Vehicle control method, system, apparatus, and device

Abstract

Embodiments of the present application provide a vehicle control method, system, device and equipment, comprising: obtaining a plurality of first planning paths of a to-be-scheduled vehicle and region information of a first region, the first planning path comprising a scheduling position of the to-be-scheduled vehicle sent by a scheduling device, the first region being a region in which vehicles are prohibited from driving, and the region information comprising a region center point position and a region radius; selecting a target planning path from the plurality of first planning paths according to the region center point position and the region radius of the first region, the distance between the target planning path and the region center point being greater than the region radius; sending the target planning path to the to-be-scheduled vehicle, and controlling the to-be-scheduled vehicle to drive to the scheduling position according to the target planning path. Embodiments of the present application improve the transportation efficiency of unmanned vehicles.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a vehicle control method, system, device and equipment. Background Technology

[0002] As autonomous driving technology matures, its applications are also becoming more sophisticated. Therefore, considering cost and efficiency, more and more businesses are choosing to use autonomous vehicles for transportation operations in enclosed environments.

[0003] Taking a closed environment like a mine as an example, if a certain area in the mine might experience congestion, road repairs or clearing, or if blasting work might be carried out in the near future, staff will designate that area as a no-vehicle zone. Based on this, staff will confine all autonomous vehicles to the designated area and cease operations. However, this method directly impacts the transportation efficiency of the autonomous vehicles, thereby affecting the achievement of the day's production targets. Summary of the Invention

[0004] This application provides a vehicle control method, system, device, and equipment that improves the transportation efficiency of unmanned vehicles.

[0005] In a first aspect, embodiments of this application provide a vehicle control method applied to a planning device, the method comprising:

[0006] Obtain multiple first planned paths for vehicles to be dispatched, as well as area information for a first area. The first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching device. The first area is a prohibited area for vehicles to drive in. The area information includes the location of the area center point and the area radius.

[0007] Based on the location of the regional center point and the regional radius of the first region, select the target planning path whose distance from the regional center point is greater than the regional radius from multiple first planning paths;

[0008] Send the target planned route to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planned route.

[0009] In an optional implementation of the first aspect, based on the location of the center point of the first region and the region radius, a target planning path whose distance from the center point of the region is greater than the region radius is selected from a plurality of first planning paths, including:

[0010] For each of the multiple first planning paths, determine multiple first path points for each first planning path, as well as the path point locations of the multiple first path points;

[0011] Based on the path point positions of multiple first path points and the position of the region center point, calculate the distances between the multiple first path points and the region center point to obtain multiple first distances;

[0012] If multiple first distances corresponding to the first planning path are all greater than the region radius, then the first planning path is determined as the second planning path, resulting in multiple second planning paths.

[0013] The target planning path is determined based on multiple secondary planning paths.

[0014] In one alternative implementation of the first aspect, each first planned path includes a plurality of second planned path points and path point locations of the second planned path points;

[0015] Determine multiple first path points of the first planned path, and the path point locations of these multiple first path points, including:

[0016] Based on a preset sampling length, multiple first path points are selected from multiple second planned path points, and the path point positions of multiple first path points are selected from the path point positions of multiple second planned path points.

[0017] In one alternative implementation of the first aspect, determining the target planning path based on a plurality of second planning paths includes:

[0018] For each of the multiple second-programming paths, perform the following steps:

[0019] N path points between the first target path point and the second target path point are determined as N third path points. The first target path point is the path point closest to the center point of the region among the multiple first path points. The second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point.

[0020] If the preset sampling length is less than or equal to the preset solution threshold, traverse N third path points. Based on the path point position and the region center point position of each third path point, calculate the second distance between each third path point and the region center point to obtain N second distances. If all N second distances are greater than the region radius, determine the second planning path as the target planning path.

[0021] In one optional implementation of the first aspect, if the preset sampling length is greater than the preset solution threshold, the preset sampling length is adjusted, and M third path points are selected from N third path points based on the adjusted preset sampling length, where N is greater than M.

[0022] Traverse the M third path points, and calculate the third distance between each third path point and the region center point based on the path point position and the region center point position, to obtain M third distances;

[0023] If all M third distances are greater than the region radius, and the adjusted preset sampling length is greater than the preset solution threshold, return to the step of adjusting the preset sampling length and selecting M third path points from N third path points based on the adjusted preset sampling length, until the adjusted preset sampling length is less than or equal to the preset solution threshold.

[0024] In an optional implementation of the first aspect, the method of obtaining multiple planned routes for the vehicles to be dispatched includes:

[0025] Receive the dispatch location of the vehicle to be dispatched from the dispatching equipment;

[0026] Obtain the first vehicle information of the vehicle to be dispatched, and the second vehicle information of multiple vehicles in the second area. The first vehicle information includes the location of the first vehicle, and the second vehicle information includes the location of the second vehicle and the first route. The second area includes the first area.

[0027] Based on the dispatch location and first vehicle location of the vehicle to be dispatched, as well as the second vehicle locations and first routes of multiple vehicles, route planning is performed on the vehicle to be dispatched to obtain multiple first planned routes corresponding to the vehicle to be dispatched.

[0028] Secondly, embodiments of this application provide a vehicle control method applied to a dispatching device, the method comprising:

[0029] The system obtains the area information of the first area, the location of the first vehicle to be dispatched, and the location of multiple devices to be configured in the second area. The first area is a prohibited area for vehicles. The area information includes the location of the center point of the area and the area radius. The second area includes the first area.

[0030] Based on the device location and region information of multiple devices to be configured, the first device to be configured that is not located in the first region is determined;

[0031] Based on the device location of the first device to be configured and the first vehicle location of the vehicle to be dispatched, target devices that meet preset conditions are selected from the first devices to be configured, and the device location of the target devices to be configured is determined as the dispatch location of the vehicle to be dispatched.

[0032] The scheduling location of the vehicle to be scheduled is sent to the planning equipment so that the planning equipment can obtain multiple first planning paths. Each first planning path includes the scheduling location of the vehicle to be scheduled. Based on the location of the regional center point and the regional radius of the first region, the target planning path with a distance greater than the regional center point is selected from the multiple first planning paths so as to control the vehicle to be scheduled to travel to the scheduling location according to the target planning path.

[0033] Thirdly, embodiments of this application provide a vehicle control method applied to a control device, the method comprising:

[0034] The first area information is sent to the scheduling equipment so that, after obtaining the first vehicle location of the vehicle to be scheduled and the equipment locations of multiple devices to be configured in the second area, the scheduling equipment can determine the scheduling location of the vehicle to be scheduled based on the received first area information, the first vehicle location of the vehicle to be scheduled, and the equipment locations of multiple devices to be configured in the second area, and send the scheduling location of the vehicle to be scheduled to the planning equipment.

[0035] The planning equipment sends the area information of the first area to the planning equipment so that, when the planning equipment obtains multiple first planning paths, it can select the target planning path whose distance from the area center point is greater than the area radius based on the received location of the area center point and the area radius of the first area, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planning path.

[0036] Each first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching equipment, the first area is an area where vehicles are prohibited from driving, and the area information includes the location of the area center point and the area radius, and the second area includes the first area.

[0037] Fourthly, embodiments of this application provide a vehicle control system, which includes:

[0038] The control equipment is used to send the area information of the first area to the planning equipment and the scheduling equipment respectively. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the radius of the area.

[0039] The dispatching equipment is used to determine the dispatching location of the vehicle to be dispatched based on the received area information of the first area, the first vehicle location of the vehicle to be dispatched, and the equipment locations of multiple devices to be configured in the second area, and to send the dispatching location of the vehicle to be dispatched to the planning equipment. The second area includes the first area.

[0040] The planning device is used to, when acquiring multiple first planning paths, select a target planning path whose distance from the regional center point is greater than the regional radius based on the received location of the regional center point and the regional radius of the first region, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planning path. Each first planning path includes the dispatch location of the vehicle to be dispatched sent by the dispatching device.

[0041] Fifthly, embodiments of this application provide a vehicle control device applied to a planning device, the device comprising:

[0042] The acquisition module is used to acquire multiple first planned paths for vehicles to be dispatched, as well as the area information of the first area. The first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching device. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the radius of the area.

[0043] The filtering module is used to filter out target planning paths from multiple first planning paths based on the location of the center point of the first region and the region radius, and the distance between the center point of the region and the region radius.

