched.

[0061] Optionally, the vehicle operation information includes vehicle dynamic information and vehicle static information, wherein the vehicle dynamic information includes but is not limited to the vehicle's real-time position information, and the vehicle static information includes but is not limited to the vehicle's speed threshold, acceleration threshold, deceleration threshold and driving path information.

[0062] Specifically, after determining multiple cars, the vehicle operation information of these cars within the sensing range can be obtained based on the on-board unit OBU in the car, so that the cars can be screened among the multiple cars based on the road network information and the vehicle operation information of the multiple cars to determine multiple cars to be dispatched.

[0063] Step S203: Process the vehicle operation information and road network information of the vehicle to be dispatched to obtain traffic dispatch information of the vehicle to be dispatched.

[0064] Alternatively, the traffic scheduling information may be the vehicle's second-by-second location information, for example, vehicle A reaches location 1 in the first second and location 2 in the second second. By processing the vehicle operation information and road network information of the vehicle to be scheduled, the traffic scheduling information for the vehicle to be scheduled can be obtained, thereby providing more accurate traffic scheduling information for the vehicle to be scheduled.

[0065] Step S204: performing scheduling processing on the vehicle to be scheduled according to the traffic scheduling information of the vehicle to be scheduled.

[0066] Specifically, after obtaining the traffic scheduling information of the vehicle to be scheduled, the vehicle to be scheduled can be scheduled based on the traffic scheduling information. For example, if the traffic scheduling information of vehicle A is that it travels to position 1 in the first second and to position 2 in the second, the corresponding driving speed and driving acceleration can be calculated based on this information, and vehicle A can be scheduled based on the driving speed and driving acceleration.

[0067] In this solution, cars are screened based on road network information and vehicle operation information of multiple cars to determine multiple cars to be dispatched. In the process of dispatching the cars to be dispatched, the vehicle operation information and road network information of the cars to be dispatched are processed to obtain more accurate traffic scheduling information, which significantly improves the accuracy of traffic scheduling, thereby providing more accurate traffic scheduling information for vehicles at intersections and greatly improving the accuracy of vehicle traffic scheduling.

[0068] In an optional embodiment, it is possible to use Figure 3 The schematic diagram shown in the figure can realize the traffic scheduling of cars. Figure 3As shown, after obtaining the vehicle operation information and intersection road network information, vehicle road network matching and screening are performed to determine the car to be dispatched, and then the optimization model is established and solved to obtain the traffic scheduling information of the car to be dispatched, so that the control command conversion process can be carried out, that is, the control command is generated according to the traffic scheduling information, and then the control information is sent down, that is, the information for scheduling the car to be dispatched is sent to the vehicle by sending the control command.

[0069] Optionally, the data sources involved in this solution include vehicle dynamic data (for example, vehicle real-time location information), vehicle static data (for example, vehicle speed threshold, acceleration threshold, deceleration threshold and driving path information) and intersection road network data (for example, lane information, conflict points within the intersection), etc.

[0070] How to determine multiple cars to be dispatched is crucial. Therefore, in the traffic dispatch method for cars provided in Example 1 of the present application, among multiple cars, cars are screened based on road network information and vehicle operation information of multiple cars to determine multiple cars to be dispatched, including: determining the lane where the car is located based on the road network information and the vehicle operation information of the car, and calculating the target distance between the car and the lane stop line; determining the area range based on the vehicle operation information and the target distance, wherein the area range represents the area range of the import lane among the multiple import lanes included in the target intersection; among multiple cars, cars are screened based on the area range to determine multiple cars to be dispatched.

[0071] Optionally, based on the road network information and the vehicle's operation information, the vehicle's lane can be determined, and the target distance between the vehicle and the lane's stop line can be calculated. For example, during the vehicle screening process, the vehicle can be matched to the corresponding lane based on the road network information and the vehicle's real-time latitude and longitude information contained in the vehicle operation information. This means that the vehicle's lane is determined. By calculating the target distance between the vehicle and the lane's stop line, the vehicle's position from the lane's stop line can be determined, providing an accurate data basis for subsequently determining the area range.

[0072] Optionally, based on the vehicle operation information and target distance of the car, the area range of the import lane among the multiple import lanes included in the target intersection can be determined, that is, the statistical distance used to count the cars to be dispatched can be determined, providing an accurate data basis for subsequent screening among multiple cars.

[0073] Optionally, multiple vehicles can be screened based on a regional range to determine multiple vehicles to be dispatched. For example, vehicles within the regional range can be selected as vehicles to be dispatched. Specifically, multiple vehicles can be screened to identify vehicles within a statistical distance of an entrance lane, specifically within a certain distance from the lane's stop line, to obtain multiple vehicles to be dispatched. For example, vehicles within 100 meters of the lane's stop line can be screened to obtain multiple vehicles to be dispatched.

[0074] It should be noted that, through the above process, the vehicles to be dispatched are accurately determined, providing an accurate data basis for subsequent dispatch processing.

[0075] In order to accurately determine the scope of the area, in the traffic scheduling method for automobiles provided in Example 1 of the present application, the scope of the area is determined based on the vehicle operation information and target distance of the automobile, including: judging whether there is a first automobile in the multiple lanes included in the import lane based on the vehicle operation information of the automobile, wherein the first automobile is a automobile that has changed lanes; if the first automobile does not exist in the multiple lanes, the first threshold is used as the value of the area; if the first automobile exists in the multiple lanes, the vehicle position of the first automobile is determined based on the target distance, and the scope of the area is determined based on the vehicle position, the solid line length of the lane and the first threshold.

[0076] Optionally, the first vehicle is a vehicle that is changing lanes, i.e., its current lane is inconsistent with its lane of direction. Specifically, based on the vehicle's vehicle operation information, it can be determined whether the first vehicle is present in the multiple lanes included in the entrance lane (e.g., a U-turn lane, a left-turn lane, a through lane, and a right-turn lane). For example, if vehicle B is currently in a through lane, but the driving path information in its vehicle operation information indicates that its driving path at the target intersection is a left turn, then vehicle B needs to change lanes from its current through lane to the left-turn lane, i.e., vehicle B is the first vehicle that is changing lanes.

[0077] Alternatively, if the first vehicle does not exist in the multiple lanes, the first threshold is used as the value of the area range. Alternatively, the first threshold may be 100 meters. For example, if no vehicles in the multiple lanes change lanes (i.e., the first vehicle does not exist), 100 meters is used as the value of the area range of the entrance lane, i.e., the area range is 100 meters from the lane stop line.

