Right of way allocation method, device, equipment and medium

Abstract

The embodiment of the present application provides a right-of-way allocation method, device, equipment and medium, including: obtaining distribution information to be processed and right-of-way allocation information of multiple vehicles in a target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at multiple parking spots, and the right-of-way allocation information includes at least one corresponding relationship between vehicle distribution information and a right-of-way allocation scheme; based on the corresponding relationship between at least one vehicle distribution information and a right-of-way allocation scheme, matching the distribution information to be processed to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, and the target right-of-way allocation scheme is used to indicate the next parking spot that the vehicle at each parking spot in the multiple parking spots can pass. The embodiment of the present application improves the traffic efficiency of the entire loading area.

Description

Technical Field

[0001] The present application belongs to the field of information processing technology, and in particular, relates to a method, device, equipment and medium for allocating right of way. Background Art

[0002] In real life, when an open-pit mine is put into production, the loading and unloading area usually has a large density of mining trucks. When a large number of mining trucks gather in a relatively small area, it is necessary to select the optimal loading and unloading position for each mining truck, and then guide the mining trucks in an orderly manner to complete the production process of "entering the site-reversing into position-loading / unloading-exiting". In this process, due to the size of the regional space and the kinematic constraints of the mining trucks, there are often a large number of road rights conflicts between mining trucks.

[0003] In order to solve the above problems, the prior art generally uses real-time path planning methods to generate collision-free or obstacle-avoiding paths to avoid right-of-way conflicts. However, this method results in low traffic efficiency in the entire loading and unloading area. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for allocating right of way, which improve the traffic efficiency of the entire loading and unloading area.

[0005] In a first aspect, an embodiment of the present application provides a method for allocating a right of way, the method comprising:

[0006] Acquire distribution information to be processed and communication right allocation information of multiple vehicles in a target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of the multiple vehicles at the multiple parking spots, and the right of way allocation information includes at least one correspondence between vehicle distribution information and a right of way allocation scheme;

[0007] Based on the correspondence between at least one vehicle distribution information and a right-of-way allocation scheme, the distribution information to be processed is matched to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, and the target right-of-way allocation scheme is used to indicate the next parking point that the vehicle at each parking point in the multiple parking points can pass.

[0008] In an optional implementation of the first aspect, the target right-of-way allocation scheme includes at least one first feasible path, each first feasible path includes at least two parking spots, and the target right-of-way allocation scheme further includes a priority of each parking spot;

[0009] After matching the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, the method further includes:

[0010] Based on the priority of each parking spot, the vehicle at each parking spot is controlled to travel to the next parking spot according to a preset priority order and at least one first feasible path.

[0011] In an optional implementation of the first aspect, obtaining right-of-way allocation information includes:

[0012] Obtain at least one vehicle distribution information and an N-layer network topology map, wherein the N-layer network topology map includes priority information of multiple parking spots, wherein the parking spots in the i-th layer of the network topology map are at the same priority, and the priority of the parking spots in the i-th layer of the network topology map is less than that of the parking spots in the i+1-th layer of the network topology map, wherein i and N are positive integers, i is greater than or equal to 1, and less than or equal to N-1;

[0013] For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined based on the vehicle distribution information and the N-layer network topology graph to obtain the right-of-way allocation information.

[0014] In an optional implementation of the first aspect, obtaining an N-layer network topology graph includes:

[0015] Acquire multiple drivable routes in the target area;

[0016] For each of the multiple drivable routes, perform the following steps:

[0017] The first parking point passed by the drivable route is taken as the starting point and the first parking point is taken as the end point to draw the first layer of network topology. The first parking point is separated from the target point passed by the drivable route for the 1+1 time by 1 parking point and is before the target point passed by the drivable route for the 1+1 time.

[0018] Taking the previous parking point of the target point passed by the drivable route for the i+1th time as the starting point and the i+1th parking point as the end point, draw the i+1th layer network topology diagram until i+1=N. There is one point between the i+1th parking point and the target point passed by the drivable route for the i+1+1th time and before the target point passed by the drivable route for the i+1+1th time, i=1, 2, 3...N-1.

[0019] In an optional implementation of the first aspect, the plurality of parking spots include at least two loading and unloading spots, and the at least two loading and unloading spots have different loading and unloading priorities;

[0020] Before determining, for each piece of at least one piece of vehicle distribution information, a right-of-way allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph to obtain the right-of-way allocation information, the method includes:

[0021] For each of the at least two loading and unloading points, based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology map, the position of the loading and unloading point in the N-layer network topology map is adjusted to obtain an adjusted N-layer network topology map.