[0044] The sending module is used to send the target planned route to the vehicle to be dispatched and control the vehicle to be dispatched to travel to the dispatch location according to the target planned route.

[0045] Sixthly, embodiments of this application provide a vehicle control device applied to a dispatching equipment, the device comprising:

[0046] The acquisition module acquires the area information of the first area, the location of the first vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the area radius. The second area includes the first area.

[0047] The filtering module is used to determine the first device to be configured that is not located in the first region among the multiple devices to be configured, based on the device location and region information of the multiple devices to be configured.

[0048] The determination module is used to filter out target devices that meet preset conditions from the first devices to be configured based on the device location of the first device to be configured and the first vehicle location of the vehicle to be dispatched, and determine the device location of the target device to be configured as the dispatch location of the vehicle to be dispatched.

[0049] The sending module is used to send the dispatch location of the vehicle to be dispatched to the planning device, so that the planning device can obtain multiple first planning paths including the dispatch location of the vehicle to be dispatched, and select the target planning path from the multiple first planning paths according to the location of the regional center point and the regional radius of the first area, so as to control the vehicle to be dispatched to travel to the dispatch location according to the target planning path.

[0050] Seventhly, embodiments of this application provide a vehicle control device applied to a control equipment, the device comprising:

[0051] The sending module is used to send the area information of the first area to the scheduling device, so that the scheduling device, after obtaining the first vehicle location of the vehicle to be scheduled and the device locations of multiple devices to be configured in the second area, can determine the scheduling location of the vehicle to be scheduled based on the received area information of the first area, the first vehicle location of the vehicle to be scheduled, and the device locations of multiple devices to be configured in the second area, and send the scheduling location of the vehicle to be scheduled to the planning device.

[0052] The sending module is also used to send the area information of the first area to the planning device, so that when the planning device obtains multiple first planning paths, it can select the target planning path whose distance from the area center point is greater than the area radius according to the received area center point position and area radius of the first area, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatching position according to the target planning path.

[0053] Each first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching equipment, the first area is an area where vehicles are prohibited from driving, and the area information includes the location of the area center point and the area radius, and the second area includes the first area.

[0054] Eighthly, an electronic device is provided, comprising: a memory for storing computer program instructions; and a processor for reading and executing the computer program instructions stored in the memory to perform a vehicle control method provided by any of the optional embodiments of the first to third aspects.

[0055] Ninth aspect, a computer storage medium is provided, on which computer program instructions are stored, wherein when the computer program instructions are executed by a processor, the vehicle control method provided by any of the optional embodiments of the first to third aspects is implemented.

[0056] In a tenth aspect, a computer program product is provided, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform a vehicle control method provided by any of the optional embodiments of the first to third aspects.

[0057] In this embodiment, multiple first planned paths for the vehicle to be dispatched and area information of a first area can be obtained. Since the first area is a prohibited area for vehicles, and the area information of the first area may include the location of the area's center point and the area radius, a target planned path with a distance greater than the area radius (i.e., a path that does not pass through the first area) can be selected from the multiple first planned paths based on the location of the area's center point and the area radius. This target planned path is then sent to the vehicle to be dispatched, and the vehicle is controlled to travel to the dispatch location according to the target planned path. In this way, multiple first planned paths for the vehicle can be pre-judged to obtain a target planned path that does not pass through the first area, and the vehicle can be controlled to travel according to this target planned path. This avoids situations where vehicles are restricted from traveling in a designated area because their path passes through the first area, thereby improving the transportation efficiency of the vehicle. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is an architecture diagram of a vehicle control system provided in an embodiment of this application;

[0060] Figure 2 This is one of the flowcharts illustrating a vehicle control method provided in this application.

[0061] Figure 3 This is a second schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0062] Figure 4 This is the third schematic flowchart of a vehicle control method provided in this application embodiment;

[0063] Figure 5 This is an application scenario diagram of a vehicle control method provided in an embodiment of this application;

[0064] Figure 6 This is the fourth schematic flowchart of a vehicle control method provided in the embodiments of this application;

[0065] Figure 7 This is the fifth flowchart illustrating a vehicle control method provided in this application embodiment;

[0066] Figure 8 This is one of the structural schematic diagrams of a vehicle control device provided in the embodiments of this application;

[0067] Figure 9This is a second schematic diagram of the structure of a vehicle control device provided in the embodiments of this application;

[0068] Figure 10 This is the third structural schematic diagram of a vehicle control device provided in the embodiments of this application;

[0069] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0070] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0071] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0072] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0073] To address the low transportation efficiency of existing autonomous vehicles, this application provides a vehicle control method, system, device, and equipment. Based on this, multiple first planned paths for the vehicle to be dispatched and area information of a first area can be obtained. Since the first area is a prohibited area for vehicles, and the area information of the first area may include the location of the area's center point and its radius, a target planned path (paths that do not pass through the first area) can be selected from the multiple first planned paths based on the location of the area's center point and its radius. This target planned path is then sent to the vehicle to be dispatched, and the vehicle is controlled to travel to the dispatch location according to the target planned path. In this way, multiple first planned paths of the vehicle can be pre-judged to obtain target planned paths that do not pass through the first area, and the vehicle can be controlled to travel according to these target planned paths. This avoids situations where vehicles are restricted from traveling in a designated area because their path passes through the first area, thereby improving the vehicle's transportation efficiency.

[0074] The vehicle control system provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0075] Figure 1 This is an architecture diagram of a vehicle control system provided in an embodiment of this application.

[0076] like Figure 1 As shown, the vehicle control system 100 may include a control device 10, a scheduling device 20, and a planning device 30. The control device 10 is connected to the scheduling device 20 and the planning device 30, respectively, and the scheduling device 20 and the planning device 30 are connected to each other.

[0077] Among them, the control device 10 mentioned above is used to send the area information of the first area to the planning device and the scheduling device respectively. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the radius of the area.

[0078] The dispatching device 20 is used to determine the dispatching location of the vehicle to be dispatched based on the received area information of the first area, the first vehicle location of the vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area, and to send the dispatching location of the vehicle to be dispatched to the planning device. The second area includes the first area.

[0079] The planning device 30 is used to, when acquiring multiple first planning paths, select a target planning path whose distance from the regional center point is greater than the regional radius based on the received location of the regional center point and the regional radius of the first region, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch position according to the target planning path. Each first planning path includes the dispatch position of the vehicle to be dispatched sent by the dispatching device.

[0080] Based on this, in order to more comprehensively and accurately describe the vehicle control method provided in the embodiments of this application, such as... Figure 2 As shown, the vehicle control method mentioned above may include the following steps:

[0081] S201, send the area information of the first area to the scheduling equipment.

[0082] S202, send the area information of the first area to the planning equipment.

[0083] Specifically, the control device can send area information of the first area to both the scheduling device and the planning device. This first area may be a region where vehicles are prohibited from traveling, and the area information may include the location of the area's center point and its radius.

[0084] S203, obtain the first vehicle location of the vehicle to be dispatched and the device locations of multiple devices to be configured in the second area.

[0085] Specifically, the dispatching device can obtain the first vehicle location of the vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area, so as to facilitate the subsequent determination of the dispatching location of the vehicle to be dispatched. The second area may include the first area. It should also be noted that the vehicle control method provided in this application embodiment is not limited to the order of S203 and S201 described above.

[0086] S204, determine the dispatch location of the vehicle to be dispatched.

[0087] Specifically, after receiving the area information of the first area from the control device and obtaining the first vehicle location of the vehicle to be dispatched and the device locations of multiple devices to be configured in the second area, the dispatching device can determine the dispatching location of the vehicle to be dispatched based on the received area information of the first area and the obtained first vehicle location of the vehicle to be dispatched and the device locations of multiple devices to be configured in the second area. It should be noted that the specific process of determining the dispatching location of the vehicle to be dispatched will not be elaborated upon here.

[0088] S205 sends the dispatch location of the vehicles to be dispatched to the planning equipment.

[0089] S206, determine multiple first planned routes corresponding to the vehicles to be dispatched.

[0090] Each of the first planned paths may include the dispatch location of the vehicle to be dispatched.

[0091] Specifically, after receiving the dispatch location of the vehicle to be dispatched from the dispatching device, the planning device can determine multiple first planning paths corresponding to the vehicle to be dispatched based on the dispatch location of the vehicle to be dispatched.

[0092] S207, Determine the target planning path.