[0078] Alternatively, if the first vehicle exists in multiple lanes, the vehicle position of the first vehicle is determined based on the target distance, and the area range is determined based on the vehicle position, the length of the lane solid line, and the first threshold. Specifically, the calculation formula for the statistical distance S1 (i.e., the area range) is as follows:

[0079] S1=max(min(S0,100), length of solid line)

[0080] Among them, S0 is the vehicle position of the vehicle whose current lane is inconsistent with the turning lane and is relatively close to the lane stop line, 100 is the first threshold (i.e., 100 meters), and the solid line length is the solid line length of the lane (usually 40 meters).

[0081] For example, there are five vehicles on a straight lane, namely vehicle B, vehicle C, vehicle D, vehicle E, and vehicle F. Their directions can be determined based on their driving path information. For example, vehicle B is turning left, and the other vehicles are all driving straight. First, vehicle B is determined to be the first vehicle to change lanes. Then, the positional relationship between vehicles B, vehicle C, vehicle D, vehicle E, and vehicle F can be determined based on the target distance. That is, the positional relationship between these vehicles is determined based on their respective distances from the lane stop line. For example, if vehicles C, vehicle D, and vehicle E are closer to the lane stop line than vehicle B, and vehicle F is farther from the lane stop line than vehicle B, that is, vehicle B is located between vehicles E and vehicle F. At this time, vehicle B is in a lane that is inconsistent with its direction and is relatively close to the lane stop line. That is, vehicle B's position is S0. Then, based on S0, the length of the solid lane line, and a first threshold (e.g., 100 meters), the area range is determined.

[0082] It should be noted that, in the process of determining the scope of the area, by judging whether there is a first car (i.e., a car that has changed lanes) in the multiple lanes included in the import lane, the car that will change lanes can be filtered out, that is, the screened out vehicles to be dispatched are considered to be vehicles that will not change lanes, thereby avoiding vehicles cutting in or causing road congestion due to occupying the wrong lane at the intersection, allowing vehicles to pass more safely and significantly improving the vehicle's traffic efficiency.

[0083] In order to accurately determine the scope of the area, in the traffic scheduling method for a car provided in Example 1 of the present application, the scope of the area is determined based on the vehicle position, the length of the solid line of the lane and the first threshold, including: comparing the target distance corresponding to the vehicle position with the first threshold; if the target distance corresponding to the vehicle position is greater than the first threshold, then using the value of the first threshold as the value of the area; if the target distance corresponding to the vehicle position is less than or equal to the first threshold, then determining the scope of the area based on the vehicle position and the length of the solid line of the lane.

[0084] Alternatively, the example of the five cars on the straight lane is continued. In the process of determining the area range based on S0, the length of the lane solid line, and the first threshold (100 meters), the target distance corresponding to the vehicle position (for example, S0 = X meters) is compared with the first threshold according to the calculation formula of the statistical distance S1. If the target distance corresponding to the vehicle position is greater than the first threshold (i.e., if X>100), the value of min(S0,100) is 100 and S1 is 100, that is, the value of the first threshold is used as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the first threshold (i.e., if X≤100), the value of min(S0,100) is S0, and it is necessary to continue to determine the area range based on the vehicle position and the length of the lane solid line.

[0085] In order to accurately determine the scope of the area, in the automobile traffic scheduling method provided in Example 1 of the present application, the scope of the area is determined based on the vehicle position and the solid line length of the lane, including: comparing the target distance corresponding to the vehicle position with the solid line length of the lane; if the target distance corresponding to the vehicle position is greater than the solid line length of the lane, then the value of the target distance corresponding to the vehicle position is used as the value of the area; if the target distance corresponding to the vehicle position is less than or equal to the solid line length of the lane, then the value of the solid line length of the lane is used as the value of the area.

[0086] Alternatively, the example of the five cars on the through lane is continued. In determining the area range based on S0 and the length of the solid lane line, the target distance corresponding to the vehicle position (e.g., S0 = X meters) is compared with the length of the solid lane line according to the calculation formula for the statistical distance S1. If the target distance corresponding to the vehicle position is greater than the length of the solid lane line (i.e., if X > 40), then S1 = max(X, solid line length) = X, and the value of the target distance corresponding to the vehicle position is used as the value of the area range. If the target distance corresponding to the vehicle position is less than or equal to the length of the solid lane line (i.e., if X ≤ 40), then S1 = max(X, solid line length) = the length of the solid lane line, and the value of the solid lane line length is used as the value of the area range.

[0087] It should be noted that, through the above process, the area scope is accurately determined, so that cars within the area scope can be regarded as cars to be dispatched, and the cars to be dispatched can be accurately determined, thereby avoiding vehicles cutting in or traffic congestion caused by occupying the wrong lane at intersections, allowing vehicles to pass more safely and significantly improving vehicle traffic efficiency.

[0088] In order to improve the accuracy of traffic scheduling, in the traffic scheduling method for automobiles provided in Example 1 of the present application, the vehicle operation information and road network information of the automobile to be scheduled are processed to obtain the traffic scheduling information of the automobile to be scheduled, including: inputting the vehicle operation information and road network information of the automobile to be scheduled into a target model; solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

[0089] Optionally, this solution proposes a collaborative traffic optimization model (i.e., target model) for unsignalized intersections based on the average vehicle delay being less than a preset threshold. By solving the target model, the vehicle operation information and road network information of the vehicles to be scheduled can be processed to obtain the traffic scheduling information of the vehicles to be scheduled.

[0090] Optionally, after the acquired vehicle operation information and road network information are represented as data, that is, after the information is converted into data, the vehicle operation information and road network information of the vehicle to be dispatched can be input into the target model, and the target model can be solved to obtain the traffic dispatch information of the vehicle to be dispatched, that is, the calculation target Indicates the vehicle positions of the m vehicles (i.e., multiple vehicles to be dispatched) selected from the intersection after the nth second.

[0091] In order to obtain more accurate traffic scheduling information, in the traffic scheduling method for automobiles provided in Example 1 of the present application, a target model is generated by the following method: determining the reference positions of multiple automobiles to be scheduled based on the vehicle operation information and road network information of the automobiles to be scheduled; determining the target position relationship between the automobiles to be scheduled and the reference position; and generating a target model based on the relationship between the reference position and the target position.

[0092] Optionally, in the process of generating the target model, it is necessary to represent the acquired vehicle operation information and road network information in data, that is, to establish the origin of the coordinate system (that is, the reference position), and to represent the vehicle operation information and road network information based on the origin, and convert the information into data.