[0022] In an optional implementation of the first aspect, each piece of vehicle distribution information includes a passability coefficient of each of the plurality of parking spots, where the passability coefficient is used to characterize the passability of the vehicle at the parking spot;

[0023] For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, based on the vehicle distribution information and the N-layer network topology graph, determining a right-of-way allocation scheme corresponding to the vehicle distribution information to obtain right-of-way allocation information includes:

[0024] For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, determining a first feasible path having a maximum passability coefficient in each layer of the network topology graph according to the vehicle distribution information;

[0025] Based on the first feasible path with the largest passability coefficient in each layer of the network topology graph, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information.

[0026] In an optional implementation of the first aspect, for each piece of vehicle distribution information in the at least one piece of vehicle distribution information, determining a first feasible path with the greatest degree of passability in each layer of the network topology graph according to the vehicle distribution information includes:

[0027] For each layer of the network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths based on the R root nodes and the L leaf nodes, where R and L are both positive integers greater than or equal to 1;

[0028] Determine the passability coefficient of each second feasible path among the R×L second feasible paths based on the passability coefficient of each parking spot included in the vehicle distribution information;

[0029] A second feasible path with the largest traversability coefficient is determined from the R×L second feasible paths as the first feasible path in the network topology graph.

[0030] In a second aspect, an embodiment of the present application provides a device for allocating right of way, the device comprising:

[0031] an acquisition module, used to acquire distribution information to be processed and right-of-way allocation information of multiple vehicles in a target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at the multiple parking spots, and the right-of-way allocation information includes at least one correspondence between vehicle distribution information and a right-of-way allocation scheme;

[0032] A determination module is used to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme, and obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, wherein the target right-of-way allocation scheme is used to indicate the next parking point that the vehicle at each parking point in the multiple parking points can pass.

[0033] In a third aspect, an electronic device is provided, comprising: a memory for storing computer program instructions; and a processor for reading and running the computer program instructions stored in the memory to execute the right of way allocation method provided in any optional implementation manner in the first aspect.

[0034] In a fourth aspect, a computer storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method for allocating right of way provided by any optional implementation in the first aspect is implemented.

[0035] In a fifth aspect, a computer program product is provided, the computer program product comprising a computer program, which, when executed by a processor, implements the method for allocating right of way provided by any optional implementation in the first aspect.

[0036] In the embodiment of the present application, it is possible to obtain the distribution information to be processed and the right of way allocation information of multiple vehicles in the target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at multiple parking spots, the right of way allocation information includes at least one correspondence between vehicle distribution information and right of way allocation scheme, based on this, it is possible to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and right of way allocation scheme, and obtain the target right of way allocation scheme corresponding to the distribution information to be processed, the target right of way allocation scheme is used to indicate the next parking spot that the vehicle at each parking spot in the multiple parking spots can pass. In this way, it is possible to consider multiple continuous conflicts or the relationship between conflicts that may exist in the entire area from the perspective of the entire area, avoiding the situation in the prior art where only one local conflict is considered, thereby improving the traffic efficiency of the loading and unloading area. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 It is a flowchart of a method for allocating right of way provided in an embodiment of the present application;

[0039] Figure 2 It is a flowchart of a method for allocating right of way provided in an embodiment of the present application;

[0040] Figure 3 It is one of the example diagrams of a method for allocating right of way provided in an embodiment of the present application;

[0041] Figure 4 This is the second example diagram of a method for allocating right of way provided in an embodiment of the present application;

[0042] Figure 5 This is a third example diagram of a method for allocating right of way provided in an embodiment of the present application;

[0043] Figure 6 This is a fourth example diagram of a method for allocating right of way provided in an embodiment of the present application;

[0044] Figure 7 It is a structural schematic diagram of a right of way allocation device provided in an embodiment of the present application;

[0045] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0047] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0048] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0049] In real life, when an open-pit mine is put into production, the loading and unloading area usually has a large density of mining trucks. When a large number of mining trucks gather in a relatively small area, it is necessary to select the optimal loading and unloading position for each mining truck, and then guide the mining trucks in an orderly manner to complete the production process of "entering the site-reversing into position-loading / unloading-exiting". In this process, due to the size of the regional space and the kinematic constraints of the mining trucks, there are often a large number of road rights conflicts between mining trucks.

[0050] In order to solve the above problems, the existing technology generally uses real-time path planning methods to generate collision-free or obstacle-avoiding paths to avoid right-of-way conflicts. However, this method only solves one local right-of-way conflict each time, and does not consider multiple consecutive conflicts or related interferences between conflicts, which may cause deadlock, resulting in low traffic efficiency in the entire loading and unloading area.

[0051] In order to solve the problems existing in the background technology, the embodiments of the present application provide a right of way allocation method, device, equipment and medium, which can obtain the distribution information to be processed and the right of way allocation information of multiple vehicles in the target area, the target area includes multiple parking spots, the above-mentioned distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at multiple parking spots, and the right of way allocation information includes at least one corresponding relationship between vehicle distribution information and the right of way allocation scheme. Based on this, the distribution information to be processed can be matched based on the corresponding relationship between at least one vehicle distribution information and the right of way allocation scheme, and the target right of way allocation scheme corresponding to the distribution information to be processed can be obtained. The target right of way allocation scheme is used to indicate the next parking spot that the vehicle at each parking spot in the multiple parking spots can pass. In this way, it is possible to consider multiple continuous conflicts or the relationship between conflicts that may exist in the entire area from the perspective of the entire area, avoiding the situation in the prior art where only one local conflict is considered, thereby improving the traffic efficiency of the loading and unloading area.