[0093] Specifically, the planning device can select a target planning path from multiple first planning paths based on the received location of the center point and radius of the first region. The target planning path is the path that does not pass through the first region.

[0094] S208 sends the target planned route to the vehicles to be dispatched.

[0095] Specifically, the planning equipment sends the target planned route to the vehicle to be dispatched and controls the vehicle to travel to the dispatch location according to the target planned route.

[0096] In addition, it should be noted that the vehicle control method provided in this application embodiment may also include the following steps:

[0097] The control device receives map information of the second area, as well as second vehicle information of multiple vehicles within the second area.

[0098] The control device acquires the area information of the first area;

[0099] The control device displays target information, which may include map information of the second area, second vehicle information of multiple vehicles, and area information of the first area.

[0100] In some embodiments, the second area mentioned above may include the first area. In one example, if the first area is a blasting area, the second area may be a mining area. Therefore, it should be noted that the control equipment needs to send the area information of the first area to the planning and scheduling equipment Q minutes before blasting (the specific time can be adjusted according to the actual situation). Additionally, the user can also confirm through the control equipment whether all vehicles and equipment are not in the first area just before blasting. If not, the blasting time can be appropriately delayed until all vehicles have left the first area before blasting is carried out.

[0101] Based on this, the aforementioned scheduling equipment can be used to select the most suitable excavator from all excavators based on certain constraints (such as excavator output, distance to the unloading point, excavator malfunction, ore allocation target, and queuing status of each excavator), while ensuring safety and aiming to maximize vehicle transportation efficiency and minimize costs. The selected excavator is then dispatched to the vehicles, planning equipment, and control equipment. Furthermore, the aforementioned planning equipment is used to perform global planning for all vehicles within the second area. The planning results include driving speed and driving path, and are sent to each vehicle to guide them in avoiding conflicts and collision risks, thus ensuring efficient and safe task completion.

[0102] In this embodiment, the control device can send area information of the first region to both the planning device and the scheduling device. This allows the scheduling device to determine the scheduling location of the vehicle to be scheduled and send this location to the planning device. Based on this, the planning device can filter from multiple first planned paths to obtain a target planned path that does not pass through the first region and send this target planned path to the vehicle to be scheduled, thus controlling the vehicle to travel according to the received target planned path. In this way, multiple first planned paths for the vehicle can be pre-judged to obtain a target planned path that does not pass through the first region, and the vehicle can be controlled to travel according to this target planned path. This avoids situations where vehicles are restricted to a designated area and cannot travel due to their path passing through the first region, thereby improving the transportation efficiency of the vehicle.

[0103] Based on the above vehicle control system architecture diagram, the following will combine... Figure 3 A flowchart illustrating the vehicle control method provided in the embodiments of this application.

[0104] Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0105] like Figure 3 As shown, the executing entity of this vehicle control method can be the planning equipment in the vehicle control system, and the method may specifically include the following steps:

[0106] S310: Obtain multiple first planned routes for the vehicles to be dispatched, as well as the area information of the first region.

[0107] In some embodiments, the first planned path mentioned above may include the dispatch location of the vehicle to be dispatched sent by the dispatching device. It should be noted that the vehicle to be dispatched mentioned above may be a vehicle whose original path needs to pass through a first area. The first area may be an area where vehicles are prohibited from traveling, such as a pre-marked blasting area, or an area where vehicles are prohibited due to road congestion or road repairs; no specific limitation is made here.

[0108] In some embodiments, the aforementioned area information may include the location of the area's center point and the area's radius. For example, taking a first area as the blasting area, the first area may be a circular area with the area's center point as the origin and the expected blasting impact distance as the area's radius. The expected blasting impact distance can be determined based on actual conditions and is not limited here.

[0109] Specifically, the planning equipment can first receive the dispatch location of the vehicle to be dispatched from the dispatching equipment, and then obtain multiple first planned routes for the vehicle to be dispatched based on the received dispatch location. Additionally, the planning equipment can obtain the area information of the first region by receiving area information of the first region sent from the central control station.

[0110] S320: Based on the location of the center point of the first region and the region radius, select the target planning path from multiple first planning paths whose distance from the center point of the region is greater than the region radius.

[0111] Specifically, after obtaining multiple first planned paths for the vehicles to be dispatched and the regional information of the first region, the planning device can calculate the distance between each of the multiple first planned paths and the regional center point of the first region based on the location of the regional center point and the regional radius. In this way, multiple distances can be obtained, and then the target planned path with a distance greater than the regional center point can be selected from the multiple first planned paths based on the obtained multiple distances, that is, the target planned path that does not pass through the first region can be selected from the multiple first planned paths.

[0112] S330 sends the target planned route to the vehicle to be dispatched and controls the vehicle to be dispatched to travel to the dispatch location according to the target planned route.

[0113] Specifically, after obtaining the target planned path that does not pass through the first area, the planning equipment can send the target planned path to the vehicle to be dispatched and control the vehicle to be dispatched to travel according to the target planned path and travel to the dispatch location. In this way, passing through the first area can be avoided.

[0114] Additionally, it should be noted that if the planning device detects that the target planning path does not exist among the multiple first planning paths, it can send a request to the scheduling device to change the scheduling position, and repeat steps S310 to S330 above based on the received changed scheduling position. If the scheduling device cannot change the scheduling position, the planning device can send an instruction to the vehicle to be scheduled to control the vehicle to be scheduled to travel to the designated area and wait for the demolition to be completed. In this embodiment, multiple first planning paths of the vehicle to be scheduled and the area information of the first area can be obtained. Since the first area is an area where vehicles are prohibited from traveling, and the area information of the first area can include the location of the area center point and the area radius, the target planning path with a distance greater than the area center point than the area radius can be selected from the multiple first planning paths based on the location of the area center point and the area radius. That is, the path that does not pass through the first area, and then the target planning path is sent to the vehicle to be scheduled, and the vehicle to be scheduled is controlled to travel to the scheduling position according to the target planning path. In this way, multiple first planned routes of vehicles can be predicted in advance to obtain target planned routes that do not pass through the first area, and the vehicles can be controlled to travel according to the target planned routes. This avoids the situation where vehicles are restricted to a designated area and cannot travel because their travel routes pass through the first area, thereby improving the transportation efficiency of vehicles.

[0115] To more accurately select the target planning path, in one embodiment, such as Figure 4 As shown, the above-mentioned S320 may include the following steps:

[0116] S410, for each of the multiple first planning paths, determine multiple first path points for each first planning path, and the path point positions of the multiple first path points.

[0117] The aforementioned multiple first path points can be all path points of the first planned path, or only some path points of the first planned path; no specific limitation is made here.

[0118] Specifically, after obtaining multiple first planned routes for the vehicles to be dispatched, for each of the multiple first planned routes, the planning device can determine multiple first path points for each first planned route, as well as the path point locations of the multiple first path points.

[0119] S420: Based on the path point positions of multiple first path points and the position of the region center point, calculate the distances between the multiple first path points and the region center point to obtain multiple first distances.

[0120] Specifically, the planning equipment can calculate the distance between each of the multiple first path points and the regional center point based on the path point locations of multiple first path points and the location of the regional center point, thus obtaining multiple first distances.

[0121] In one example, the calculation process involved above can be shown as in formula (1):

[0122]

[0123] Wherein, the position of the first path point is (x, y, z), the position of the center point of the region is (m, n, p), and the first distance between the first path point and the center point of the region is L.

[0124] It should be noted that, assuming the area radius is R, the first distance L obtained from the above calculation is determined by the following: if R is greater than or equal to L, it indicates that the path point is within the first area; otherwise, it indicates that the path point is outside the first area.

[0125] S430, if multiple first distances corresponding to the first planning path are all greater than the region radius, the first planning path is determined as the second planning path, and multiple second planning paths are obtained.

[0126] Specifically, after obtaining the first distances between the multiple first path points included in the first planning path and the center point of the region, the planning device can first determine whether the multiple first distances corresponding to the first planning path are greater than the region radius. If the multiple first distances corresponding to the first planning path are all greater than the region radius, that is, if the first planning path does not pass through the first region, the first planning path is determined to be the second planning path.

[0127] S440 determines the target planning path based on multiple secondary planning paths.

[0128] In one example, after obtaining multiple second planning paths, the planning device can select any one of the second planning paths and determine it as the target planning path.

[0129] In another example, the planning device can also select the most suitable target planning path based on information such as the cost and time required for each second planning path.