[0093] Optionally, the reference positions of multiple vehicles to be dispatched can be determined based on the vehicle operation information and road network information of the vehicles to be dispatched. For example, based on the target distance between the vehicle and the lane stop line calculated based on the road network information and the vehicle operation information, a vehicle relatively far from the lane stop line can be determined from the multiple vehicles to be dispatched, and the center of the vehicle relatively far from the lane stop line can be used as the reference point. That is, the center of the vehicle relatively far from the lane stop line can be used as the reference position of the multiple vehicles to be dispatched.

[0094] Optionally, Figure 4Taking the schematic diagram of the intersection vehicle position shown in FIG as an example, the process of determining the reference position of multiple vehicles to be dispatched is described. Figure 4 As shown, vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are selected as vehicles to be dispatched. First, the reference point is determined. That is, for vehicle 1, vehicle 2, vehicle 3, and vehicle 4, the vehicle center that is relatively far from the lane stop line is used as the reference point (i.e., the reference position). That is, the vehicle center of vehicle 1 is the reference point, and the initial position is 0. The vehicle center of vehicle 4 is the reference point, and the initial position is 0.

[0095] Optionally, determine the target position relationship between the car to be scheduled and the reference position. Specifically, based on the reference point, determine the target position (i.e., initial position) of the car to be scheduled, such as Figure 4 As shown, the vehicle center of vehicle 1 is the reference point, the initial position is 0, and the distance between the vehicle center on the path ahead and the reference point on the lane is the initial position of the vehicle, that is, the initial position of vehicle 2 is the distance between the vehicle center of vehicle 2 and the vehicle center of vehicle 1 on the lane, that is, the initial position of vehicle 2 is s2. The calculation method of the initial position of vehicle 3 is the same as that of vehicle 2, which will not be repeated here.

[0096] Optionally, the vehicle dynamic information is represented as follows: i Indicates the position corresponding to the initial state of vehicle i, that is, the initial position, with v i represents the average speed of vehicle i in the last second corresponding to its initial state. Optionally, the static information of the vehicle is represented as follows: max represents the speed threshold of the vehicle, a max Indicates the vehicle's acceleration threshold, a min Indicates the vehicle's deceleration threshold (negative value), dis f Indicates the safe distance between vehicles to prevent collisions.

[0097] Optionally, in the process of generating the target model, it is basically assumed that the car will not change lanes illegally when entering the solid line of the import lane, and it is assumed that the car can ensure its own safety. Even if the relevant instructions may cause the vehicle to collide, the car can avoid the collision by relying on its own perception and control.

[0098] Optionally, after the acquired vehicle operation information is represented as data, a target model may be generated based on the relationship between the reference position and the target position.

[0099] It should be noted that the target model can be obtained through the above process, so that the vehicle operation information and road network information of the vehicles to be scheduled can be processed to obtain more accurate traffic scheduling information.

[0100] In order to obtain more accurate traffic scheduling information, in the traffic scheduling method for automobiles provided in Example 1 of the present application, a target model is generated based on the relationship between the reference position and the target position, including: determining the path fleet position information set, the conflicting vehicle information set and the conflicting distance information set corresponding to the automobile to be scheduled based on the relationship between the reference position and the target position, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the automobile to be scheduled when passing through the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple automobiles to be scheduled that have conflicts when passing through the target intersection, and the conflicting distance information set is a set of distance information of conflict distances corresponding to the automobiles to be scheduled that have conflicts; multiple constraint conditions are generated based on the path fleet position information set, the conflicting vehicle information set and the conflicting distance information set; taking the average delay of multiple automobiles to be scheduled being less than a preset threshold as the first objective function, and generating a target model based on the first objective function and multiple constraint conditions.

[0101] Optionally, after establishing the origin of the coordinate system (i.e., the reference position), the acquired road network information can be represented by data. Specifically, based on the relationship between the reference position and the target position, the path fleet position information set (F), the conflicting vehicle information set (C), and the conflicting distance information set (p(i, j), q(i, j)) corresponding to the vehicle to be dispatched can be determined. Optionally, as Figure 4 As shown, vehicle 1, vehicle 2 and vehicle 3 constitute a fleet on the driving path of vehicle 1, that is, vehicle 1, vehicle 2 and vehicle 3 are on the same path through the intersection, and vehicle 3 is the first vehicle in the driving direction of vehicle 1.

[0102] Optionally, Figure 4 Taking the schematic diagram of the vehicle position at the intersection shown as an example, the road network information is represented as follows:

[0103] Path fleet position information set (F): The set of vehicle position information in the corresponding path fleet. If vehicle i and vehicle j are on the same path through the intersection, and vehicle i is the first vehicle in the direction of vehicle j, then record (i, j). For example, Figure 4 The shown (3, 2) and (2, 1) should be included in F.

[0104] Conflicting vehicle information set (C): records the vehicle pairs where there are conflicting points on the paths through the intersection where two vehicles are located. For example, Figure 4 The shown (4, 3), (4, 2), and (4, 1) should be included in C.

[0105] p(i, j): For the conflicting vehicle pair (i, j) in C, record the distance between the center point of the conflict area corresponding to vehicle i and vehicle j and the reference point corresponding to vehicle i on the path. Figure 4 As shown, p(1, 4), p(2, 4), and p(3, 4) corresponding to vehicles 1 and 4, vehicles 2 and 4, and vehicles 3 and 4 are all distances on the path corresponding to the conflict area in the figure and the reference point (i.e., the vehicle center of vehicle 1).

[0106] q(i, j): For the conflicting vehicle pair (i, j) in C, record the distance between the center point of the conflict area corresponding to vehicle i and vehicle j and the reference point corresponding to vehicle j on the path. Figure 4 As shown, q(1, 4), q(2, 4), and q(3, 4) corresponding to vehicles 1 and 4, vehicles 2 and 4, and vehicles 3 and 4 are all distances on the path corresponding to the conflict area in the figure and the reference point (i.e., the vehicle center of vehicle 4).

[0107] Optionally, multiple constraints can be generated based on the set of route fleet position information, the set of conflicting vehicle information, and the set of conflicting distance information. A target model is generated based on the first objective function, with the average delay of multiple vehicles to be dispatched being less than a preset threshold. Optionally, the constraints of the target model include a driving speed constraint, an acceleration constraint, a vehicle-to-vehicle safe distance constraint, and a vehicle conflict limitation constraint.