[0052] It should be noted that the execution subject of the right-of-way allocation method provided in the embodiment of the present application may be a right-of-way allocation device, or a control module in the right-of-way allocation device for executing the right-of-way allocation method. In the embodiment of the present application, the right-of-way allocation method provided in the embodiment of the present application is explained by taking the right-of-way allocation device executing the right-of-way allocation method as an example.

[0053] The right of way allocation method provided in the embodiment of the present application is described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0054] Figure 1 It is a flowchart of a method for allocating right of way provided in an embodiment of the present application.

[0055] like Figure 1 As shown, the execution subject of the right of way allocation method may be a right of way allocation device. The method may specifically include the following steps:

[0056] S110, obtaining distribution information to be processed and right-of-way allocation information of multiple vehicles in a target area.

[0057] The vehicle may be a mining truck or other vehicles, which are not specifically limited here. If the vehicle is a mining truck, the target area may be a loading and unloading area of ​​an open-pit mine, which is not specifically limited here.

[0058] In some embodiments, the target area may be a plurality of parking spots. Based on this, the to-be-processed distribution information is used to characterize the vehicle distribution of the plurality of vehicles at the plurality of parking spots. In addition, the right-of-way allocation information may include at least one corresponding relationship between vehicle distribution information and a right-of-way allocation scheme.

[0059] In one embodiment, the above step of obtaining the to-be-processed distribution information of multiple vehicles in the target area may specifically include the following steps:

[0060] Acquire positioning perception information and area information of a target area, the positioning perception information including a vehicle position of each of a plurality of vehicles, and the area information including a position of each of a plurality of parking spots;

[0061] For each of the multiple vehicles, based on the vehicle position of the vehicle and the position of each parking spot, the parking spot where the vehicle is located is determined to obtain distribution information to be processed of the multiple vehicles in the target area.

[0062] Specifically, the right of way allocation device can obtain positioning perception information and area information of the target area. The positioning perception information may include the vehicle position of each vehicle among multiple vehicles, and the area information includes the position of each parking point. Based on this, for each vehicle among multiple vehicles, based on the vehicle position of the vehicle and the position of each parking point, the parking point where the vehicle is located is determined, and then the distribution information to be processed of multiple vehicles in the target area can be obtained.

[0063] In one example, if a vehicle is between two parking spots (the previous parking spot and the next parking spot relative to the vehicle), the distance between the vehicle and the previous parking spot can be determined. If the distance is less than a preset distance threshold, the vehicle is determined to be at the previous parking spot; otherwise, the vehicle is determined to be at the next parking spot.

[0064] In addition, it should be noted that the above positioning perception information can be obtained by the right-of-way allocation device through its own detection equipment, and the detection equipment can include a radar, which is not limited here. In addition, the above positioning perception information can also be obtained by the right-of-way allocation device by receiving the vehicle position sent by the positioning equipment of each vehicle in multiple vehicles, which is not limited here.

[0065] S120, matching the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme, and obtaining a target right-of-way allocation scheme corresponding to the distribution information to be processed.

[0066] The target right-of-way allocation scheme may be used to indicate the next parking spot to which a vehicle at each of the plurality of parking spots can pass.

[0067] Specifically, after obtaining the distribution information to be processed and the communication right allocation information of multiple vehicles in the target area, since the right-of-way allocation information can include the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme, the right-of-way allocation device can match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme to obtain the target right-of-way allocation scheme corresponding to the processed distribution information.

[0068] In the embodiment of the present application, it is possible to obtain the distribution information to be processed and the right of way allocation information of multiple vehicles in the target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at multiple parking spots, the right of way allocation information includes at least one correspondence between vehicle distribution information and right of way allocation scheme, based on this, it is possible to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and right of way allocation scheme, and obtain the target right of way allocation scheme corresponding to the distribution information to be processed, the target right of way allocation scheme is used to indicate the next parking spot that the vehicle at each parking spot in the multiple parking spots can pass. In this way, it is possible to consider multiple continuous conflicts or the relationship between conflicts that may exist in the entire area from the perspective of the entire area, avoiding the situation in the prior art where only one local conflict is considered, thereby improving the traffic efficiency of the loading and unloading area.

[0069] In some embodiments, the target right-of-way allocation scheme may include at least one first feasible path, and each first feasible path may include at least two parking spots. Based on this, the target right-of-way allocation scheme may also include a priority of each parking spot.