[0130] In this embodiment, the planning device can calculate the first distance between each first path point in the first planned path and the center point of the region. When multiple first distances corresponding to the first planned path are greater than the region radius, indicating that the first planned path does not pass through the first region, the first planned path can be determined as the second planned path. The target planned path can then be determined based on the second planned path. In this way, the path of the autonomous vehicle can be pre-determined to avoid the autonomous vehicle passing through the first region, thereby improving the transportation efficiency of the autonomous vehicle.

[0131] To ensure the accuracy of each path, the distances between path points are not set very far. This results in a large number of routing points for each path, typically ranging from tens of thousands to hundreds of thousands, with the specific number depending on the actual conditions of the mine. Therefore, traversing all path points and comparing the distances of each path point to the area center point would not only lead to low computational efficiency, affecting the response time of the planning equipment in handling blasting scenarios, but would also consume a large amount of system computing resources, resulting in a high system load during this period.

[0132] Based on this, in one embodiment, each first planned path may include a plurality of second planned path points and the path point locations of the second planned path points;

[0133] Based on this, the S410 mentioned above may specifically include the following steps:

[0134] Based on a preset sampling length, multiple first path points are selected from multiple second planned path points, and the path point positions of multiple first path points are selected from the path point positions of multiple second planned path points.

[0135] The preset sampling length can be pre-set based on the shape of the actual path and the number of path points, without much limitation here.

[0136] Specifically, the planning device can select multiple first path points from multiple second planning path points based on a preset sampling length, and select multiple path point positions of the first path points from the path point positions of multiple second planning path points.

[0137] In one example, suppose the total number of path points in the first planned path is A, and the preset length is B. Based on this, the planning device can go to one path point every B path points on the first planned path, thus obtaining A1 = A / B points.

[0138] In this embodiment, the planning device can filter out a portion of the path points from the second planned path points included in the first planned path based on a preset sampling length, and perform calculations to determine whether the first planned path passes through the first region. This improves the screening speed and saves system computing resources.

[0139] Therefore, in order to obtain a more accurate target planning path, in one embodiment, the above-mentioned S440 may specifically include the following steps:

[0140] For each of the multiple second-programming paths, perform the following steps:

[0141] The N path points between the first and second target path points are determined as the N third path points.

[0142] If the preset sampling length is less than or equal to the preset solution threshold, traverse N third path points, and calculate the second distance between each third path point and the region center point based on the path point position and the region center point position, to obtain N second distances.

[0143] If all N second distances are greater than the region radius, the second planning path is determined as the target planning path.

[0144] The first target path point can be the path point closest to the center of the region among multiple first path points, and the second target path point can be the path point closest to the center of the region among two adjacent first path points. Furthermore, the preset solution thresholds mentioned above can be determined based on the capabilities of the computing hardware, and are not specified further here. N is a positive integer.

[0145] Specifically, after obtaining the second planning path, the first target path point and the second target path point can be determined from the multiple first path points corresponding to the second planning path based on the multiple first distances corresponding to the second planning path. Then, the N path points between the first target path point and the second target path point can be determined as N third path points. Based on this, if the preset sampling length is less than or equal to the preset solution threshold, the N third path points can be traversed. According to the path point position and the position of the region center point of each third path point, the third distance between each third path point and the region center point can be calculated. Then, N second distances can be obtained. If multiple second distances are greater than the region radius, the second planning path is determined as the target planning path.

[0146] In one example, such as Figure 5As shown, when multiple first distances corresponding to path T are greater than the region radius R, indicating that none of the multiple first path points of path T are in the first region, the path point Q1 closest to the region center is selected from the multiple first path points of path T, and path point Q1 is determined as the first target path point. Since path point Q2 is the closest to the region center P among the path points Q2 and Q3 adjacent to the first target path point Q1, path point Q2 is determined as the second target path point. Based on this, the path point between the first target path point Q1 and the second target path point Q2 is determined as the third path point. Then, the distance between each third path point and the region center point is calculated, and when the distance between all third path points and the region center point is greater than the region radius, path T is determined as the target planned path.

[0147] It should be noted that the calculation formula for the distance between each third path point and the center point of the region is similar to that in formula (1) above, and will not be elaborated further here. It should also be noted that if any of the N second distances obtained above is less than or equal to the radius of the region, the second planning path is changed, and the process of determining the N path points between the first target path point and the second target path point as the N third path points is returned.

[0148] In this embodiment, based on the premise that multiple first distances corresponding to the second planned path are all greater than the region radius, a third path point is determined, and a second distance between the third path point and the region center point is calculated to further determine whether the planned path passes through the first region. In this way, while improving screening speed and saving system computing resources, accurate path determination for autonomous vehicles is achieved, avoiding situations where autonomous vehicles pass through the first region, thus improving the transportation efficiency of autonomous vehicles.

[0149] Based on this, in one embodiment, the vehicle control method mentioned above may further include the following steps:

[0150] If the preset sampling length is greater than the preset solution threshold, the preset sampling length is adjusted, and M third path points are selected from N third path points based on the adjusted preset sampling length, where N is greater than M.

[0151] Traverse the M third path points, and calculate the third distance between each third path point and the region center point based on the path point position and the region center point position, to obtain M third distances;

[0152] If all M third distances are greater than the region radius, and the adjusted preset sampling length is greater than the preset solution threshold, return to the step of adjusting the preset sampling length and selecting M third path points from N third path points based on the adjusted preset sampling length, until the adjusted preset sampling length is less than or equal to the preset solution threshold.

[0153] Specifically, after determining N third path points, if the preset sampling length is greater than the preset solution threshold, it indicates that the number of third path points is too large, which may lead to excessively long solution time. Therefore, the preset sampling length can be adjusted first, and M third sampling points can be selected from the N third sampling points based on the preset sampling length. The third distance between each of the M third sampling points and the region center point is calculated. If all M third distances are greater than the region radius, it indicates that none of the M third path points pass through the first region. Based on this, it can be determined again whether the adjusted preset sampling length is greater than the preset solution threshold. If it is, the above steps are repeated until the adjusted preset sampling length is less than or equal to the preset solution threshold. Here, M is a positive integer.

[0154] Based on this, assuming there are 10,000 points in the current path, the original traversal method would require 10,000 calculations. However, if the method provided in this application is adopted, and the preset sampling length is 100, then only (10000 / 100) + 100 = 200 calculations are needed. This greatly reduces the number of calculations, thereby reducing the calculation time and computational resources.

[0155] In this embodiment, the screening speed is improved and the system computing resources are saved, while the path of the autonomous vehicle is accurately determined to avoid the autonomous vehicle passing through the first area, thereby improving the transportation efficiency of the autonomous vehicle.

[0156] To more comprehensively describe the vehicle control method provided in the embodiments of this application, in one embodiment, the step of obtaining multiple first planned paths for the vehicle to be scheduled may include the following steps:

[0157] Receive the dispatch location of the vehicle to be dispatched from the dispatching equipment;

[0158] Obtain the first vehicle information of the vehicle to be dispatched, and the second vehicle information of multiple vehicles in the second area. The first vehicle information includes the location of the first vehicle, and the second vehicle information includes the location of the second vehicle and the first route. The second area includes the first area.

[0159] Based on the dispatch location and first vehicle location of the vehicle to be dispatched, as well as the second vehicle locations and first routes of multiple vehicles, route planning is performed on the vehicle to be dispatched to obtain multiple first planned routes corresponding to the vehicle to be dispatched.

[0160] Specifically, the planning equipment can receive the dispatch location of the vehicle to be dispatched from the dispatching equipment, and can also obtain the first vehicle information of the vehicle to be dispatched, as well as the second vehicle information of multiple vehicles in the second area. Since the first vehicle information includes the first vehicle location, and the second vehicle information includes the second vehicle location and the first path, the planning equipment can perform path planning for the vehicle to be dispatched based on the dispatch location and the first vehicle location of the vehicle to be dispatched, as well as the second vehicle locations and the first paths of the multiple vehicles, to obtain multiple first planned paths corresponding to the vehicle to be dispatched.

[0161] In this embodiment, the planning device can consider the vehicle positions and paths of all vehicles in the second area, and plan the path of the vehicle to be scheduled based on the vehicle position and scheduling position, i.e. the starting position and ending position of the vehicle to be scheduled, so as to avoid the path of the vehicle to be scheduled from conflicting with the paths of other vehicles, thereby avoiding collisions between the vehicle to be scheduled and other vehicles in the second area.

