Vehicle dispatching method, terminal device and storage medium based on vehicle status

Abstract

The present application belongs to the field of vehicle networking technology, and particularly relates to a vehicle scheduling method, terminal equipment and storage medium based on vehicle status, wherein the method first plans the watering route of a sprinkler truck; when the sprinkler truck arrives at the starting point of the watering route, the displacement trajectories of the vehicles in the area to be watered are simulated according to the vehicle status of the surrounding vehicles, and the position of the watering impact area is simulated, so as to determine whether other vehicles will enter the watering impact area according to the current vehicle status. If so, the displacement trajectory is adjusted to a state in which the vehicle does not pass through the watering impact area, and the adjusted displacement trajectory is sent to the corresponding vehicle to make it travel according to the adjusted trajectory; the present application can not only ensure the cleaning effect of the area to be watered, but also avoid the influence of the watering work of the sprinkler truck on other vehicles, thereby ensuring the driving safety of other vehicles through the coordinated mobilization of the sprinkler truck and other vehicles.

Description

Technical Field

[0001] The present application belongs to the technical field of Internet of Vehicles, and in particular, relates to a vehicle dispatching method based on vehicle status, a terminal device and a storage medium. Background Art

[0002] A sprinkler truck is a multifunctional municipal vehicle. Its basic components include chassis, water pump system, water tank, sprinkler pipeline and control system. Its working principle is to use a water pump to pump water from the water tank and send it to the spraying device through the sprinkler pipeline to achieve the effect of sprinkling water.

[0003] Sprinkler trucks are widely used in road cleaning, but the water sprayed by the sprinkler trucks will affect other vehicles on the road. For example, the impact of the sprayed water will affect the driving stability of the vehicle, and the water mist formed by the impact falls on the windshield and affects the driver's line of sight of the vehicle; therefore, in order to ensure traffic safety, it is particularly important to make other vehicles avoid the influence of sprinkler trucks; but currently other vehicles have no way of obtaining the route of the sprinkler truck and the scope of water spraying when encountering the sprinkler truck, which makes it difficult for the driver to make corresponding driving adjustments, which in turn makes it difficult for other vehicles to avoid being affected by the water sprayed by the sprinkler truck. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle scheduling method, a terminal device and a storage medium based on vehicle status, which can solve the above technical problems.

[0005] A first aspect of an embodiment of the present application provides a vehicle scheduling method based on vehicle status, and the vehicle scheduling method based on vehicle status includes:

[0006] S1: monitor the location of the sprinkler truck and obtain a map including the area to be sprinkled before the sprinkler truck enters the area to be sprinkled;

[0007] S2: Obtain the watering area of ​​the sprinkler truck, determine the watering influence area of ​​the sprinkler truck according to the watering area, and then determine the first watering route that makes the sprinkler truck have the highest watering efficiency on the map according to the watering influence area, and send the first watering route to the sprinkler truck, so that the sprinkler truck moves to the starting point of the first watering route;

[0008] S3: When the sprinkler truck reaches the starting point of the first sprinkler route, the standard driving speed of the sprinkler truck during sprinkler operation is obtained, and the vehicle positions and vehicle states of other vehicles within the set range are obtained, wherein the vehicle states include the driving speed and the driving direction;

[0009] S4: determining the current position of the watering affected area on the map, and determining a first position point corresponding to the vehicle position of each other vehicle on the map;

[0010] S5: for each first position point, simulate displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generate a corresponding displacement trajectory;

[0011] S6: while simulating the displacement of each first position point, simulating the displacement of the watering influence area according to the standard driving speed of the watering truck and the first watering route;

[0012] S7: determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area;

[0013] S8: Send a first signal to the sprinkler truck to make it travel at a standard speed and along a first sprinkler route, and send the latest displacement trajectory of each first position point to the corresponding vehicle, so that each vehicle receiving the latest displacement trajectory drives according to the latest displacement trajectory.

[0014] A second aspect of an embodiment of the present application provides a terminal device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle scheduling method based on vehicle status.

[0015] A third aspect of an embodiment of the present application provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes the steps of the vehicle scheduling method based on vehicle status.