[0070] Based on this, after the above S120, the above-mentioned right of way allocation method may further include the following steps:

[0071] Based on the priority of each parking spot, the vehicle at each parking spot is controlled to travel to the next parking spot according to a preset priority order and at least one first feasible path.

[0072] The preset priority order may be preset based on actual experience or circumstances, and is not limited here.

[0073] Specifically, the right-of-way allocation device can control the vehicle at each parking spot to travel to the next parking spot based on the priority of each parking spot, according to a preset priority order and at least one first feasible path.

[0074] In this embodiment, based on the priority of each parking spot, the vehicle at each parking spot can be controlled to travel to the next parking spot according to a preset priority order and at least one first feasible path. In this way, taking into account multiple consecutive conflicts in the entire area and the relationship between the conflicts, multiple consecutive conflicts in the entire area are effectively avoided, thereby improving the traffic efficiency of the entire area.

[0075] In order to more completely describe the method for allocating right of way provided in the embodiment of the present application, in one embodiment, Figure 2 As shown, the above-mentioned step of obtaining the right-of-way allocation information may also include the following steps:

[0076] S210, obtaining at least one vehicle distribution information and an N-layer network topology map.

[0077] The at least one vehicle distribution information may include the actual vehicle distribution information in the current target area, or may include all vehicle distribution information that may exist in the target area, which is not specifically limited here. Each vehicle distribution information may indicate whether there is a vehicle at each of the multiple parking spots, or how many vehicles there are. It should also be noted that the number of the multiple vehicle distribution information may be determined based on the number of vehicles, the number of parking spots, and the number of parking states at each parking spot.

[0078] In one example, the number of the above-mentioned multiple vehicle distribution information = × It should be noted that the number of parking states can be determined based on actual conditions. If "0" represents that there is no car at the parking spot, and "1" represents that there is a car at the parking spot, then there are two parking states. If "0" represents that there is no car at the parking spot, "1" represents that there is a car at the parking spot, and "2" represents that there are two cars at the parking spot, then the number of parking states is equal to the number of vehicles + 1.

[0079] In addition, in some embodiments, the above-mentioned N-layer network topology map may include priority information of the multiple parking spots, the parking spots in the i-th layer network topology map are at the same priority, the priority of the parking spots in the i-th layer network topology map is less than that of the parking spots in the i+1-th layer network topology map, i and N are positive integers, i is greater than or equal to 1, and less than or equal to N-1.

[0080] S220, for each vehicle distribution information in the at least one vehicle distribution information, based on the vehicle distribution information and the N-layer network topology graph, determine a right-of-way allocation scheme corresponding to the vehicle distribution information to obtain right-of-way allocation information.

[0081] Specifically, after obtaining multiple vehicle distribution information and an N-layer network topology map, the right-of-way allocation device can determine a right-of-way allocation scheme corresponding to each vehicle distribution information in at least one vehicle distribution information based on the vehicle distribution information and the N-layer network topology map containing priority information of multiple parking spots in the target area, so as to obtain the right-of-way allocation information.

[0082] In this embodiment, for each vehicle distribution situation, the right-of-way allocation scheme corresponding to each vehicle distribution situation can be accurately determined by utilizing an N-layer network topology map based on priority information of multiple parking spots in the target area and vehicle distribution information corresponding to the above vehicle distribution situations, which is conducive to subsequently quickly determining the corresponding right-of-way allocation scheme by table lookup, thereby improving the traffic efficiency of the entire area.

[0083] Based on this, in one embodiment, the above S220 may specifically include the following steps:

[0084] Obtain multiple drivable routes within the target area;

[0085] For each of the multiple drivable routes, perform the following steps:

[0086] The first parking point passed by the drivable route is taken as the starting point and the first parking point is taken as the end point to draw the first layer of network topology. The first parking point is separated from the target point passed by the drivable route for the 1+1 time by 1 parking point and is before the target point passed by the drivable route for the 1+1 time.

[0087] Taking the previous parking point of the target point passed by the drivable route for the i+1th time as the starting point and the i+1th parking point as the end point, draw the i+1th layer network topology diagram until i+1=N. The i+1th parking point is separated from the target point passed by the drivable route for the i+1+1th time by 1 point and is before the target point passed by the drivable route for the i+1+1th time.

[0088] Among them, the above-mentioned multiple drivable routes can be routes obtained based on historical trajectories, or can be a rough driving trajectory direction, and no point limitation is made here.

[0089] In addition, i=1, 2, 3, ... N-1. It should also be noted that N may be determined based on the number of times the drivable routes pass through the potential conflict point (the target point), and the potential conflict point includes a parking point that is repeatedly passed through in each drivable route and a parking point where at least two drivable routes overlap.

[0090] Specifically, the right of way allocation device can obtain multiple drivable routes in the target area, and for each of the multiple drivable routes, draw a first-layer network topology map with the first parking point passed by the drivable route as the starting point and the first parking point as the end point, where the first parking point is separated from the target point passed by the drivable route for the 1+1th time by one parking point and is before the target point passed by the drivable route for the 1+1th time.