[0162] Figure 6 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0163] like Figure 6 As shown, the executing entity of this vehicle control method can be a dispatching device in the vehicle control system, and the method may include the following steps:

[0164] S610 obtains the area information of the first area, the location of the first vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area.

[0165] The first area is a prohibited vehicle zone, and its information may include the location of its center point and its radius. The second area may include the first area. Furthermore, the vehicles to be dispatched mentioned above can be vehicles whose original routes passed through the first area.

[0166] Specifically, after the control device sends the area information of the first area to the dispatching device, the dispatching device can obtain the area information of the first area by receiving the area information of the first area sent by the control device. By obtaining the vehicle positions and paths of multiple vehicles in the second area, the dispatching device can identify vehicles that may pass through the first area, thereby determining that the vehicle is a vehicle to be dispatched, and thus obtaining the first vehicle position of the vehicle to be dispatched. In addition, the dispatching device can also obtain the device positions of multiple devices to be configured in the second area based on the device identifying the device position installed on each device to be configured.

[0167] S620, based on the device location and area information of multiple devices to be configured, determines the first device to be configured that is not located in the first area among the multiple devices to be configured.

[0168] After obtaining the device location and region information of multiple devices to be configured, the distance between the device to be configured and the region center point can be calculated for each device to be configured and the region center point. Then, by comparing the distance with the region radius, the first device to be configured that is not in the first region can be selected from the multiple devices to be configured.

[0169] S630, based on the device location of the first device to be configured and the first vehicle location of the vehicle to be dispatched, select the target device to be configured that meets the preset conditions from the first device to be configured, and determine the device location of the target device to be configured as the dispatch location of the vehicle to be dispatched.

[0170] Specifically, the dispatching equipment can select target devices that meet preset conditions from the first set of devices to be configured based on the device location of the first set of devices to be configured and the first vehicle location of the vehicle to be dispatched, and determine the device location of the target device to be configured as the dispatching location of the vehicle to be dispatched.

[0171] The preset conditions can be set in advance based on actual experience. For example, the preset conditions can be used to select the earliest idle device among multiple devices to be configured and the device closest to the vehicle to be dispatched. No further restrictions are imposed here.

[0172] In one example, for the first device to be configured, the dispatch vehicle already at the first device to be configured can be identified first. That is, the location of the dispatch vehicle is the same as the location of the first device to be configured, indicating that the dispatch vehicle is waiting for loading and unloading at the device of the first device to be configured. Based on this, the time required for the first device to be configured to complete the loading and unloading task of the dispatch vehicle can be determined based on the preset loading and unloading time. Then, the travel time of the dispatch vehicle to the first device to be configured can be determined based on the location of the dispatch vehicle. Finally, based on the travel time of the dispatch vehicle and the time of the first device to be configured to complete the existing loading and unloading task, the target device to be configured for each dispatch vehicle can be determined so that the dispatch vehicle can be dispatched.

[0173] S640 sends the dispatch location of the vehicles to be dispatched to the planning equipment.

[0174] Specifically, after determining the dispatch location of the vehicle to be dispatched, the dispatching equipment can send the dispatch location of the vehicle to be dispatched to the planning equipment so that the planning equipment can obtain multiple first planning paths for the vehicle to be dispatched. Each first planning path includes the dispatch location of the vehicle to be dispatched. Based on the location of the regional center point and the regional radius of the first region, the planning equipment selects a target planning path from the multiple first planning paths whose distance from the regional center point is greater than the regional radius, so as to control the vehicle to be dispatched to travel to the dispatch location according to the target planning path.

[0175] In this embodiment, the system can acquire area information of a first area, the location of a first vehicle to be dispatched, and the vehicle locations of multiple devices to be configured in a second area. Based on the vehicle locations and area information of these devices, it can determine a first device not located within the first area. Then, based on the vehicle locations of the first devices and the location of the first vehicle to be dispatched, it can filter out target devices that meet preset conditions and determine their locations as the dispatch locations for the vehicles to be dispatched. This dispatch location is then sent to a planning device, which can then obtain multiple first planned paths for the vehicles to be dispatched. Based on the received dispatch locations, the planning device can select a target planned path from these paths, and control the vehicles to be dispatched to travel along the target planned path to the dispatch location. This allows for advance prediction of the autonomous vehicle's path, avoiding situations where the autonomous vehicle passes through the first area, thereby improving the transportation efficiency of the autonomous vehicle.

[0176] Figure 7 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0177] like Figure 7 As shown, the executing entity of this vehicle control method can be a control device in the vehicle control system, which can be the central control console, without specific limitation here. The method can include the following steps:

[0178] S710 sends the area information of the first area to the scheduling equipment.

[0179] In some embodiments, the first area mentioned above is a prohibited area for vehicles, and the area information of the first area may include the location of the area's center point and the area's radius. Additionally, the second area mentioned above may include the first area.

[0180] Specifically, the control device can send the area information of the first area to the scheduling device. After obtaining the first vehicle location of the vehicle to be scheduled and the device locations of multiple devices to be configured in the second area, the scheduling device determines the scheduling location of the vehicle to be scheduled based on the received area information of the first area, the first vehicle location of the vehicle to be scheduled, and the device locations of multiple devices to be configured in the second area, and sends the scheduling location of the vehicle to be scheduled to the planning device.

[0181] More specifically, after the control device sends the area information of the first area to the scheduling device, the scheduling device, having acquired the area information of the first area, the location of the first vehicle to be scheduled, and the locations of multiple devices to be configured in the second area, determines, based on the received area information of the first area and the locations of the multiple devices to be configured, the first device to be configured that is not located in the first area. Based on the location of the first device to be configured and the location of the first vehicle to be scheduled, the scheduling device selects the target device to be configured that meets preset conditions from the first device to be configured, determines the location of the target device to be configured as the scheduling location of the vehicle to be scheduled, and sends the scheduling location of the vehicle to be scheduled to the planning device. The preset conditions can be conditions pre-set based on actual experience or circumstances, and are not further limited here.

[0182] S720 sends the area information of the first area to the planning equipment.

[0183] Each first planned path includes the dispatch location of the vehicle to be dispatched, sent by the dispatching equipment.

[0184] Specifically, the control device can also send the area information of the first area to the planning device, so that when the planning device obtains multiple first planning paths, it can select the target planning path whose distance from the area center point is greater than the area radius based on the received location of the area center point and the area radius of the first area, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planning path.

[0185] In this embodiment, the control device can send area information of a first region to the control device. This allows the scheduling device, upon acquiring the area information of the first region, the location of the first vehicle to be scheduled, and the locations of multiple devices to be configured in the second region, to determine the scheduling location of the vehicle to be scheduled based on the acquired information and send this location to the planning device. Furthermore, the control device can send the area information of the first region to the planning device. This allows the planning device, upon acquiring multiple first planned paths for the vehicle to be scheduled and the area information of the first region, to select a target planned path that does not pass through the first region from the multiple first planned paths and send this target planned path to the vehicle to be scheduled, thereby controlling the vehicle to travel according to the received target planned path. In this way, the multiple first planned paths of the vehicle can be pre-judged to obtain a target planned path that does not pass through the first region, and the vehicle can be controlled to travel according to this target planned path. This avoids situations where the vehicle is restricted to a designated area because its travel path passes through the first region, thereby improving the transportation efficiency of the vehicle.

[0186] Based on the same inventive concept, this application also provides a vehicle control device. This vehicle control device can be applied to planning equipment, specifically in conjunction with… Figure 8 The vehicle control device provided in the embodiments of this application will be described in detail.

[0187] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0188] like Figure 8 As shown, the vehicle control device 800 may include: an acquisition module 810, a filtering module 820, and a sending module 830.

[0189] The acquisition module 810 is used to acquire multiple first planned paths for the vehicles to be dispatched, as well as the area information of the first area. The first planned path includes the dispatch location of the vehicles to be dispatched sent by the dispatching device, and the first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the radius of the area.

[0190] The filtering module 820 is used to filter out target planning paths whose distance from the center point of the region is greater than the radius of the region from multiple first planning paths based on the location of the center point of the first region and the region radius.

[0191] The sending module 830 is used to send the target planned route to the vehicle to be dispatched and control the vehicle to be dispatched to travel to the dispatch location according to the target planned route.