[0016] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the method provided by the present invention includes monitoring the position of the sprinkler truck, and obtaining a map including the area to be sprinkled before the sprinkler truck is about to enter the area to be sprinkled; obtaining the sprinkler area of ​​the sprinkler truck to determine the sprinkler influence area of ​​the sprinkler truck based on the sprinkler area, and then determining the first sprinkler route on the map that makes the sprinkler truck have the highest sprinkler efficiency based on the sprinkler influence area, and sending the first sprinkler route to the sprinkler truck to move the sprinkler truck to the starting point of the first sprinkler route; when the sprinkler truck reaches the starting point of the first sprinkler route, obtaining the standard driving speed of the sprinkler truck during watering, and obtaining the vehicle position and vehicle status of other vehicles within a set range; determining the current position of the sprinkler influence area on the map, and determining the first position point corresponding to the vehicle position of each other vehicle on the map; for each first position point, The method comprises the following steps: performing simulated displacement of each point at the first position, and generating a corresponding displacement trajectory; while performing simulated displacement of each first position point, performing simulated displacement of the watering influence area according to the standard driving speed of the sprinkler truck and the first watering route; determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area; sending a first signal to the sprinkler truck so that the sprinkler truck travels according to the standard driving speed and the first watering route, and sending the latest displacement trajectory of each first position point to the corresponding vehicle so that each vehicle receiving the latest displacement trajectory drives according to the latest displacement trajectory; the present application can not only ensure the cleaning effect of the area to be sprinkled, but also avoid the influence of the sprinkler truck's watering work on other vehicles, thereby ensuring the driving safety of other vehicles through the coordinated mobilization of the sprinkler truck and other vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the implementation process of the vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of an implementation environment of a vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of the watering influence area of ​​the vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the setting range of the vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of lane distribution in a watering influence area of ​​a vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the adjustment displacement trajectory in the watering influence area of ​​the vehicle scheduling method based on vehicle status provided in an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0027] Figure 1 A vehicle scheduling method based on vehicle status provided in Embodiment 1 of the present application is shown, and the vehicle scheduling method based on vehicle status includes:

[0028] S1: monitor the location of the sprinkler truck and obtain a map including the area to be sprinkled before the sprinkler truck enters the area to be sprinkled;

[0029] S2: Obtain the watering area of ​​the sprinkler truck, determine the watering influence area of ​​the sprinkler truck according to the watering area, and then determine the first watering route that makes the sprinkler truck have the highest watering efficiency on the map according to the watering influence area, and send the first watering route to the sprinkler truck, so that the sprinkler truck moves to the starting point of the first watering route;

[0030] S3: When the sprinkler truck reaches the starting point of the first sprinkler route, the standard driving speed of the sprinkler truck during sprinkler operation is obtained, and the vehicle positions and vehicle states of other vehicles within the set range are obtained, wherein the vehicle states include the driving speed and the driving direction;

[0031] S4: determining the current position of the watering affected area on the map, and determining a first position point corresponding to the vehicle position of each other vehicle on the map;

[0032] S5: for each first position point, simulate displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generate a corresponding displacement trajectory;

[0033] S6: while simulating the displacement of each first position point, simulating the displacement of the watering influence area according to the standard driving speed of the watering truck and the first watering route;

[0034] S7: determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area;

[0035] S8: Send a first signal to the sprinkler truck to make it travel at a standard speed and along a first sprinkler route, and send the latest displacement trajectory of each first position point to the corresponding vehicle, so that each vehicle receiving the latest displacement trajectory drives according to the latest displacement trajectory.

[0036] In this embodiment, if Figure 2 As shown, the method is executed in a terminal device, which may be an independent physical server or terminal, or a server cluster composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN; a vehicle terminal (such as an on-board communication processor) is provided on the sprinkler truck and each vehicle, and the terminal device is communicatively connected with each vehicle terminal, so that the terminal device can request each vehicle terminal to obtain the vehicle position, vehicle status, etc. of the corresponding vehicle, and then execute the method; furthermore, it should be emphasized that the drivers of other vehicles can choose whether to accept the request of the terminal device to obtain information. If the request is accepted, the corresponding vehicle terminal will share the vehicle position, vehicle status, etc. with the terminal device. If the request is not accepted, the information will not be shared, and the terminal device will only execute the method for the vehicle corresponding to the received information.

[0037] In this embodiment, the area to be watered is a preset highway that needs to be watered and cleaned. Multiple areas to be watered can be set within a large area (such as a street), and the areas to be watered can be connected to each other; the width of the watering area is the width of the highway, and the length (such as 50m, 100m or other values) can be determined according to the actual simulation accuracy requirements and the computing load of the terminal device. The simulation accuracy and computing load corresponding to the area to be watered with a short length are high; each time the terminal device selects an area to be watered that the sprinkler truck is about to enter to execute this method, the range represented by the generated map is larger than the area to be watered (for example, the area to be watered occupies 50% of the map), so as to generate relevant simulation information on the map.