[0091] Based on this, take the previous parking point of the target point passed by the drivable route for the i+1th time as the starting point, and the i+1th parking point as the end point, draw the i+1th layer network topology diagram until i+1=N, and there is a gap of 1 point between the i+1th parking point and the target point passed by the drivable route for the i+1+1th time and before the target point passed by the drivable route for the i+1+1th time.

[0092] In one example, if Figure 3 As shown in the figure, assume that the drivable route of a vehicle is A-->X-->B-->C-->X-->D, where the BC segment is reverse. It can be seen that the vehicle needs to pass through point X twice, that is, point X is a potential conflict point in the drivable route. Based on this, take the first parking point (point A) of the drivable route as the starting point, the first parking point (point B, because there is a point between point B and the second point X passed by the drivable route, and point B is before point X, so point B is the first parking point) as the end point, and draw the first layer of network topology. That is, the first layer of network topology should be as follows Figure 4 Based on this, the second-layer network topology diagram is drawn with the last parking point (point C) of the target point passed by the drivable route for the second time as the starting point and the second parking point (point D) as the end point. That is, the second-layer network topology diagram should be Figure 4 C-->X-->D as shown.

[0093] It should also be noted that in the process of drawing the network topology diagram, it should be noted that any conflict point can only have one node at most in each layer of the network topology diagram; high-priority loading and unloading points are placed at higher network levels; the same conflict point is aligned from top to bottom, etc.

[0094] In this embodiment, a complex driving route can be converted into a multi-layer network topology map, and the right of way priority of each parking spot can be reasonably scheduled. It is also convenient to accurately obtain the right of way allocation plan corresponding to each vehicle distribution situation based on the multi-layer network topology map in the future, thereby avoiding the problem of limited single right of way conflicts and improving the traffic efficiency of the entire area.

[0095] In some embodiments, the plurality of parking spots may include at least two loading and unloading spots, and the at least two loading and unloading spots have different loading and unloading priorities. Based on this, in one embodiment, before the above S230, the above-mentioned right of way allocation scheme may also include the following steps:

[0096] For each of the at least two loading and unloading points, based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology map, the position of the loading and unloading point in the N-layer network topology map is adjusted to obtain an adjusted N-layer network topology map.

[0097] The loading and unloading priority of each loading and unloading point can be pre-set based on actual experience or situation, or can be determined based on relevant information such as the production rate of each loading and unloading point, which is not limited here. In addition, the loading and unloading priority of each loading and unloading point is positively correlated with the number of vehicles required for each loading and unloading point, which is not limited here.

[0098] Specifically, since the above-mentioned multiple parking spots may include at least two loading and unloading points, and at least two loading and unloading points have different loading and unloading priorities, the right of way allocation device can adjust the position of the loading and unloading point in the N-layer network topology map for each of the at least two loading and unloading points based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology map, and obtain an adjusted N-layer network topology map.

[0099] In one example, if the loading and unloading points are point E, point F, point I, and point J, and the loading and unloading priority relationship between the four loading and unloading points is not considered, the following can be done: Figure 5 If the loading and unloading priority relationship between the four loading and unloading points is considered, and the loading and unloading priority relationship between the four is as follows: F>E, I>J, then the loading and unloading points can be adjusted in sequence based on the loading and unloading priority relationship. Figure 5 To get the position in Figure 6 The multi-layer network topology diagram is shown. It should be noted that different loading and unloading priority settings will lead to different topological structures.

[0100] based on Figure 6The multi-layer network topology shown in the figure needs to be explained. First, because the potential conflict point cannot be parked, when the nodes merge into the potential conflict point, we use straight lines instead of arrows (such as BZ, GY) to distinguish them. When we allocate the right of way, we also give the two nodes before and after the conflict point (for example, give the right of way to BC instead of BZC).

[0101] Second, the two conflict points Y and Z appear repeatedly in the multi-layer network topology, forming a "pass channel" ( Figure 6 The dashed line indicates that the potential conflict point can only be occupied by one vehicle at a time. Once the traffic on a plane is given the right of way to a certain pipeline, the traffic on other planes can no longer pass through the pipeline in the current time step. For example, now the right of way is assigned to the CE segment (through Z), then DF and BD cannot pass at the same time. In addition, if there are vehicles parked at the same time, who passes first needs to be constrained by the rules given by the priority sorting algorithm.

[0102] In this embodiment, the loading and unloading priorities of each loading and unloading point can be taken into consideration, the vehicle dispatch balance between the loading and unloading points can be achieved, and the right-of-way conflict can be converted into a "traffic pipeline" in the multi-layer network topology to solve the problem of right-of-way conflict coordination, thereby facilitating the subsequent avoidance of problems limited to a single right-of-way conflict and improving the traffic efficiency of the entire area.