[0192] In one embodiment, the filtering module mentioned above can be specifically used for:

[0193] For each of the multiple first planning paths, determine multiple first path points for each first planning path, as well as the path point positions of the multiple first path points;

[0194] Based on the path point positions of multiple first path points and the position of the region center point, calculate the distances between the multiple first path points and the region center point to obtain multiple first distances;

[0195] If multiple first distances corresponding to the first planning path are all greater than the region radius, then the first planning path is determined as the second planning path, resulting in multiple second planning paths.

[0196] The target planning path is determined based on multiple secondary planning paths.

[0197] In one embodiment, each first planned path includes multiple second planned path points and the path point locations of the second planned path points; the filtering module mentioned above is specifically used for:

[0198] Based on a preset sampling length, multiple first path points are selected from multiple second planned path points, and the path point positions of multiple first path points are selected from the path point positions of multiple second planned path points.

[0199] In one embodiment, the filtering module mentioned above can be specifically used for:

[0200] N path points between the first target path point and the second target path point are determined as N third path points. The first target path point is the path point closest to the center point of the region among the multiple first path points. The second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point.

[0201] If the preset sampling length is less than or equal to the preset solution threshold, traverse N third path points. Based on the path point position and the region center point position of each third path point, calculate the second distance between each third path point and the region center point to obtain N second distances. If all N second distances are greater than the region radius, determine the second planning path as the target planning path.

[0202] In one embodiment, the filtering module mentioned above can be specifically used for:

[0203] If the preset sampling length is greater than the preset solution threshold, the preset sampling length is adjusted, and M third path points are selected from N third path points based on the adjusted preset sampling length, where N is greater than M.

[0204] Traverse the M third path points, and calculate the third distance between each third path point and the region center point based on the path point position and the region center point position, to obtain M third distances;

[0205] If all M third distances are greater than the region radius, and the adjusted preset sampling length is greater than the preset solution threshold, return to the step of adjusting the preset sampling length and selecting M third path points from N third path points based on the adjusted preset sampling length, until the adjusted preset sampling length is less than or equal to the preset solution threshold.

[0206] In one embodiment, the vehicle control device mentioned above may include a receiving module and a planning module.

[0207] The receiving module is used to receive the dispatch location of the vehicles to be dispatched sent by the dispatching equipment;

[0208] The acquisition module is used for the first vehicle information of the vehicle to be dispatched, and the second vehicle information of multiple vehicles in the second area. The first vehicle information includes the location of the first vehicle, and the second vehicle information includes the location of the second vehicle and the first route. The second area includes the first area.

[0209] The planning module is used to perform path planning for the vehicles to be scheduled based on the scheduling location and the first vehicle location of the vehicles to be scheduled, as well as the first vehicle locations and first paths of multiple vehicles, to obtain multiple first planned paths corresponding to the vehicles to be scheduled.

[0210] In this embodiment, multiple first planned paths for the vehicle to be dispatched and area information of a first area can be obtained. Since the first area is a prohibited area for vehicles, and the area information of the first area may include the location of the area's center point and the area's radius, a target planned path that is farther from the area's center point than the area's radius can be selected from the multiple first planned paths based on the location of the area's center point and the area's radius. This means the path does not pass through the first area. The target planned path is then sent to the vehicle to be dispatched, and the vehicle is controlled to travel to the dispatch location according to the target planned path. In this way, multiple first planned paths of the vehicle can be pre-judged to obtain a target planned path that does not pass through the first area, and the vehicle can be controlled to travel according to the target planned path. This avoids the situation where the vehicle is restricted to a designated area because its travel path passes through the first area, thereby improving the vehicle's transportation efficiency.

[0211] The various modules in the vehicle control device provided in this application embodiment can achieve... Figure 3 The method steps of the embodiments shown in the figure, and the corresponding technical effects they achieve, will not be described in detail here for the sake of brevity.

[0212] In addition, this application also provides a vehicle control device. This vehicle control device can be applied to dispatching equipment, specifically in conjunction with... Figure 9 The vehicle control device provided in the embodiments of this application will be described in detail.

[0213] Figure 9 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0214] like Figure 9 As shown, the vehicle control device 900 may include: an acquisition module 910, a determination module 920, a filtering module 930, and a sending module 940.

[0215] The acquisition module 910 is used to acquire the area information of the first area, the location of the first vehicle to be dispatched, and the location of multiple devices to be configured in the second area. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the area radius. The second area includes the first area.

[0216] The determination module 920 is used to determine the first device to be configured that is not located in the first area among the multiple devices to be configured, based on the vehicle location and area information of the multiple devices to be configured;

[0217] The filtering module 930 is used to filter out target devices that meet preset conditions from the first devices to be configured based on the first vehicle location of the first device to be configured and the vehicle location of the vehicle to be dispatched, and to determine the vehicle location of the target device to be configured as the dispatch location of the vehicle to be dispatched.

[0218] The sending module 940 is used to send the dispatch location of the vehicle to be dispatched to the planning device, so that the planning device can obtain multiple first planning paths including the dispatch location of the vehicle to be dispatched, and select a target planning path from the multiple first planning paths according to the location of the regional center point and the regional radius of the first area, so as to control the vehicle to be dispatched to travel to the dispatch location according to the target planning path.

[0219] In this embodiment, the system can acquire area information of a first area, the location of a first vehicle to be dispatched, and the vehicle locations of multiple devices to be configured in a second area. Based on the vehicle locations and area information of these devices, it can determine a first device not located within the first area. Then, based on the vehicle locations of the first devices and the location of the first vehicle to be dispatched, it can filter out target devices that meet preset conditions and determine their locations as the dispatch locations for the vehicles to be dispatched. This dispatch location is then sent to a planning device, which can then obtain multiple first planned paths for the vehicles to be dispatched. Based on the received dispatch locations, the planning device can select a target planned path from these paths, and control the vehicles to be dispatched to travel along the target planned path to the dispatch location. This allows for advance prediction of the autonomous vehicle's path, avoiding situations where the autonomous vehicle passes through the first area, thereby improving the transportation efficiency of the autonomous vehicle.

[0220] The various modules in the vehicle control device provided in this application embodiment can achieve... Figure 6 The method steps of the embodiments shown in the figure, and the corresponding technical effects they achieve, will not be described in detail here for the sake of brevity.

[0221] In addition, this application also provides a vehicle control device. This vehicle control device can be applied to control equipment, specifically in conjunction with... Figure 10 The vehicle control device provided in the embodiments of this application will be described in detail.

[0222] Figure 10 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0223] like Figure 10 As shown, the vehicle control device 1000 may include a transmitting module 1010.

[0224] The sending module 1010 is used to send the area information of the first area to the scheduling device, so that when the scheduling device obtains the first vehicle location of the vehicle to be scheduled and the device locations of multiple devices to be configured in the second area, it can determine the scheduling location of the vehicle to be scheduled based on the received area information of the first area, the first vehicle location of the vehicle to be scheduled, and the device locations of multiple devices to be configured in the second area, and send the scheduling location of the vehicle to be scheduled to the planning device.

[0225] The sending module 1010 is also used to send the area information of the first area to the planning device, so that when the planning device obtains multiple first planning paths, it can select the target planning path whose distance from the area center point is greater than the area radius according to the received area center point position and area radius of the first area, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatching position according to the target planning path.

[0226] Each first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching equipment, the first area is an area where vehicles are prohibited from driving, and the area information includes the location of the area center point and the area radius, and the second area includes the first area.

[0227] In this embodiment, the control device can send area information of a first region to the control device. This allows the scheduling device, upon acquiring the area information of the first region, the location of the first vehicle to be scheduled, and the locations of multiple devices to be configured in the second region, to determine the scheduling location of the vehicle to be scheduled based on the acquired information and send this location to the planning device. Furthermore, the control device can send the area information of the first region to the planning device. This allows the planning device, upon acquiring multiple first planned paths for the vehicle to be scheduled and the area information of the first region, to select a target planned path that does not pass through the first region from the multiple first planned paths and send this target planned path to the vehicle to be scheduled, thereby controlling the vehicle to travel according to the received target planned path. In this way, the multiple first planned paths of the vehicle can be pre-judged to obtain a target planned path that does not pass through the first region, and the vehicle can be controlled to travel according to this target planned path. This avoids situations where the vehicle is restricted to a designated area because its travel path passes through the first region, thereby improving the transportation efficiency of the vehicle.