[0038] In this embodiment, the watering area of ​​the sprinkler truck is the area of ​​the ground covered by the water sprayed by the sprinkler truck in a stationary state. The watering area of ​​each type of sprinkler truck and the corresponding spraying direction when spraying water are stored in the terminal device, and the terminal device can be retrieved when needed; Figure 3 As shown, the watering influence area is based on the sprinkler truck and expands the range of the watering area in the spraying direction of the sprinkler truck. When taking the watering area, the watering area can be multiplied by a safety factor greater than 1 to ensure that the subsequent displacement trajectory can enable the corresponding vehicle to bypass the watering influence area; the watering influence area moves with the movement of the sprinkler truck.

[0039] In this embodiment, if Figure 4 As shown, the set range is the sum of the road range within a set length (such as 50m, 100m) before and after the area to be sprinkled and the range of the area to be sprinkled. The set length can be specifically selected according to the length of the area to be sprinkled, and is not limited here; vehicles in the set range can be regarded as potential vehicles that may enter the area to be sprinkled during the process of the sprinkler truck sprinkling water on the area to be sprinkled, that is, vehicles that may be affected by the sprinkling;

[0040] In this embodiment, the driving direction can be the same direction as the sprinkler truck, the opposite direction or other turning directions. The vehicle end can send its local navigation route (only the navigation route included in the area to be sprinkled) to the terminal device, and the terminal device can then determine the driving direction of the corresponding vehicle according to the route; the driving speed can be the average speed of the vehicle in the past set time (such as 10 seconds, 20 seconds), so that the time taken by the vehicle to pass through the area to be sprinkled is roughly the same as the set time, and it can be regarded that the speed of the vehicle passing through the area to be sprinkled is also roughly the same as the average speed, which can ensure the accuracy of the simulation;

[0041] In this embodiment, when the sprinkler truck is spraying water, if the speed is too fast, the ground may not be fully cleaned, and if the speed is too slow, it may cause excessive cleaning and waste water resources. Therefore, for each type of sprinkler truck, a standard driving speed during cleaning is preset in the terminal device;

[0042] In the present application, before the sprinkler truck is about to enter the area to be sprinkled (for example, there are still 2 seconds to enter the area to be sprinkled), a sprinkler route that can enable the sprinkler truck to achieve the highest sprinkler efficiency is planned in advance; when the sprinkler truck arrives at the starting point of the sprinkler route, the displacement trajectory of the vehicles in the area to be sprinkled and its surroundings can be simulated according to the vehicle position and vehicle status of the vehicles in the area to be sprinkled and its surroundings, and the position of the sprinkler-affected area is simulated at the same time (in order to ensure the continuity of vehicle driving, the simulation of this method is a fast-forward simulation, that is, the simulation is completed within a set time, such as 1 second, and the terminal device can be configured accordingly to meet the processing requirements Processor, the specific model is not limited here), and then determine whether other vehicles will enter the watering affected area according to the current vehicle state. If so, the displacement trajectory is adjusted to a state that enables the vehicle not to pass through the watering affected area, and the adjusted displacement trajectory is sent to the corresponding vehicle, so that it drives according to the adjusted trajectory, so as to bypass the watering affected area during actual driving; the present application can not only ensure the cleaning effect of the area to be sprinkled, but also avoid the influence of the sprinkler truck's watering work on other vehicles, thereby ensuring the driving safety of other vehicles through the coordinated mobilization of the sprinkler truck and other vehicles.

[0043] As a preferred embodiment, the watering area of ​​the sprinkler truck is the area of ​​the ground covered by the water sprayed by the sprinkler truck in a stationary state;

[0044] The first watering route that makes the watering truck most efficient is determined on the map based on the watering area, including:

[0045] Identify the distribution of lanes in the area to be watered;

[0046] Generate all the compliant routes from the starting edge to the ending edge of the area to be sprinkled according to the distribution of each lane;

[0047] For each compliance route, move the sprinkler impact area to the starting point of the compliance route, and move the sprinkler impact area along the compliance route to the ending point of the compliance route, identifying a first area through which the sprinkler impact area passes;

[0048] Calculate the watering efficiency corresponding to the compliance route according to the area of ​​the first area;

[0049] The corresponding compliant route with the highest watering efficiency is determined as the first watering route.