[0103] In some embodiments, each of the above vehicle distribution information includes a pass coefficient of each of the multiple parking spots, and the pass coefficient is used to characterize the passability of the vehicle at the parking spot. Based on this, in one embodiment, the above S230 may specifically include the following steps:

[0104] For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, determining a first feasible path having a maximum passability coefficient in each layer of the network topology graph according to the vehicle distribution information;

[0105] Based on the first feasible path with the largest passability coefficient in each layer of the network topology graph, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information.

[0106] Specifically, since each vehicle distribution information includes the passability coefficient of each parking point among multiple parking points, and the passability coefficient is used to characterize the passability of the vehicle at the parking point, the right-of-way allocation device can determine the first feasible path with the largest passability coefficient in each layer of the network topology map according to the vehicle distribution information for each vehicle distribution information in at least one vehicle distribution information, and then can determine the right-of-way allocation scheme corresponding to the vehicle distribution information based on the first feasible path with the largest passability coefficient in each layer of the network topology map to obtain the right-of-way allocation information.

[0107] In one example, after determining the first feasible path with the largest passability coefficient in each layer of the network topology map, the first feasible path with the largest passability coefficient in the entire area can be determined based on the first feasible path with the largest passability coefficient in each layer of the network topology map, that is, the right of way allocation scheme corresponding to the vehicle distribution information is determined. It should be noted that the first feasible path with the largest passability in the entire area is not necessarily a continuous path from the starting point to the end point, and may be a combination of multiple discontinuous paths.

[0108] In this embodiment, the feasible path with the highest degree of passability in each layer of the network topology can be determined, and then the feasible path with the highest degree of passability in the entire area can be determined. In this way, the right of way conflict coordination problem can be solved with the goal of maximizing the flow of the entire network, that is, the maximum number of mining truck movements (maximum passability), thereby maximizing the traffic efficiency of the entire road network.

[0109] Based on this, in one embodiment, the steps of allocating the right of way corresponding to the vehicle distribution information mentioned above may specifically include the following steps:

[0110] For each layer of the network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths based on the R root nodes and the L leaf nodes;

[0111] Determine the passability coefficient of each second feasible path among the R×L second feasible paths based on the passability coefficient of each parking spot included in the vehicle distribution information;

[0112] A second feasible path with the largest traversability coefficient is determined from the R×L second feasible paths as the first feasible path in the network topology graph.

[0113] Specifically, the right-of-way allocation device can determine the R root nodes and L leaf nodes of the network topology for each layer of the network topology, and determine R×L second feasible paths based on the R root nodes and L leaf nodes, and then determine the passability coefficient of each second feasible path in the R×L second feasible paths based on the passability coefficient of each parking point included in the vehicle distribution information, that is, for each second feasible path, the sum of the passability coefficients of each parking point included in the second feasible path is determined as the passability coefficient of the second feasible path. So that the second feasible path with the largest passability coefficient can be determined from the R×L second feasible paths as the first feasible path of the network topology.

[0114] In this embodiment, the feasible path with the highest degree of traversability in each layer of the network topology map can be accurately determined, so that the feasible path with the highest degree of traversability in the entire area can be accurately determined subsequently.

[0115] Based on the same inventive concept, the embodiment of the present application also provides a right of way allocation device. Figure 7 The right-of-way allocation device provided in the embodiment of the present application is described in detail.

[0116] Figure 7 It is a structural schematic diagram of a right-of-way allocation device provided in an embodiment of the present application.

[0117] like Figure 7 As shown, the right-of-way allocation device 700 may include:

[0118] An acquisition module 710 is used to acquire distribution information to be processed and right-of-way allocation information of multiple vehicles in a target area, wherein the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of the multiple vehicles at the multiple parking spots, and the right-of-way allocation information includes at least one correspondence between vehicle distribution information and a right-of-way allocation scheme;

[0119] The determination module 720 is used to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme, and obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, and the target right-of-way allocation scheme is used to indicate the next parking point that the vehicle at each parking point in the multiple parking points can pass.

[0120] In one embodiment, the target right-of-way allocation scheme includes at least one first feasible path, each first feasible path includes at least two parking spots, and the target right-of-way allocation scheme also includes a priority for each parking spot. Based on this, the above-mentioned right-of-way allocation device may include a control module.

[0121] The control module is used to control the vehicle at each parking spot to travel to the next parking spot based on the priority of each parking spot, according to a preset priority order and at least one first feasible path.

[0122] In one embodiment, the acquisition module is further used to acquire at least one vehicle distribution information and an N-layer network topology map, the N-layer network topology map includes priority information of multiple parking spots, the parking spots in the i-th layer of the network topology map are at the same priority, the priority of the parking spots in the i-th layer of the network topology map is less than the parking spots in the i+1-th layer of the network topology map, i and N are positive integers, i is greater than or equal to 1, and less than or equal to N-1;

[0123] The determination module is also used to determine, for at least one of the at least one vehicle distribution information, a right of way allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology diagram to obtain the right of way allocation information.