[0108] For example, use The calculation target is the position of the m vehicles (i.e., multiple vehicles to be dispatched) selected from the intersection after n seconds. The first objective function is to ensure that the average delay of multiple vehicles to be dispatched is less than a preset threshold. That is, the sum of the vehicle positions of multiple vehicles to be dispatched in n seconds is calculated, and the sum is expected to be as large as possible. For example, after n seconds, if the driving distance of multiple vehicles to be dispatched is as large as possible, the average delay of the vehicles will be as small as possible, thereby enabling the vehicles to pass through the intersection faster. Specifically, the first objective function is as follows:

[0109]

[0110] Specifically, the established optimization model (i.e., target model) is as follows:

[0111]

[0112] Optionally, the target model includes constraints (1) to (8). Among them, conditions (1) and (2) indicate that the vehicle's speed per second is limited by a speed threshold; conditions (3) to (5) indicate that the vehicle's acceleration is limited by an acceleration threshold and a deceleration threshold; condition (6) indicates a safety distance limit between the front and rear vehicles in the same lane; and conditions (7) and (8) indicate conflict avoidance constraints, i.e., two vehicles that conflict on the path must maintain a safe distance through the conflict point.

[0113] It should be noted that this solution targets vehicles within a certain range of the entrance lane of the current intersection (i.e., cars to be dispatched), considers the entire process of their passing through the intersection into the exit lane, and establishes an optimization model based on constraint conditions to solve the global optimal solution. Compared with the first-come, first-served model, this solution reduces unnecessary delays and improves vehicle traffic efficiency. Compared with the single-vehicle trajectory planning model, this solution performs traffic dispatch processing based on the vehicle information and road network information of the entire intersection, which can obtain more accurate traffic dispatch information and significantly improve the accuracy of traffic dispatch.

[0114] In order to obtain more accurate traffic scheduling information, in the traffic scheduling method for automobiles provided in Example 1 of the present application, the target model is solved to obtain the traffic scheduling information of the automobiles to be scheduled, including: solving the target model based on the linear constraints among multiple constraints to obtain the initial solution of the target model; generating a second objective function based on the nonlinear constraints among the multiple constraints and the first objective function; solving the target model based on the initial solution and the second objective function to obtain the traffic scheduling information of the automobiles to be scheduled.

[0115] Optionally, this solution proposes a collaborative traffic optimization model for unsignalized intersections, targeting vehicles within a certain range of the entrance lane of the current intersection (i.e., cars to be dispatched), with the goal of ensuring that the average delay of multiple cars to be dispatched is less than a preset threshold, and provides a feasible solution method.

[0116] Optionally, since conditions (7) and (8) are non-convex and cannot be solved directly using a solver, the model is divided into models that can be solved by existing solvers based on the vehicle's own safety assurance settings in the basic assumptions. For example, based on the linear constraints among the multiple constraints, the target model is solved to obtain an initial solution of the target model. Considering only constraints (1) to (6), the model is a linear programming model (i.e., the initial solution model). Optionally, the model can be solved using an existing solver to obtain an initial solution, which serves as the initial value for the solution model.

[0117] Optionally, a second objective function is generated based on the nonlinear constraint in the plurality of constraints and the first objective function. For example, the second objective function can be generated by converting the nonlinear constraints (7) and (8) to the first objective function as shown below:

[0118]

[0119] in:

[0120]

[0121]

[0122] Optionally, based on the initial solution and the second objective function, the target model is solved (i.e., the solution model) to obtain the traffic scheduling information of the vehicles to be scheduled. For example, based on the initial solution and the second objective function, only the constraints (1) to (6) are considered, and the model can be iteratively solved by the existing solver to obtain the calculation target

[0123] In order to improve the accuracy of vehicle traffic scheduling, in the traffic scheduling method for automobiles provided in Example 1 of the present application, the automobile to be scheduled is scheduled based on the traffic scheduling information of the automobile to be scheduled, including: determining the target driving speed and target driving acceleration of the automobile to be scheduled based on the traffic scheduling information of the automobile to be scheduled; generating target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, issuing the target control instructions to the automobile to be scheduled respectively, so as to control the automobile to be scheduled to travel according to the target driving speed and target driving acceleration.

[0124] Optionally, the vehicle to be dispatched is a vehicle to which a control instruction is to be issued, and the traffic dispatch information is the vehicle's second-by-second driving position information. Based on the traffic dispatch information of the vehicle to be dispatched, the target driving speed and target driving acceleration of the vehicle to be dispatched can be determined. For example, according to the solution obtained by the above model (i.e. ) can be used to determine the corresponding vehicle positions of the m vehicles (i.e., multiple vehicles to be dispatched) selected at the intersection after n seconds. Based on the adjacent position information, the target speed and acceleration can be calculated. For example, if vehicle A's traffic dispatch information is to travel to position 1 in the first second and to position 2 in the second, the corresponding speed and acceleration can be calculated based on this information, allowing vehicle A to be dispatched based on the speed and acceleration.

[0125] Optionally, a target control instruction is generated based on the target speed and target acceleration, and the target control instruction is issued to the vehicles to be dispatched based on a preset duration, thereby controlling the vehicles to be dispatched to travel at the target speed and target acceleration. For example, after the target control instruction is generated, the speed and acceleration are issued to the vehicles on a per-second basis, causing the vehicles to travel at the issued speed and acceleration, thereby achieving traffic scheduling for the vehicles to be dispatched.

[0126] In an embodiment of the present application, a method is adopted in which road network information of a target intersection on a road is obtained and a plurality of vehicles communicating with the target intersection are determined; among the plurality of vehicles, the vehicles are screened based on the road network information and vehicle operation information of the plurality of vehicles to determine a plurality of vehicles to be dispatched; the vehicle operation information and road network information of the vehicles to be dispatched are processed to obtain traffic scheduling information of the vehicles to be dispatched; and the vehicles to be dispatched are dispatched based on the traffic scheduling information of the vehicles to be dispatched. In this method, the vehicles to be dispatched are screened based on the road network information and vehicle operation information of the plurality of vehicles to determine a plurality of vehicles to be dispatched. During the process of dispatching the vehicles to be dispatched, the vehicle operation information and road network information of the vehicles to be dispatched are processed to obtain more accurate traffic scheduling information, significantly improving the accuracy of traffic scheduling and achieving the purpose of providing more accurate traffic scheduling information for vehicles at the intersection, thereby achieving the technical effect of improving the accuracy of vehicle traffic scheduling, thereby solving the technical problem in the related art of planning the vehicle's driving trajectory from the vehicle's own perspective when performing traffic scheduling on vehicles traveling at a road intersection, resulting in relatively low traffic scheduling accuracy.