[0050] The area of ​​the first region includes the area of ​​the inner region and the area of ​​the outer region, wherein the inner region is the area within the area to be sprinkled in the first region, and the outer region is the area outside the area to be sprinkled in the first region;

[0051] The watering efficiency corresponding to the compliant route is calculated according to the following formula;

[0052]

[0053] in, For watering efficiency, is the area of ​​the inner region, is the area of ​​the outer region, for The weight coefficient of for The weight coefficient of .

[0054] In this embodiment, the area to be sprinkled is a preset rectangular area, the length direction of the area to be sprinkled is consistent with the extension direction of the lane, the width boundary line of the area to be sprinkled is perpendicular to the lane line, and the width boundary line closer to the sprinkler is the starting edge of the area to be sprinkled, and the other width boundary line is the ending edge of the area to be sprinkled; in this embodiment, Figure 5 As shown, identifying the distribution of lanes means identifying each lane and its position in the area to be watered, and after identification, marking the direction in which vehicles are allowed to travel in each lane; when generating routes, several routes are generated at the beginning, and each route is a route in the center of a lane. If a route is a lane-changing route (i.e., a route that changes from one lane to another lane), except for the lane-changing section, the other sections located in the lane are all in the center of the corresponding lane; then for each generated route, it is judged whether it is compliant, and the judgment method is to judge whether the direction of the route is consistent with the allowed direction of the corresponding lane. If it is consistent, it is compliant, and if it is inconsistent, it is not compliant; for the lane-changing route, it is judged whether the direction of each section in the center of the lane is consistent with the allowed direction of the lane, and whether the location of the lane-changing area section is a variable lane position (the corresponding variable lane position is marked on the lane line of the map). If the above two conditions are met, the lane-changing route is a compliant route; You can take a value from 2 to 3. It can take a value from 1 to 2.

[0055] As a preferred embodiment, for each first position point, simulating displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generating a corresponding displacement trajectory includes:

[0056] S41: multiplying the driving speed of the vehicle corresponding to the first position point by a preset basic time interval to obtain a first basic simulation length;

[0057] S42: taking the current moment as the initial moment, adding the basic time interval to the initial moment to obtain a simulation moment, displacing the first position point by a first basic simulation length in the driving direction of the corresponding vehicle, recording the segmented movement trajectory of the first position point, and recording the latest position of the first position point as the simulation point at the simulation moment;

[0058] S42: Add the basic time interval to the simulation time to obtain a new simulation time. Taking the latest simulation point as the starting point, displace the first position point in the corresponding driving direction by the first basic simulation length, record the segmented moving trajectory of the first position point, and record the latest position of the first position point as the simulation point of the new simulation time. Repeat this step until the latest simulation point moves out of the area to be watered. The trajectory connected by the segmented moving trajectories is the displacement trajectory, wherein the displacement trajectory includes each corresponding simulation point.

[0059] In this embodiment, the basic time interval can be 2 seconds or other time lengths. The simulation moment is a certain moment in the future, and the segmented movement trajectory is the line segment trajectory of the first position point from one moment to the next simulation moment. In this embodiment, through the simulated displacement of the first position point, the position of the first position point at each future moment, the route between positions, and the overall predicted route in the future can be obtained.

[0060] As a preferred embodiment, the current position of the watering influence area is the position of the watering influence area determined based on the starting point of the first watering route. The simulated displacement of the watering influence area according to the standard driving speed of the sprinkler truck and the first watering route includes:

[0061] Identify and record the current location of the sprinkler impact area;

[0062] Multiplying the standard driving speed by the preset basic time interval to obtain a second basic simulation length;

[0063] The watering influence area is displaced by the second basic simulation length along the first watering route to obtain the position of the watering influence area corresponding to the next simulation moment, and the position of the watering influence area is recorded. This step is repeated until the watering influence area moves out of the area to be watered, thereby obtaining the positions of the watering influence area corresponding to several simulation moments.

[0064] In this embodiment, when the sprinkler truck is at the starting point of the first sprinkler route, the sprinkler influence area is at the current position, and the sprinkler influence area is displaced, that is, the position of the sprinkler truck is displaced first, so that the sprinkler influence area is displaced from the current position, and the position of the sprinkler influence area is recorded at each simulation moment; in this embodiment, the initial moment of the displacement of the sprinkler influence area is consistent with the initial moment of the displacement of the first position point, so that the subsequent simulation moments can also correspond one by one.