[0124] In one embodiment, the drawing module is specifically used for:

[0125] Obtain multiple drivable routes within the target area;

[0126] For each of the multiple drivable routes, perform the following steps:

[0127] The first parking point passed by the drivable route is taken as the starting point and the first parking point is taken as the end point to draw the first layer of network topology. The first parking point is separated from the target point passed by the drivable route for the 1+1 time by 1 parking point and is before the target point passed by the drivable route for the 1+1 time.

[0128] Taking the previous parking point of the target point passed by the drivable route for the i+1th time as the starting point and the i+1th parking point as the end point, draw the i+1th layer network topology diagram until i+1=N. There is one point between the i+1th parking point and the target point passed by the drivable route for the i+1+1th time and before the target point passed by the drivable route for the i+1+1th time, i=1, 2, 3...N-1.

[0129] In one embodiment, the plurality of parking spots include at least two loading and unloading spots, and the at least two loading and unloading spots have different loading and unloading priorities; and the right-of-way allocation device further includes an adjustment module.

[0130] The adjustment module is used to adjust the position of each loading and unloading point in the N-layer network topology map based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology map for each of the at least two loading and unloading points, so as to obtain an adjusted N-layer network topology map.

[0131] In one embodiment, each vehicle distribution information includes a pass coefficient of each parking spot among a plurality of parking spots, and the pass coefficient is used to characterize the passability of the vehicle at the parking spot; the above-mentioned determination module is specifically used to:

[0132] For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, determining a first feasible path having a maximum passability coefficient in each layer of the network topology graph according to the vehicle distribution information;

[0133] Based on the first feasible path with the largest passability coefficient in each layer of the network topology graph, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information.

[0134] In one embodiment, the above-mentioned determination module is specifically used for:

[0135] For each layer of the network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths based on the R root nodes and the L leaf nodes, where R and L are both positive integers greater than or equal to 1;

[0136] Determine the passability coefficient of each second feasible path among the R×L second feasible paths based on the passability coefficient of each parking spot included in the vehicle distribution information;

[0137] A second feasible path with the largest traversability coefficient is determined from the R×L second feasible paths as the first feasible path in the network topology graph.

[0138] In the embodiment of the present application, it is possible to obtain the distribution information to be processed and the right of way allocation information of multiple vehicles in the target area, the target area includes multiple parking spots, the distribution information to be processed is used to characterize the vehicle distribution of multiple vehicles at multiple parking spots, the right of way allocation information includes at least one correspondence between vehicle distribution information and right of way allocation scheme, based on this, it is possible to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and right of way allocation scheme, and obtain the target right of way allocation scheme corresponding to the distribution information to be processed, the target right of way allocation scheme is used to indicate the next parking spot that the vehicle at each parking spot in the multiple parking spots can pass. In this way, it is possible to consider multiple continuous conflicts or the relationship between conflicts that may exist in the entire area from the perspective of the entire area, avoiding the situation in the prior art where only one local conflict is considered, thereby improving the traffic efficiency of the loading and unloading area.

[0139] Each module in the right of way allocation device provided in the embodiment of the present application can be implemented Figure 1 or Figure 2 The method steps of the illustrated embodiment can achieve the corresponding technical effects, and for the sake of brevity, they will not be repeated here.

[0140] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0141] The electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0142] Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0143] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 802 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory.

[0144] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the 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 method according to an aspect of the present disclosure.

[0145] The processor 801 implements any one of the right-of-way allocation methods in the above embodiments by reading and executing computer program instructions stored in the memory 802 .

[0146] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0147] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0148] Bus 810 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 810 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0149] In addition, in combination with the right of way allocation method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, the right of way allocation method provided in the embodiment of the present application is implemented.

[0150] The embodiment of the present application also provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the right of way allocation method provided in the embodiment of the present application.

[0151] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0152] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0153] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. 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 embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0154] Aspects of the present disclosure are described above with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram 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 right-of-way allocation device to produce a machine so that these instructions executed by the processor of the computer or other programmable right-of-way allocation device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. 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 can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0155] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for allocating right of way, characterized in that: The method comprises: Acquire distribution information to be processed and right-of-way allocation information of a plurality of vehicles in a target area, wherein the target area includes a plurality of parking spots, the distribution information to be processed is used to characterize the vehicle distribution of the plurality of vehicles at the plurality of parking spots, and the right-of-way allocation information includes at least one correspondence between vehicle distribution information and a right-of-way allocation scheme; Based on the correspondence between the at least one vehicle distribution information and the right-of-way allocation scheme, the distribution information to be processed is matched to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, wherein the target right-of-way allocation scheme is used to indicate the next parking point that the vehicle at each parking point in the plurality of parking points can pass through; The multiple parking spots include potential conflict points, which include parking spots that are repeatedly passed through in each of the multiple drivable routes in the target area and parking spots where at least two of the multiple drivable routes in the target area overlap, and the potential conflict points can only be occupied by one vehicle at a time.