[0127] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it 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 the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0129] Example 2

[0130] According to an embodiment of the present application, a method for scheduling traffic flow of a vehicle is also provided. Figure 5 As shown, the method includes:

[0131] Step S501, obtaining the road network information of the target intersection in the road uploaded by the client;

[0132] Step S502: determining, in the cloud server, a plurality of vehicles communicating with the target intersection; screening the plurality of vehicles based on the road network information and the vehicle operation information of the plurality of vehicles to determine a plurality of vehicles to be dispatched; processing the vehicle operation information and the road network information of the vehicles to be dispatched to obtain traffic dispatch information for the vehicles to be dispatched;

[0133] In step S503, the traffic scheduling information of the vehicle to be scheduled is fed back to the client, so that the vehicle to be scheduled is scheduled according to the traffic scheduling information of the vehicle to be scheduled.

[0134] Through the above scheme, cars are screened according to road network information and vehicle operation information of multiple cars, and multiple cars to be dispatched are determined. In the process of dispatching the cars to be dispatched, the vehicle operation information and road network information of the cars to be dispatched are processed, so that more accurate traffic scheduling information can be obtained, which significantly improves the accuracy of traffic scheduling, thereby providing more accurate traffic scheduling information for vehicles at intersections, greatly improving the accuracy of vehicle traffic scheduling.

[0135] In the cloud server, the specific method for scheduling the traffic of the car is the same as that in the first embodiment and will not be repeated here.

[0136] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0137] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it 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 the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0138] Example 3

[0139] According to an embodiment of the present application, a vehicle traffic scheduling device for implementing the above-mentioned vehicle traffic scheduling method is also provided. Figure 6 As shown, the device includes: a first acquiring unit 601 , a first processing unit 602 , a second processing unit 603 , and a third processing unit 604 .

[0140] A first acquisition unit 601 is configured to acquire road network information of a target intersection on a road and determine a plurality of vehicles communicating with the target intersection;

[0141] A first processing unit 602 is configured to screen a plurality of vehicles according to road network information and vehicle operation information of the plurality of vehicles, and determine a plurality of vehicles to be dispatched;

[0142] The second processing unit 603 is used to process the vehicle operation information and road network information of the vehicle to be dispatched to obtain the traffic dispatch information of the vehicle to be dispatched;

[0143] The third processing unit 604 is used to perform scheduling processing on the vehicle to be scheduled according to the traffic scheduling information of the vehicle to be scheduled.

[0144] In the traffic scheduling device for automobiles provided in Example 3 of the present application, the road network information of the target intersection in the road is acquired by the first acquisition unit 601, and multiple automobiles communicating with the target intersection are determined; the first processing unit 602 screens the automobiles among the multiple automobiles based on the road network information and the vehicle operation information of the multiple automobiles, and determines multiple automobiles to be scheduled; the second processing unit 603 processes the vehicle operation information and road network information of the automobiles to be scheduled to obtain the traffic scheduling information of the automobiles to be scheduled; the third processing unit 604 performs scheduling processing on the automobiles to be scheduled based on the traffic scheduling information of the automobiles to be scheduled. In this solution, cars are screened based on road network information and vehicle operation information of multiple cars to determine multiple cars to be dispatched. In the process of dispatching the cars to be dispatched, the vehicle operation information and road network information of the cars to be dispatched are processed to obtain more accurate traffic dispatch information, which significantly improves the accuracy of traffic dispatch and achieves the purpose of providing more accurate traffic dispatch information for vehicles at intersections, thereby achieving the technical effect of improving the accuracy of vehicle traffic dispatch, and further solving the technical problem in related technologies that when traffic dispatching cars traveling at road intersections, the vehicle's driving trajectory is planned from the vehicle's own perspective, resulting in relatively low accuracy in vehicle traffic dispatch.

[0145] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the first processing unit includes: a first determination subunit, used to determine the lane in which the automobile is located based on the road network information and the vehicle operation information of the automobile, and calculate the target distance between the automobile and the lane stop line; a second determination subunit, used to determine the area range based on the vehicle operation information and the target distance of the automobile, wherein the area range represents the area range of the import lanes among the multiple import lanes included in the target intersection; a third determination subunit, used to screen the automobiles among multiple automobiles based on the area range, and determine multiple automobiles to be scheduled.

[0146] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the second determination subunit includes: a first judgment module, used to judge whether there is a first automobile in the multiple lanes included in the import lane based on the vehicle operation information of the automobile, wherein the first automobile is a car that has changed lanes; a first determination module, used to use the first threshold as the value of the area range if the first automobile does not exist in the multiple lanes; a second determination module, used to determine the vehicle position of the first automobile based on the target distance if the first automobile exists in the multiple lanes, and determine the area range based on the vehicle position, the solid line length of the lane and the first threshold.

[0147] Optionally, in the traffic scheduling device for a car provided in Example 3 of the present application, the second determination module includes: a first comparison submodule, for comparing the target distance corresponding to the vehicle position with a first threshold; a first determination submodule, for using the value of the first threshold as the value of the area range if the target distance corresponding to the vehicle position is greater than the first threshold; and a second determination submodule, for determining the area range based on the vehicle position and the solid line length of the lane if the target distance corresponding to the vehicle position is less than or equal to the first threshold.

[0148] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the second determination submodule includes: a second comparison submodule, used to compare the target distance corresponding to the vehicle position with the solid line length of the lane; a third determination submodule, used to use the numerical value of the target distance corresponding to the vehicle position as the value of the area range if the target distance corresponding to the vehicle position is greater than the solid line length of the lane; and a fourth determination submodule, used to use the numerical value of the solid line length of the lane as the value of the area range if the target distance corresponding to the vehicle position is less than or equal to the solid line length of the lane.

[0149] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the second processing unit includes: a first input subunit, used to input vehicle operation information and road network information of the automobile to be scheduled into the target model; and a first calculation subunit, used to solve the target model to obtain traffic scheduling information of the automobile to be scheduled.

[0150] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the device also includes the following units for generating a target model through the following method: a first determination unit for determining the reference positions of multiple automobiles to be scheduled based on the vehicle operation information and road network information of the automobiles to be scheduled; a second determination unit for determining the target position relationship between the automobiles to be scheduled and the reference position; and a first generation unit for generating a target model based on the relationship between the reference position and the target position.

[0151] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the first generating unit includes: a fourth determining subunit, for determining a path fleet position information set, a conflicting vehicle information set, and a conflicting distance information set corresponding to the automobile to be scheduled based on the relationship between the reference position and the target position, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the automobile to be scheduled when passing through the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple automobiles to be scheduled that have conflicts when passing through the target intersection, and the conflicting distance information set is a set of distance information of conflicting distances corresponding to the automobiles to be scheduled that have conflicts; the first generating subunit is for generating multiple constraint conditions based on the path fleet position information set, the conflicting vehicle information set, and the conflicting distance information set; the second generating subunit is for generating a target model based on the first objective function and multiple constraint conditions, with the average delay of multiple automobiles to be scheduled being less than a preset threshold as the first objective function.