[0065] As a preferred embodiment, determining whether each displacement trajectory passes through the watering influence area includes:

[0066] S71: Identify the simulation points of each displacement trajectory corresponding to the first simulation moment and the watering influence area;

[0067] S72: Determine whether each identified simulation point falls into the identified watering influence area. If any identified simulation point falls into the identified watering influence area, the displacement trajectory corresponding to the simulation point passes through the watering influence area, and the simulation point is marked;

[0068] S73: Identify the simulation points of each displacement trajectory and the watering influence area corresponding to the next simulation moment, and execute steps S72 to S73 until the last watering influence area in the area to be watered is identified.

[0069] In this embodiment, the simulation points can be marked by assigning preset markers to the simulation points; since the simulation moments of the simulation displacement of the first position point and the simulation displacement of the watering influence area correspond one to one, a simulation point of each displacement trajectory and a watering influence area can be determined for each simulation moment, and then, according to the positional relationship between each determined simulation point and the watering influence area, it can be determined whether each position point will pass through the watering influence area (if one or more simulation points in a displacement trajectory enter the watering influence area, the displacement trajectory passes through the watering influence area);

[0070] As a preferred embodiment, adjusting the displacement trajectory through the watering affected area includes:

[0071] S71: Rendering the simulation points corresponding to the same simulation time in each displacement trajectory into the same color;

[0072] S72: Identify the simulation time corresponding to the simulation point that first enters the watering influence area in each displacement trajectory passing through the watering influence area as the first simulation time;

[0073] S73: sorting the displacement trajectories passing through the watering affected area according to the sequence of the first simulation moment to obtain a first sequence;

[0074] S74: taking the first displacement trajectory in the first sequence as the adjustment trajectory;

[0075] S75: Identify the marked simulation points in the adjustment trajectory, and for each marked simulation point, adjust the marked simulation point to a corresponding watering influence area, and coordinately adjust the segmented moving trajectory connected to the marked simulation point, so that the adjustment trajectory is completely outside the watering influence area at all simulation moments;

[0076] S76: judging whether the adjustment track forms a position conflict with other displacement tracks according to the color of the simulation point;

[0077] S77: if a position conflict occurs, readjust the marked simulation point and the corresponding segmented movement trajectory so that the adjustment trajectory is completely outside the watering influence area at all simulation moments, and execute steps S76 to S77 until the adjustment trajectory does not form a position conflict with other displacement trajectories, and the adjustment is completed;

[0078] S78: taking the next displacement trajectory in the first sequence as the adjustment trajectory, and executing steps S75 to S78 until the adjustment of each displacement trajectory in the first sequence is completed.

[0079] Judging whether the adjustment track forms a position conflict with other displacement tracks based on the color of the simulation point includes:

[0080] For each simulated point in the adjustment trajectory, identify all simulated points of the same color as that simulated point on other displacement trajectories;

[0081] Determine whether the distance between the simulation point and the closest simulation point of the same color is less than a preset distance, if so, the simulation point will cause a position conflict, if not, the simulation point will not cause a position conflict;

[0082] It is determined whether all simulation points in the adjustment trajectory will not cause position conflicts. If so, the adjustment trajectory will form position conflicts with other displacement trajectories. If not, the adjustment trajectory will not form position conflicts with other displacement trajectories.

[0083] In this embodiment, different simulation moments correspond to different rendering colors to distinguish the simulation points at different moments; a displacement trajectory may have multiple simulation points entering the watering influence area, and the first simulation moment is the simulation moment corresponding to the simulation point that first enters the watering influence area; Figure 6 As shown, after the marked simulation point is adjusted to the corresponding watering influence area, the length of the segmented moving trajectory connected to the marked simulation point is adjusted accordingly, the segmented moving trajectory is bent, etc., and each adjusted trajectory is a compliant trajectory (if it is not in compliance with the rules, it will be readjusted), and then the position conflict is determined. The judgment standard for the compliance of the displacement trajectory is as described above and will not be repeated here; the preset distance can be a map distance corresponding to 2m (or other lengths) in reality. If the distance between each simulation point and the corresponding simulation point on an adjusted displacement trajectory is less than the preset distance, it can be regarded that there will be no position conflict. The corresponding vehicle will not be affected by the sprinkler truck or collide with other vehicles when driving along this trajectory, thereby ensuring the safety of the vehicle; in addition, the displacement trajectory sent to each vehicle includes various simulation points, and each simulation point is marked with the corresponding simulation time. The vehicle driver only needs to drive the vehicle to the actual position corresponding to the corresponding simulation point at the actual time corresponding to each simulation time according to the trajectory.