[0228] The various modules in the vehicle control device provided in this application embodiment can achieve... Figure 7 The method steps of the embodiments shown in the figure, and the corresponding technical effects they achieve, will not be described in detail here for the sake of brevity. Figure 11 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0229] An electronic device may include a processor 1101 and a memory 1102 storing computer program instructions.

[0230] Specifically, the processor 1101 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0231] Memory 1102 may include mass storage for data or instructions. For example, and not limitingly, memory 1102 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 1102 may include removable or non-removable (or fixed) media. Where appropriate, memory 1102 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 1102 is non-volatile solid-state memory.

[0232] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0233] The processor 1101 implements any of the vehicle control methods described in the above embodiments by reading and executing computer program instructions stored in the memory 1102.

[0234] In one example, the electronic device may also include a communication interface 1103 and a bus 1110. For example, Figure 11 To establish communication between them.

[0235] The communication interface 1103 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0236] Bus 1110 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 1110 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0237] Furthermore, in conjunction with the vehicle control method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement the vehicle control method provided in this application embodiment.

[0238] This application also provides a computer program product in which instructions, when executed by the processor of an electronic device, cause the electronic device to perform the vehicle control method provided in this application.

[0239] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0240] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0241] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0242] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable vehicle control device to produce a machine such that these instructions, executable via the processor of the computer or other programmable vehicle control device, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0243] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, Applied to planning equipment, the method includes: The system obtains multiple first planned paths for vehicles to be dispatched, as well as area information for a first region. The first planned path includes the dispatch location of the vehicle to be dispatched sent by the dispatching device. The first region is a region where vehicles are prohibited from driving. The area information includes the location of the region center point and the region radius. Based on the location of the regional center point and the regional radius of the first region, a target planning path with a distance greater than the regional radius is selected from the plurality of first planning paths; The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths based on the location of the regional center point and the regional radius of the first region includes: For each of the plurality of first planning paths, determine a plurality of first path points for the first planning path, and the path point positions of the plurality of first path points; Based on the path point positions of the plurality of first path points and the position of the region center point, calculate the distances between the plurality of first path points and the region center point to obtain a plurality of first distances; If multiple first distances corresponding to the first planning path are all greater than the radius of the region, the first planning path is determined to be the second planning path, and multiple second planning paths are obtained. The target planning path is determined based on the multiple second planning paths; The step of determining the target planning path based on the plurality of second planning paths includes: For each of the plurality of second planning paths, perform the following steps: N path points between the first target path point and the second target path point are determined as N third path points. The first target path point is the path point closest to the center point of the region among the plurality of first path points. The second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point among the plurality of first path points. When the preset sampling length is less than or equal to the preset solution threshold, the N third path points are traversed, and the second distance between each third path point and the region center point is calculated based on the path point position and the region center point position, so as to obtain N second distances. If all N second distances are greater than the region radius, the second planned path is determined as the target planned path; The target planned route is sent to the vehicle to be dispatched, and the vehicle to be dispatched is controlled to travel to the dispatch location according to the target planned route.

2. The method according to claim 1, characterized in that, Each first planned path includes multiple second planned path points and the path point locations of the second planned path points; Determining the plurality of first path points of the first planned path, and the path point locations of the plurality of first path points, includes: Based on the preset sampling length, multiple first path points are selected from the multiple second planned path points, and the path point positions of multiple first path points are selected from the path point positions of the multiple second planned path points.

3. The method according to claim 1, characterized in that, The method further includes: If the preset sampling length is greater than the preset solution threshold, the preset sampling length is adjusted, and M third path points are selected from N third path points based on the adjusted preset sampling length, where N is greater than M. Traverse the M third path points, and calculate the third distance between each third path point and the region center point based on the path point position and the region center point position to obtain M third distances; If all M third distances are greater than the region radius, and the adjusted preset sampling length is greater than the preset solution threshold, return to the step of adjusting the preset sampling length and selecting M third path points from N third path points based on the adjusted preset sampling length, until the adjusted preset sampling length is less than or equal to the preset solution threshold.

4. The method according to claim 1, characterized in that, Obtain multiple first-planned routes for the vehicles to be dispatched, including: Receive the dispatch location of the vehicle to be dispatched sent by the dispatching equipment; Obtain first vehicle information of the vehicle to be dispatched, and second vehicle information of multiple vehicles in a second area. The first vehicle information includes the location of the first vehicle, and the second vehicle information includes the location of the second vehicle and a first route. The second area includes the first area. Based on the dispatch location and first vehicle location of the vehicle to be dispatched, as well as the second vehicle location and first path of the multiple vehicles, path planning is performed on the vehicle to be dispatched to obtain multiple first planned paths corresponding to the vehicle to be dispatched.

5. A vehicle control method, characterized in that, Applied to scheduling equipment, the method includes: The system obtains the area information of the first area, the location of the first vehicle to be dispatched, and the location of multiple devices to be configured in the second area. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the area radius. The second area includes the first area. Based on the device locations of the plurality of devices to be configured and the area information, a first device to be configured that is not located in the first area is determined among the plurality of devices to be configured; Based on the device location of the first device to be configured and the first vehicle location of the vehicle to be dispatched, a target device to be configured that meets the preset conditions is selected from the first device to be configured, and the device location of the target device to be configured is determined as the dispatch location of the vehicle to be dispatched. The scheduling location of the vehicle to be scheduled is sent to the planning device so that the planning device can obtain multiple first planning paths, each of which includes the scheduling location of the vehicle to be scheduled. Based on the location of the regional center point and the regional radius of the first region, a target planning path with a distance greater than the regional center point is selected from the multiple first planning paths so as to control the vehicle to be scheduled to travel to the scheduling location according to the target planning path. The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths based on the location of the regional center point and the regional radius of the first region includes: For each of the plurality of first planning paths, determine a plurality of first path points of the first planning path, and the path point positions of the plurality of first path points; calculate the distances between the plurality of first path points and the region center point based on the path point positions of the plurality of first path points and the region center point, to obtain a plurality of first distances; if the plurality of first distances corresponding to the first planning path are all greater than the region radius, determine the first planning path as a second planning path, to obtain a plurality of second planning paths; determine a target planning path based on the plurality of second planning paths; the determination of the target planning path based on the plurality of second planning paths includes: for each of the plurality of second planning paths, performing the following steps: confirming... N path points between the first target path point and the second target path point are defined as N third path points. The first target path point is the path point closest to the center point of the region among the plurality of first path points, and the second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point. When the preset sampling length is less than or equal to the preset solution threshold, the N third path points are traversed, and a second distance between each third path point and the center point of the region is calculated based on the path point position and the position of the center point of the region, resulting in N second distances. When all N second distances are greater than the radius of the region, the second planned path is determined as the target planned path.

6. A vehicle control method, characterized in that, Applied to control equipment, the method includes: The dispatching device sends the area information of the first area to the dispatching device, so that when the dispatching device obtains the first vehicle location of the vehicle to be dispatched and the device locations of multiple devices to be configured in the second area, it can determine the dispatching location of the vehicle to be dispatched based on the received area information of the first area, the first vehicle location of the vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area, and send the dispatching location of the vehicle to be dispatched to the planning device. The planning device sends the area information of the first area to the planning device so that, when the planning device obtains multiple first planning paths, it can select a target planning path whose distance from the area center point is greater than the area radius based on the received area center point position and area radius of the first area, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatching position according to the target planning path. Each of the first planned paths includes the dispatch location of the vehicle to be dispatched sent by the dispatching device, the first area is an area where vehicles are prohibited from driving, the area information includes the location of the area center point and the area radius, and the second area includes the first area; The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths based on the location of the regional center point and the regional radius of the first region includes: for each of the plurality of first planning paths, determining a plurality of first path points of the first planning path and the path point positions of the plurality of first path points; calculating the distances between the plurality of first path points and the regional center point based on the path point positions of the plurality of first path points and the location of the regional center point, obtaining a plurality of first distances; when the plurality of first distances corresponding to the first planning path are all greater than the regional radius, determining the first planning path as a second planning path, obtaining a plurality of second planning paths; determining a target planning path based on the plurality of second planning paths; the step of determining the target planning path based on the plurality of second planning paths includes: The path includes: for each of the plurality of second planning paths, performing the following steps: determining N path points between the first target path point and the second target path point as N third path points, where the first target path point is the path point closest to the center point of the region among the plurality of first path points, and the second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point among the plurality of first path points; when the preset sampling length is less than or equal to the preset solution threshold, traversing the N third path points, and calculating the second distance between each third path point and the center point of the region based on the path point position and the center point position of the region, obtaining N second distances; when all N second distances are greater than the region radius, determining the second planning path as the target planning path.