[0152] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the first calculation subunit includes: a first calculation module, used to solve the target model based on the linear constraints among multiple constraints to obtain an initial solution of the target model; a first generation module, used to generate a second objective function based on the nonlinear constraints among multiple constraints and the first objective function; a second calculation module, used to solve the target model based on the initial solution and the second objective function to obtain traffic scheduling information of the automobile to be scheduled.

[0153] Optionally, in the traffic scheduling device for automobiles provided in Example 3 of the present application, the third processing unit includes: a fifth determination subunit, used to determine the target driving speed and target driving acceleration of the automobile to be scheduled based on the traffic scheduling information of the automobile to be scheduled; a third generation subunit, used to generate target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, respectively send the target control instructions to the automobile to be scheduled to control the automobile to be scheduled to travel according to the target driving speed and target driving acceleration.

[0154] It should be noted that the first acquisition unit 601, first processing unit 602, second processing unit 603, and third processing unit 604 described above correspond to steps S201 to S204 in Example 1. The examples and application scenarios implemented by the above units and corresponding steps are the same, but are not limited to the contents disclosed in Example 1. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in Example 1.

[0155] It should be noted that the preferred implementation scheme involved in the above embodiments of this application is the same as the scheme provided in Example 1, as well as the application scenario and implementation process, but is not limited to the scheme provided in Example 1.

[0156] Example 4

[0157] The embodiment of the present application can provide a computer terminal, which can be any computer terminal device in a computer terminal group. Optionally, in this embodiment, the computer terminal can also be replaced by a terminal device such as a mobile terminal.

[0158] Optionally, in this embodiment, the computer terminal may be located in at least one network device among a plurality of network devices of a computer network.

[0159] In this embodiment, the above-mentioned computer terminal can execute the program code of the following steps in the car traffic scheduling method: obtaining the road network information of the target intersection in the road, and determining multiple cars communicating with the target intersection; screening the cars among the multiple cars based on the road network information and the vehicle operation information of the multiple cars, and determining multiple cars to be scheduled; processing the vehicle operation information and road network information of the cars to be scheduled to obtain the traffic scheduling information of the cars to be scheduled; and scheduling the cars to be scheduled based on the traffic scheduling information of the cars to be scheduled.

[0160] The above-mentioned computer terminal can also execute the program code of the following steps in the traffic scheduling method of the car: among multiple cars, the cars are screened according to the road network information and the vehicle operation information of the multiple cars to determine multiple cars to be scheduled, including: according to the road network information and the vehicle operation information of the car, the lane where the car is located is determined, and the target distance between the car and the lane stop line is calculated; according to the vehicle operation information and the target distance of the car, the regional range is determined, wherein the regional range represents the regional range of the import lane among the multiple import lanes included in the target intersection; among multiple cars, the cars are screened according to the regional range to determine multiple cars to be scheduled.

[0161] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: determining the area range based on the vehicle operation information and target distance of the automobile, including: judging whether there is a first automobile in the multiple lanes included in the import lane based on the vehicle operation information of the automobile, wherein the first automobile is a car that has changed lanes; if the first automobile does not exist in the multiple lanes, then using the first threshold as the value of the area range; if the first automobile exists in the multiple lanes, then determining the vehicle position of the first automobile based on the target distance, and determining the area range based on the vehicle position, the solid line length of the lane and the first threshold.

[0162] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: determining the area range based on the vehicle position, the length of the lane solid line and the first threshold, including: comparing the target distance corresponding to the vehicle position with the first threshold; if the target distance corresponding to the vehicle position is greater than the first threshold, then using the value of the first threshold as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the first threshold, then determining the area range based on the vehicle position and the length of the lane solid line.

[0163] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: determining the area range based on the vehicle position and the solid line length of the lane, including: comparing the target distance corresponding to the vehicle position with the solid line length of the lane; if the target distance corresponding to the vehicle position is greater than the solid line length of the lane, then using the value of the target distance corresponding to the vehicle position as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the solid line length of the lane, then using the value of the solid line length of the lane as the value of the area range.

[0164] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: processing the vehicle operation information and road network information of the automobile to be scheduled to obtain the traffic scheduling information of the automobile to be scheduled, including: inputting the vehicle operation information and road network information of the automobile to be scheduled into the target model; solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

[0165] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: generating a target model by the following method: determining the reference positions of multiple automobiles to be scheduled based on the vehicle operation information and road network information of the automobiles to be scheduled; determining the target position relationship between the automobiles to be scheduled and the reference position; generating a target model based on the relationship between the reference position and the target position.

[0166] The above-mentioned computer terminal can also execute the program code of the following steps in the automobile traffic scheduling method: generating a target model based on the relationship between the reference position and the target position, including: determining the path fleet position information set, conflicting vehicle information set and conflicting distance information set corresponding to the automobile to be scheduled based on the relationship between the reference position and the target position, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the automobile to be scheduled when passing through the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple automobiles to be scheduled that have conflicts when passing through the target intersection, and the conflicting distance information set is a set of distance information of conflicting distances corresponding to the automobiles to be scheduled that have conflicts; generating multiple constraint conditions based on the path fleet position information set, the conflicting vehicle information set and the conflicting distance information set; taking the average delay of multiple automobiles to be scheduled being less than a preset threshold as the first objective function, generating a target model based on the first objective function and multiple constraint conditions.

[0167] The above-mentioned computer terminal can also execute the program code of the following steps in the vehicle traffic scheduling method: solving the target model to obtain the traffic scheduling information of the vehicle to be scheduled, including: solving the target model based on the linear constraints among the multiple constraints to obtain the initial solution of the target model; generating the second objective function based on the nonlinear constraints among the multiple constraints and the first objective function; solving the target model based on the initial solution and the second objective function to obtain the traffic scheduling information of the vehicle to be scheduled.

[0168] The above-mentioned computer terminal can also execute the program code of the following steps in the vehicle traffic scheduling method: scheduling the vehicle to be scheduled based on the traffic scheduling information of the vehicle to be scheduled, including: determining the target driving speed and target driving acceleration of the vehicle to be scheduled based on the traffic scheduling information of the vehicle to be scheduled; generating target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, issuing the target control instructions to the vehicle to be scheduled respectively to control the vehicle to be scheduled to travel according to the target driving speed and target driving acceleration.