[0084] A terminal device provided in a second embodiment of the present application includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle scheduling method based on vehicle status, specifically including:

[0085] S1: monitor the location of the sprinkler truck and obtain a map including the area to be sprinkled before the sprinkler truck enters the area to be sprinkled;

[0086] S2: Obtain the watering area of ​​the sprinkler truck, determine the watering influence area of ​​the sprinkler truck according to the watering area, and then determine the first watering route that makes the sprinkler truck have the highest watering efficiency on the map according to the watering influence area, and send the first watering route to the sprinkler truck, so that the sprinkler truck moves to the starting point of the first watering route;

[0087] S3: When the sprinkler truck reaches the starting point of the first sprinkler route, the standard driving speed of the sprinkler truck during sprinkler operation is obtained, and the vehicle positions and vehicle states of other vehicles within the set range are obtained, wherein the vehicle states include the driving speed and the driving direction;

[0088] S4: determining the current position of the watering affected area on the map, and determining a first position point corresponding to the vehicle position of each other vehicle on the map;

[0089] S5: for each first position point, simulate displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generate a corresponding displacement trajectory;

[0090] S6: while simulating the displacement of each first position point, simulating the displacement of the watering influence area according to the standard driving speed of the watering truck and the first watering route;

[0091] S7: determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area;

[0092] S8: Send a first signal to the sprinkler truck to make it travel at a standard speed and along a first sprinkler route, and send the latest displacement trajectory of each first position point to the corresponding vehicle, so that each vehicle receiving the latest displacement trajectory drives according to the latest displacement trajectory.

[0093] A storage medium is provided in Embodiment 3 of the present application. A computer program is stored on the storage medium. When the computer program is executed by a processor, the processor executes the steps of the vehicle scheduling method based on vehicle status, specifically including:

[0094] S1: monitor the location of the sprinkler truck and obtain a map including the area to be sprinkled before the sprinkler truck enters the area to be sprinkled;

[0095] S2: Obtain the watering area of ​​the sprinkler truck, determine the watering influence area of ​​the sprinkler truck according to the watering area, and then determine the first watering route that makes the sprinkler truck have the highest watering efficiency on the map according to the watering influence area, and send the first watering route to the sprinkler truck, so that the sprinkler truck moves to the starting point of the first watering route;

[0096] S3: When the sprinkler truck reaches the starting point of the first sprinkler route, the standard driving speed of the sprinkler truck during sprinkler operation is obtained, and the vehicle positions and vehicle states of other vehicles within the set range are obtained, wherein the vehicle states include the driving speed and the driving direction;

[0097] S4: determining the current position of the watering affected area on the map, and determining a first position point corresponding to the vehicle position of each other vehicle on the map;

[0098] S5: for each first position point, simulate displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generate a corresponding displacement trajectory;

[0099] S6: while simulating the displacement of each first position point, simulating the displacement of the watering influence area according to the standard driving speed of the watering truck and the first watering route;

[0100] S7: determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area;

[0101] S8: Send a first signal to the sprinkler truck to make it travel at a standard speed and along a first sprinkler route, and send the latest displacement trajectory of each first position point to the corresponding vehicle, so that each vehicle receiving the latest displacement trajectory drives according to the latest displacement trajectory.

[0102] The process of each module in the image saturation adjustment device provided in the embodiment of the present application realizing its own function can be specifically referred to the aforementioned Figure 1 The description of the illustrated embodiment will not be repeated here.

[0103] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0104] It should be understood that when used in the present application specification, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0105] It should also be understood that the term “and / or” used in the specification of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0106] As used in the present specification, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0107] In addition, in the description of the present specification, the terms "first", "second", "third", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. It should also be understood that although the terms "first", "second", etc. are used to describe various elements in some embodiments of the present application in the text, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first table can be named as the second table, and similarly, the second table can be named as the first table, without departing from the scope of the various described embodiments. The first table and the second table are both tables, but they are not the same table.