2. The method according to claim 1, characterized in that: The target right-of-way allocation scheme includes at least one first feasible path, each of the first feasible paths includes at least two parking spots, and the target right-of-way allocation scheme also includes a priority of each of the parking spots; After matching the distribution information to be processed based on the correspondence between the at least one vehicle distribution information and the right-of-way allocation scheme to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, the method further includes: Based on the priority of each of the parking spots, the vehicle at each of the parking spots is controlled to travel to the next parking spot according to a preset priority order and the at least one first feasible path.

3. The method according to claim 1, characterized in that: Get right-of-way allocation information, including: Acquire at least one vehicle distribution information and an N-layer network topology map, wherein the N-layer network topology map includes priority information of the plurality of parking spots, the parking spots in the i-th layer network topology map are at the same priority, the priority of the parking spots in the i-th layer network topology map is less than the parking spots in the i+1-th layer network topology map, i and N are positive integers, i is greater than or equal to 1, and less than or equal to N-1; For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined based on the vehicle distribution information and the N-layer network topology graph to obtain right-of-way allocation information.

4. The method according to claim 3, characterized in that Get N-layer network topology diagram, including: Acquire multiple drivable routes in the target area; For each of the plurality of drivable routes, perform the following steps: Taking the first parking point passed by the drivable route as the starting point and the first parking point as the end point, a first-layer network topology diagram is drawn, wherein the first parking point is separated from the target point passed by the drivable route for the 1+1 time by one parking point and is before the target point passed by the drivable route for the 1+1 time; Taking the previous parking point of the target point passed by the drivable route for the i+1th time as the starting point and the i+1th parking point as the end point, draw the i+1th layer network topology diagram until i+1=N. There is one point between the i+1th parking point and the target point passed by the drivable route for the i+1+1th time and before the target point passed by the drivable route for the i+1+1th time, i=1, 2, 3...N-1.

5. The method according to claim 3 or 4, characterized in that: The plurality of parking spots include at least two loading and unloading spots, and the at least two loading and unloading spots have different loading and unloading priorities; Before determining, for each piece of the at least one piece of vehicle distribution information, a right-of-way allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph to obtain the right-of-way allocation information, the method includes: For each of the at least two loading and unloading points, based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology map, the position of the loading and unloading point in the N-layer network topology map is adjusted to obtain an adjusted N-layer network topology map.

6. The method according to claim 3, characterized in that Each of the vehicle distribution information includes a passability coefficient of each of the multiple parking spots, and the passability coefficient is used to characterize the passability of the vehicle at the parking spot; The determining, for each piece of the at least one piece of vehicle distribution information, a right-of-way allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph to obtain the right-of-way allocation information includes: For each piece of vehicle distribution information in the at least one piece of vehicle distribution information, determining a first feasible path having a maximum passability coefficient in each layer of the network topology graph according to the vehicle distribution information; Based on the first feasible path with the largest passability coefficient in each layer of the network topology graph, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information.

7. The method according to claim 6, characterized in that The step of determining, for each piece of vehicle distribution information in the at least one piece of vehicle distribution information, a first feasible path with a maximum passability coefficient in each layer of the network topology graph according to the vehicle distribution information, comprises: For each layer of the network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths according to the R root nodes and the L leaf nodes, where R and L are both positive integers greater than or equal to 1; Determine the passability coefficient of each second feasible path among the R×L second feasible paths based on the passability coefficient of each parking spot included in the vehicle distribution information; The second feasible path with the largest traversability coefficient is determined from the R×L second feasible paths as the first feasible path of the network topology graph.

8. A device for allocating right of way, characterized in that: The device comprises: an acquisition module, configured to acquire distribution information to be processed and right-of-way allocation information of a plurality of vehicles in a target area, wherein the target area includes a plurality of parking spots, the distribution information to be processed is used to characterize the vehicle distribution of the plurality of vehicles at the plurality of parking spots, and the right-of-way allocation information includes a correspondence between at least one vehicle distribution information and a right-of-way allocation scheme; a determination module, configured to match the distribution information to be processed based on a correspondence between at least one vehicle distribution information and a right-of-way allocation scheme, and obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, wherein the target right-of-way allocation scheme is used to indicate a next parking spot that a vehicle at each parking spot in a plurality of parking spots can pass through; The multiple parking spots include potential conflict points, which include parking spots that are repeatedly passed through in each of the multiple drivable routes in the target area and parking spots where at least two of the multiple drivable routes in the target area overlap, and the potential conflict points can only be occupied by one vehicle at a time.

9. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the right of way allocation method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, which, when executed by a processor, implement the method for allocating right of way as described in any one of claims 1 to 7.

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