[0169] Optionally, Figure 7 This is a structural block diagram of a computer terminal according to an embodiment of the present application. Figure 7 As shown, the computer terminal 10 may include: one or more ( Figure 7 (only one is shown) processor 102, memory 104. The computer terminal 10 may further include a memory controller to control and manage the memory 104; the computer terminal 10 may further include a peripheral interface to connect to a radio frequency module, an audio module, and a display screen, etc.

[0170] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the vehicle traffic scheduling method and device in the embodiments of the present application. The processor executes the software programs and modules stored in the memory to perform various functional applications and data processing, thereby implementing the above-mentioned vehicle traffic scheduling method. The memory can include high-speed random access memory and can also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory can further include a memory remotely located relative to the processor, and these remote memories can be connected to the terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0171] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: obtain the road network information of the target intersection on the road, and determine multiple vehicles communicating with the target intersection; among the multiple vehicles, screen the vehicles according to the road network information and the vehicle operation information of the multiple vehicles, and determine multiple vehicles to be dispatched; process the vehicle operation information and road network information of the vehicles to be dispatched to obtain the traffic dispatch information of the vehicles to be dispatched; and dispatch the vehicles to be dispatched according to the traffic dispatch information of the vehicles to be dispatched.

[0172] Optionally, the processor may also execute program code for the following steps: screening the cars among multiple cars based on road network information and vehicle operation information of the multiple cars to determine multiple cars to be dispatched, including: determining the lane in which the car is located based on the road network information and the vehicle operation information of the car, and calculating the target distance between the car and the lane stop line; determining the area range based on the vehicle operation information and the target distance of the car, wherein the area range represents the area range of the import lane among the multiple import lanes included in the target intersection; screening the cars among multiple cars based on the area range to determine multiple cars to be dispatched.

[0173] Optionally, the processor may also execute the program code of the following steps: determining the area range based on the vehicle operation information and target distance of the vehicle, including: judging whether there is a first vehicle in the multiple lanes included in the import lane based on the vehicle operation information of the vehicle, wherein the first vehicle is a vehicle that has changed lanes; if the first vehicle does not exist in the multiple lanes, using the first threshold as the value of the area range; if the first vehicle exists in the multiple lanes, determining the vehicle position of the first vehicle based on the target distance, and determining the area range based on the vehicle position, the solid line length of the lane and the first threshold.

[0174] Optionally, the processor may also execute the program code of the following steps: determining the area range based on the vehicle position, the length of the lane solid line, and a first threshold, including: comparing the target distance corresponding to the vehicle position with the first threshold; if the target distance corresponding to the vehicle position is greater than the first threshold, using the value of the first threshold as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the first threshold, determining the area range based on the vehicle position and the length of the lane solid line.

[0175] Optionally, the processor may also execute the program code of the following steps: determining the area range based on the vehicle position and the length of the lane solid line, including: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, then using the value of the target distance corresponding to the vehicle position as the value of the area range; if the target distance corresponding to the vehicle position is less than or equal to the length of the lane solid line, then using the value of the lane solid line length as the value of the area range.

[0176] Optionally, the above-mentioned processor can also execute the program code of the following steps: processing the vehicle operation information and road network information of the car to be scheduled to obtain the traffic scheduling information of the car to be scheduled, including: inputting the vehicle operation information and road network information of the car to be scheduled into the target model; solving the target model to obtain the traffic scheduling information of the car to be scheduled.

[0177] Optionally, the processor may also execute the program code of the following steps: generating a target model by the following method: determining the reference positions of multiple vehicles to be dispatched based on the vehicle operation information and road network information of the vehicles to be dispatched; determining the target position relationship between the vehicles to be dispatched and the reference position; and generating a target model based on the relationship between the reference position and the target position.

[0178] Optionally, the processor may also execute the program code of the following steps: generating a target model based on the relationship between the reference position and the target position, including: determining a path fleet position information set, a conflicting vehicle information set, and a conflicting distance information set corresponding to the car to be scheduled based on the relationship between the reference position and the target position, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the car to be scheduled when passing through the target intersection, the conflicting vehicle information set is a set of vehicle information of multiple cars to be scheduled that have conflicts when passing through the target intersection, and the conflicting distance information set is a set of distance information of conflicting distances corresponding to the cars to be scheduled that have conflicts; generating multiple constraints based on the path fleet position information set, the conflicting vehicle information set, and the conflicting distance information set; taking the average delay of multiple cars to be scheduled being less than a preset threshold as the first objective function, generating a target model based on the first objective function and multiple constraints.

[0179] Optionally, the processor may also execute the program code of the following steps: solving the target model to obtain traffic scheduling information of the vehicle to be scheduled, including: solving the target model based on the linear constraints among the multiple constraints to obtain an initial solution of the target model; generating a second objective function based on the nonlinear constraints among the multiple constraints and the first objective function; solving the target model based on the initial solution and the second objective function to obtain traffic scheduling information of the vehicle to be scheduled.

[0180] Optionally, the processor may also execute the program code of the following steps: scheduling the car to be scheduled based on the traffic scheduling information of the car to be scheduled, including: determining the target driving speed and target driving acceleration of the car to be scheduled based on the traffic scheduling information of the car to be scheduled; generating target control instructions based on the target driving speed and target driving acceleration, and based on a preset duration, issuing the target control instructions to the car to be scheduled respectively, so as to control the car to be scheduled to travel according to the target driving speed and target driving acceleration.

[0181] It can be understood by those skilled in the art that Figure 7 The structure shown is for illustration only, and the computer terminal may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (MID), a PAD, or other terminal devices. Figure 7 It does not limit the structure of the above electronic device. For example, the computer terminal 10 may also include Figure 7 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 7 Different configurations shown.

[0182] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0183] Example 5

[0184] The embodiment of the present application further provides a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the vehicle traffic scheduling method provided in the first embodiment.

[0185] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0186] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0187] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0188] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0189] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0190] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0191] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0192] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for dispatching traffic of automobiles, characterized in that: include: Obtaining road network information of a target intersection on the road, and determining a plurality of vehicles communicating with the target intersection; Screening the multiple vehicles according to the road network information and the vehicle operation information of the multiple vehicles to determine multiple vehicles to be dispatched; Processing the vehicle operation information of the vehicle to be dispatched and the road network information to obtain traffic dispatch information of the vehicle to be dispatched; Performing scheduling processing on the vehicle to be scheduled according to the traffic scheduling information of the vehicle to be scheduled; Among them, the multiple cars to be dispatched are cars within a regional range, and the regional range is determined by judging whether there is a first car in multiple lanes included in the import lane, the import lane is the import lane included in the target intersection, the first car is a car that has changed lanes, and the target intersection is any unsignaled intersection on the road.