[0108] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0109] The vehicle status-based vehicle dispatching method provided in the embodiment of the present application can be applied to terminal devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. The embodiment of the present application does not impose any restrictions on the specific type of the terminal device.

[0110] For example, the terminal device can be a station (STAION, ST) in a WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a vehicle networking terminal, a computer, a laptop computer, a handheld communication device, a handheld computing device, a satellite wireless device, a wireless modem card, a TV set top box (STB), a customer premises equipment (CPE) and / or other devices for communicating on a wireless system and a next-generation communication system, such as a mobile terminal in a 5G network or a mobile terminal in a future evolved Public Land Mobile Network (PLMN) network, etc.

[0111] As an example but not limitation, when the terminal device is a wearable device, the wearable device can also be a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0112] Figure 7Schematic diagram of the structure of a terminal device provided by an embodiment of the present application. Figure 7 As shown, the terminal device of this embodiment includes: at least one processor and a memory, wherein the memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps in the above-mentioned vehicle scheduling method embodiments based on vehicle status are implemented, for example Figure 1 Steps S1 to S8 are shown.

[0113] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 7 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include an input sending device, a network access device, a bus, etc.

[0114] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] In some embodiments, the memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Furthermore, the memory may include both an internal storage unit and an external storage device of the terminal device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory may also be used to temporarily store data that has been sent or is to be sent.

[0116] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0117] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal device, the mobile terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0118] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0119] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle dispatching method based on vehicle status, characterized in that: The vehicle scheduling method based on vehicle status includes: S1: monitor the location of the sprinkler truck and obtain a map including the area to be sprinkled before the sprinkler truck enters the area to be sprinkled; S2: Obtain the watering area of ​​the sprinkler truck, determine the watering influence area of ​​the sprinkler truck according to the watering area, and then determine the first watering route that makes the sprinkler truck have the highest watering efficiency on the map according to the watering influence area, and send the first watering route to the sprinkler truck, so that the sprinkler truck moves to the starting point of the first watering route; S3: When the sprinkler truck reaches the starting point of the first sprinkler route, the standard driving speed of the sprinkler truck during sprinkler operation is obtained, and the vehicle positions and vehicle states of other vehicles within the set range are obtained, wherein the vehicle states include the driving speed and the driving direction; S4: determining the current position of the watering affected area on the map, and determining a first position point corresponding to the vehicle position of each other vehicle on the map; S5: for each first position point, simulate displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generate a corresponding displacement trajectory; S6: while simulating the displacement of each first position point, simulating the displacement of the watering influence area according to the standard driving speed of the watering truck and the first watering route; S7: determining whether each displacement trajectory passes through the watering influence area, and if a displacement trajectory passes through the watering influence area, adjusting the displacement trajectory passing through the watering influence area so that the adjusted displacement trajectory avoids the watering influence area; S8: Sending a first signal to the sprinkler truck, so that the sprinkler truck moves according to the standard driving speed and the first sprinkler route, and sending the latest displacement trajectory of each first position point to the corresponding vehicle, so that each vehicle that receives the latest displacement trajectory drives according to the latest displacement trajectory; The watering area of ​​a sprinkler truck is the area of ​​the ground covered by the water sprayed by the sprinkler truck when it is stationary; The first watering route that makes the watering truck most efficient is determined on the map based on the watering area, including: Identify the distribution of lanes in the area to be watered; Generate all the compliant routes from the starting edge to the ending edge of the area to be sprinkled according to the distribution of each lane; For each compliance route, move the sprinkler impact area to the starting point of the compliance route, and move the sprinkler impact area along the compliance route to the ending point of the compliance route, identifying a first area through which the sprinkler impact area passes; Calculate the watering efficiency corresponding to the compliance route according to the area of ​​the first area; The corresponding compliance route with the highest watering efficiency is determined as the first watering route; The area of ​​the first region includes the area of ​​the inner region and the area of ​​the outer region, wherein the inner region is the area within the area to be sprinkled in the first region, and the outer region is the area outside the area to be sprinkled in the first region; The watering efficiency corresponding to the compliant route is calculated according to the following formula; in, For watering efficiency, is the area of ​​the inner region, is the area of ​​the outer region, for The weight coefficient of for The weight coefficient of .