7. A vehicle control system, characterized in that, The system includes: A control device is used to send area information of a first area to a planning device and a scheduling device respectively. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the area center point and the area radius. The scheduling device is configured to, upon obtaining the first vehicle location of the vehicle to be scheduled and the device locations of multiple devices to be configured within a second area, determine the scheduling location of the vehicle to be scheduled based on the received area information of the first area, the first vehicle location of the vehicle to be scheduled, and the device locations of multiple devices to be configured within the second area, and send the scheduling location of the vehicle to be scheduled to the planning device, wherein the second area includes the first area; receive a request from the planning device to change the scheduling location; and, based on the request to change the scheduling location, re-determine the device location of the target device to be configured as the changed scheduling location, and send it to the planning device. The planning device is configured to, upon acquiring multiple first planning paths, select a target planning path whose distance from the regional center point is greater than the regional radius based on the received location of the regional center point and the regional radius of a first region, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planning path. Each first planning path includes the dispatch location of the vehicle to be dispatched sent by the dispatching device. The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius based on the location of the regional center point and the regional radius of the first region includes: for each of the multiple first planning paths, determining multiple first path points of the first planning path, and the path point positions of the multiple first path points; calculating the distances between the multiple first path points and the regional center point based on the path point positions and the regional center point positions, obtaining multiple first distances; and determining the distances between the multiple first path points and the regional center point based on the path point positions and the regional center point positions of the multiple first path points. If all distances are greater than the radius of the region, the first planned path is determined as the second planned path, resulting in multiple second planned paths; a target planned path is determined based on the multiple second planned paths; determining the target planned path based on the multiple second planned paths includes: for each of the multiple second planned paths, performing the following steps: determining N path points between the first target path point and the second target path point as N third path points, where the first target path point is the path point closest to the center point of the region among the multiple first path points, and the second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point among the multiple first path points; if the preset sampling length is less than or equal to the preset solution threshold, traversing the N third path points, and calculating the second distance between each third path point and the center point of the region based on the path point position and the center point position of the region, resulting in N second distances; if all N second distances are greater than the radius of the region, the second planned path is determined as the target planned path.

8. A vehicle control device, characterized in that, Applied to planning equipment, the device includes: The acquisition module is used to acquire multiple first planned paths of the vehicles to be dispatched, as well as the area information of the first area. The first planned path includes the dispatch location of the vehicles to be dispatched sent by the dispatching device. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the radius of the area. The filtering module is used to filter out target planning paths whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths, based on the location of the regional center point and the regional radius of the first region. The filtering module is specifically used for: for each of the plurality of first planning paths, determining a plurality of first path points of the first planning path, and the path point positions of the plurality of first path points; calculating the distances between the plurality of first path points and the region center point based on the path point positions of the plurality of first path points and the region center point, obtaining a plurality of first distances; if the plurality of first distances corresponding to the first planning path are all greater than the region radius, determining the first planning path as a second planning path, obtaining a plurality of second planning paths; and determining the target planning path based on the plurality of second planning paths. The filtering module is specifically used to perform the following steps for each of the plurality of second planning paths: determining N path points between the first target path point and the second target path point as N third path points, wherein the first target path point is the path point closest to the region center point among the plurality of first path points, and the second target path point is the path point closest to the region center point among the two path points adjacent to the first target path point among the plurality of first path points; traversing the N third path points when the preset sampling length is less than or equal to a preset solution threshold, calculating a second distance between each third path point and the region center point based on the path point position and the region center point position, obtaining N second distances; and determining the second planning path as the target planning path when all N second distances are greater than the region radius. The sending module is used to send the target planned route to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatch location according to the target planned route.

9. A vehicle control device, characterized in that, Applied to scheduling equipment, the device includes: The acquisition module acquires the area information of the first area, the location of the first vehicle to be dispatched, and the device locations of multiple devices to be configured in the second area. The first area is an area where vehicles are prohibited from driving. The area information includes the location of the center point of the area and the area radius. The second area includes the first area. The filtering module is used to determine, based on the device location of the plurality of devices to be configured and the area information, the first device to be configured that is not located in the first area among the plurality of devices to be configured; The determination module is used to filter out target devices that meet preset conditions from the first devices to be configured based on the device location of the first device to be configured and the first vehicle location of the vehicle to be dispatched, and determine the device location of the target device to be configured as the dispatch location of the vehicle to be dispatched. The sending module is used to send the dispatch location of the vehicle to be dispatched to the planning device, so that the planning device can obtain multiple first planning paths including the dispatch location of the vehicle to be dispatched, and select a target planning path from the multiple first planning paths according to the location of the regional center point and the regional radius of the first area, so as to control the vehicle to be dispatched to travel to the dispatch location according to the target planning path. The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths based on the location of the regional center point and the regional radius of the first region includes: for each of the plurality of first planning paths, determining a plurality of first path points of the first planning path and the path point positions of the plurality of first path points; calculating the distances between the plurality of first path points and the regional center point based on the path point positions of the plurality of first path points and the location of the regional center point, obtaining a plurality of first distances; when the plurality of first distances corresponding to the first planning path are all greater than the regional radius, determining the first planning path as a second planning path, obtaining a plurality of second planning paths; determining a target planning path based on the plurality of second planning paths; the step of determining the target planning path based on the plurality of second planning paths includes: The path includes: for each of the plurality of second planning paths, performing the following steps: determining N path points between the first target path point and the second target path point as N third path points, where the first target path point is the path point closest to the center point of the region among the plurality of first path points, and the second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point among the plurality of first path points; when the preset sampling length is less than or equal to the preset solution threshold, traversing the N third path points, and calculating the second distance between each third path point and the center point of the region based on the path point position and the center point position of the region, obtaining N second distances; when all N second distances are greater than the region radius, determining the second planning path as the target planning path.

10. A vehicle control device, characterized in that, Applied to control equipment, the device includes: The sending module is used to send area information of a first area to the scheduling device, so that when the scheduling device obtains the first vehicle location of the vehicle to be scheduled and the device locations of multiple devices to be configured in the second area, it can determine the scheduling location of the vehicle to be scheduled based on the received area information of the first area, the first vehicle location of the vehicle to be scheduled, and the device locations of multiple devices to be configured in the second area, and send the scheduling location of the vehicle to be scheduled to the planning device. The sending module is further configured to send the area information of the first area to the planning device, so that when the planning device obtains multiple first planning paths, it can select a target planning path whose distance from the area center point is greater than the area radius based on the received area center point position and area radius of the first area, determine the multiple first planning paths of the vehicle to be dispatched based on the changed dispatching position, send the target planning path to the vehicle to be dispatched, and control the vehicle to be dispatched to travel to the dispatching position according to the target planning path; Each of the first planned paths includes the dispatch location of the vehicle to be dispatched sent by the dispatching device, the first area is an area where vehicles are prohibited from driving, the area information includes the location of the area center point and the area radius, and the second area includes the first area; The step of selecting a target planning path whose distance from the regional center point is greater than the regional radius from the plurality of first planning paths based on the location of the regional center point and the regional radius of the first region includes: for each of the plurality of first planning paths, determining a plurality of first path points of the first planning path and the path point positions of the plurality of first path points; calculating the distances between the plurality of first path points and the regional center point based on the path point positions of the plurality of first path points and the location of the regional center point, obtaining a plurality of first distances; when the plurality of first distances corresponding to the first planning path are all greater than the regional radius, determining the first planning path as a second planning path, obtaining a plurality of second planning paths; determining a target planning path based on the plurality of second planning paths; the step of determining the target planning path based on the plurality of second planning paths includes: The path includes: for each of the plurality of second planning paths, performing the following steps: determining N path points between the first target path point and the second target path point as N third path points, where the first target path point is the path point closest to the center point of the region among the plurality of first path points, and the second target path point is the path point closest to the center point of the region among the two path points adjacent to the first target path point among the plurality of first path points; when the preset sampling length is less than or equal to the preset solution threshold, traversing the N third path points, and calculating the second distance between each third path point and the center point of the region based on the path point position and the center point position of the region, obtaining N second distances; when all N second distances are greater than the region radius, determining the second planning path as the target planning path.

11. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the vehicle control method as described in any one of claims 1-6.

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