2. The method according to claim 1, characterized in that Among the multiple vehicles, screening the vehicles according to the road network information and the vehicle operation information of the multiple vehicles to determine multiple vehicles to be dispatched includes: Determining the lane of the vehicle based on the road network information and the vehicle operation information of the vehicle, and calculating a target distance between the vehicle and a stop line of the lane; Determining an area range based on the vehicle operation information of the automobile and the target distance, wherein the area range represents an area range of an import lane among a plurality of import lanes included in the target intersection; Among the multiple cars, the cars are screened according to the area range to determine the multiple cars to be dispatched.

3. The method according to claim 2, characterized in that Determining an area range based on the vehicle operation information of the vehicle and the target distance includes: determining, based on the vehicle operation information of the vehicle, whether a first vehicle exists in a plurality of lanes included in the import lane; If the first car does not exist in the multiple lanes, using the first threshold as the value of the area range; If the first car exists in the multiple lanes, the vehicle position of the first car is determined based on the target distance, and the area range is determined based on the vehicle position, the length of the lane solid line and the first threshold.

4. The method according to claim 3, characterized in that Determining the area range based on the vehicle position, the lane solid line length, and the first threshold includes: comparing the target distance corresponding to the vehicle position with the first threshold; If the target distance corresponding to the vehicle position is greater than the first threshold, the value of the first threshold is used as the value of the area range; If the target distance corresponding to the vehicle position is less than or equal to the first threshold, the area range is determined based on the vehicle position and the length of the lane solid line.

5. The method according to claim 4, characterized in that Determining the area based on the vehicle position and the length of the lane solid line includes: comparing a target distance corresponding to the vehicle position with a length of a solid lane line; If the target distance corresponding to the vehicle position is greater than the length of the lane solid line, the value of the target distance corresponding to the vehicle position is used as the value of the area range; If the target distance corresponding to the vehicle position is less than or equal to the length of the lane solid line, the value of the lane solid line length is used as the value of the area range.

6. The method according to claim 1, wherein Processing the vehicle operation information of the vehicle to be dispatched and the road network information to obtain traffic dispatch information of the vehicle to be dispatched, including: Inputting the vehicle operation information of the vehicle to be dispatched and the road network information into a target model; The target model is solved to obtain traffic scheduling information of the vehicles to be scheduled.

7. The method according to claim 6, characterized in that The target model is generated by the following method: Determining reference positions of the plurality of vehicles to be dispatched based on the vehicle operation information of the vehicles to be dispatched and the road network information; Determining a target position relationship between the vehicle to be dispatched and the reference position; The target model is generated according to the relationship between the reference position and the target position.

8. The method according to claim 7, characterized in that Generating the target model according to the relationship between the reference position and the target position includes: Based on the relationship between the reference position and the target position, determining a path fleet position information set, a conflicting vehicle information set, and a conflicting distance information set corresponding to the vehicle to be scheduled, wherein the path fleet position information set is a set of position information of the fleet included in the driving path of the vehicle to be scheduled when passing through the target intersection, the conflicting vehicle information set is a set of vehicle information of the multiple vehicles to be scheduled that conflict when passing through the target intersection, and the conflicting distance information set is a set of distance information of the conflicting distances corresponding to the vehicles to be scheduled that conflict; generating a plurality of constraint conditions according to the path fleet position information set, the conflicting vehicle information set, and the conflicting distance information set; The target model is generated based on the first objective function that the average delay of the multiple vehicles to be dispatched is less than a preset threshold, and the first objective function and the multiple constraints.

9. The method according to claim 8, characterized in that Solving the target model to obtain traffic scheduling information for the vehicles to be scheduled includes: Solving the target model according to the linear constraint conditions among the plurality of constraint conditions to obtain an initial solution of the target model; generating a second objective function according to a nonlinear constraint among the plurality of constraints and the first objective function; The target model is solved according to the initial solution and the second objective function to obtain the traffic scheduling information of the vehicle to be scheduled.

10. The method according to claim 1, characterized in that Performing a dispatch process on the vehicle to be dispatched based on the traffic dispatch information of the vehicle to be dispatched, including: Determining a target driving speed and a target driving acceleration of the vehicle to be dispatched based on the traffic dispatch information of the vehicle to be dispatched; A target control instruction is generated according to the target driving speed and the target driving acceleration, and the target control instruction is respectively issued to the vehicles to be dispatched based on a preset duration to control the vehicles to be dispatched to travel according to the target driving speed and the target driving acceleration.

11. A method for dispatching traffic of vehicles, characterized in that: include: Get the road network information of the target intersection in the road uploaded by the client; determining, in a cloud server, a plurality of vehicles in communication with the target intersection; Screening the multiple vehicles according to the road network information and the vehicle operation information of the multiple vehicles to determine multiple vehicles to be dispatched; Processing the vehicle operation information of the vehicle to be dispatched and the road network information to obtain traffic dispatch information of the vehicle to be dispatched; Feeding back the traffic scheduling information of the car to be scheduled to the client, so as to schedule the car to be scheduled according to the traffic scheduling information of the car to be scheduled; Among them, the multiple cars to be dispatched are cars within a regional range, and the regional range is determined by judging whether there is a first car in multiple lanes included in the import lane, the import lane is the import lane included in the target intersection, the first car is a car that has changed lanes, and the target intersection is any unsignaled intersection on the road.

12. A vehicle traffic dispatching device, characterized in that: include: a first acquiring unit, configured to acquire road network information of a target intersection on a road and determine a plurality of vehicles communicating with the target intersection; a first processing unit, configured to screen the plurality of vehicles according to the road network information and the vehicle operation information of the plurality of vehicles, and determine a plurality of vehicles to be dispatched; a second processing unit, configured to process the vehicle operation information of the vehicle to be dispatched and the road network information to obtain traffic dispatch information of the vehicle to be dispatched; a third processing unit, configured to perform scheduling processing on the vehicle to be scheduled according to the traffic scheduling information of the vehicle to be scheduled; Among them, the multiple cars to be dispatched are cars within a regional range, and the regional range is determined by judging whether there is a first car in multiple lanes included in the import lane, the import lane is the import lane included in the target intersection, the first car is a car that has changed lanes, and the target intersection is any unsignaled intersection on the road.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the vehicle traffic scheduling method according to any one of claims 1 to 10.

14. An electronic device, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the vehicle traffic scheduling method described in any one of claims 1 to 10.

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