2. The method according to claim 1, characterized in that For each first position point, simulating displacement of the first position point according to the driving speed and driving direction of the corresponding vehicle, and generating a corresponding displacement trajectory includes: S41: multiplying the driving speed of the vehicle corresponding to the first position point by a preset basic time interval to obtain a first basic simulation length; S42: taking the current moment as the initial moment, adding the basic time interval to the initial moment to obtain a simulation moment, displacing the first position point by a first basic simulation length in the driving direction of the corresponding vehicle, recording the segmented movement trajectory of the first position point, and recording the latest position of the first position point as the simulation point at the simulation moment; S42: Add the basic time interval to the simulation time to obtain a new simulation time. Taking the latest simulation point as the starting point, displace the first position point in the corresponding driving direction by the first basic simulation length, record the segmented moving trajectory of the first position point, and record the latest position of the first position point as the simulation point of the new simulation time. Repeat this step until the latest simulation point moves out of the area to be watered. The trajectory connected by the segmented moving trajectories is the displacement trajectory, wherein the displacement trajectory includes each corresponding simulation point.

3. The method according to claim 2, characterized in that The current position of the sprinkler influence area is the position of the sprinkler influence area determined based on the starting point of the first sprinkler route. The simulated displacement of the sprinkler influence area according to the standard driving speed of the sprinkler truck and the first sprinkler route includes: Identify and record the current location of the sprinkler impact area; Multiplying the standard driving speed by the preset basic time interval to obtain a second basic simulation length; The watering influence area is displaced by the second basic simulation length along the first watering route to obtain the position of the watering influence area corresponding to the next simulation moment, and the position of the watering influence area is recorded. This step is repeated until the watering influence area moves out of the area to be watered, thereby obtaining the positions of the watering influence area corresponding to several simulation moments.

4. The method according to claim 3, characterized in that Determining whether each displacement trajectory passes through the sprinkler influence area includes: S71: Identify the simulation points of each displacement trajectory corresponding to the first simulation moment and the watering influence area; S72: Determine whether each identified simulation point falls into the identified watering influence area. If any identified simulation point falls into the identified watering influence area, the displacement trajectory corresponding to the simulation point passes through the watering influence area, and the simulation point is marked; S73: Identify the simulation points of each displacement trajectory and the watering influence area corresponding to the next simulation moment, and execute steps S72 to S73 until the last watering influence area in the area to be watered is identified.

5. The method according to claim 4, characterized in that Adjusting the displacement trajectory through the sprinkler influence area includes: S71: Rendering the simulation points corresponding to the same simulation time in each displacement trajectory into the same color; S72: Identify the simulation time corresponding to the simulation point that first enters the watering influence area in each displacement trajectory passing through the watering influence area as the first simulation time; S73: sorting the displacement trajectories passing through the watering affected area according to the sequence of the first simulation moment to obtain a first sequence; S74: taking the first displacement trajectory in the first sequence as the adjustment trajectory; S75: Identify the marked simulation points in the adjustment trajectory, and for each marked simulation point, adjust the marked simulation point to a corresponding watering influence area, and coordinately adjust the segmented moving trajectory connected to the marked simulation point, so that the adjustment trajectory is completely outside the watering influence area at all simulation moments; S76: judging whether the adjustment track forms a position conflict with other displacement tracks according to the color of the simulation point; S77: if a position conflict occurs, readjust the marked simulation point and the corresponding segmented movement trajectory so that the adjustment trajectory is completely outside the watering influence area at all simulation moments, and execute steps S76 to S77 until the adjustment trajectory does not form a position conflict with other displacement trajectories, and the adjustment is completed; S78: taking the next displacement trajectory in the first sequence as the adjustment trajectory, and executing steps S75 to S78 until the adjustment of each displacement trajectory in the first sequence is completed.

6. The method according to claim 5, characterized in that Judging whether the adjustment track forms a position conflict with other displacement tracks based on the color of the simulation point includes: For each simulated point in the adjustment trajectory, identify all simulated points of the same color as that simulated point on other displacement trajectories; Determine whether the distance between the simulation point and the closest simulation point of the same color is less than a preset distance, if so, the simulation point will cause a position conflict, if not, the simulation point will not cause a position conflict; It is determined whether all simulation points in the adjustment trajectory will not cause position conflicts. If so, the adjustment trajectory will form position conflicts with other displacement trajectories. If not, the adjustment trajectory will not form position conflicts with other displacement trajectories.

7. A terminal device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle dispatching method based on vehicle status as described in any one of claims 1 to 6.

8. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the steps of the vehicle scheduling method based on vehicle status according to any one of claims 1 to 6.

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