Vehicle scheduling method, device and equipment

Abstract

The invention provides a vehicle scheduling method, device and equipment, and is applied to the technical field of vehicle scheduling, and the method comprises the steps: obtaining a vehicle image of a first vehicle through a first camera when it is detected that the first vehicle drives into a special lane; after determining that the first vehicle is the special vehicle by using the vehicle image, acquiring first driving data of the first vehicle by using the first camera, and predicting first arrival time when the first vehicle arrives at the intersection and first passing time when the first vehicle passes through the intersection according to the first driving data; and determining a first control signal of the first signal lamp and a second control signal of the second signal lamp according to the first arrival time and the first passing time. The first control signal is used for controlling the first signal lamp and the second control signal is used for controlling the second signal lamp, so that the first vehicle passes through the intersection preferentially, the traffic jam problem of the intersection where the customs and the railway are directly connected can be solved, and the traffic capacity of the intersection can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle dispatching, and in particular to a vehicle dispatching method, device and equipment. Background Art

[0002] Traffic congestion is a common problem in modern urban development, especially at transportation hubs and important nodes. The intersection where customs and railways are directly connected is a typical traffic bottleneck. Due to its special geographical location and complex traffic flow, serious traffic congestion often occurs.

[0003] At present, some solutions have been adopted to solve the traffic congestion problem at the intersections directly connected to the customs and railways, but the effect is still limited. For example, by adjusting the timing of the signal lights, optimizing the green light time in each direction, and improving the traffic capacity of the intersection, but this method has limited effect in high traffic conditions. Alternatively, traffic management and law enforcement efforts are strengthened to maintain traffic order, but due to limited manpower and material resources, it is difficult to cover all aspects. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle dispatching method, device and equipment, which can solve the traffic congestion problem at the intersection where the customs and the railway are directly connected, and can improve the traffic capacity of the intersection.

[0005] In the first aspect, an embodiment of the present application provides a vehicle dispatching method, which is applied to an intersection, wherein the intersection is an intersection of a dedicated lane and a public lane, wherein a first camera and a first signal light are deployed in the dedicated lane, and a second signal light is deployed in the public lane. The method includes: when a first vehicle is detected to enter the dedicated lane, a vehicle image of the first vehicle is acquired through a first camera. After the first vehicle is determined to be a dedicated vehicle using the vehicle image, the first driving data of the first vehicle is acquired using the first camera, and based on the first driving data, a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection are predicted. Based on the first arrival time and the first passing time, a first control signal of the first signal light and a second control signal of the second signal light are determined. The first control signal is controlled by the first control signal and the second control signal is controlled by the second control signal, so that the first vehicle has priority to pass through the intersection.

[0006] The vehicle dispatching method provided in the embodiment of the present application can determine the first arrival time of the first vehicle at the intersection and the first passing time of the first vehicle through the intersection by using the first driving data of the first vehicle when detecting that the first vehicle enters the dedicated lane, and then control the first signal light of the dedicated lane and the second signal light of the public lane according to the first arrival time and the first passing time, so as to realize the priority dispatching of dedicated vehicles and improve the passing efficiency of public vehicles while ensuring the priority passage of dedicated vehicles in special intersections.

[0007] In a possible implementation, when the vehicle image includes at least two first vehicles, the target vehicle is any one of the first vehicles, and the method further includes: identifying multiple component areas corresponding to the target vehicle to obtain multiple sub-vehicle images of the target vehicle. The sub-vehicle images contain feature information of the target vehicle. Based on the feature information, the multiple sub-vehicle images are identified to obtain multiple identification results. Based on the multiple identification results, the vehicle type of the target vehicle is determined. If the vehicle type of the target vehicle meets the special vehicle type, the first vehicle is determined to be a special vehicle.

[0008] In a possible implementation, the first driving data includes a first driving speed and a first driving trend. Using a first camera to obtain the first driving data of the first vehicle includes: obtaining traffic flow status information of the dedicated lane. Using the first camera to obtain a first time when the first vehicle drives to a first preset speed measuring line of the dedicated lane and a second time when the first vehicle drives to a second preset speed measuring line of the dedicated lane. Determine a first driving trend of the first vehicle based on the traffic flow status information. Determine a first driving speed of the first vehicle based on the first driving trend, the first time, and the second time.

[0009] A possible implementation method is to predict, when the first vehicle is a single vehicle, a first arrival time of the first vehicle at an intersection and a first passage time of the first vehicle through the intersection based on first driving data, including: predicting the first arrival time of the first vehicle at the intersection and the first passage time of the first vehicle through the intersection based on a first driving speed of the first vehicle and a first driving trend of the first vehicle.

[0010] In a possible implementation, when the first vehicle is a plurality of vehicles, predicting a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection according to the first driving data includes: determining a second vehicle that arrives at the intersection first and a third vehicle that arrives at the intersection last among the plurality of vehicles according to the driving trends and driving speeds of each vehicle among the plurality of vehicles. Determining the arrival time of the second vehicle at the intersection as the first arrival time according to the second driving speed of the second vehicle and the second driving trend of the second vehicle. Determining the passing time of the third vehicle through the intersection as the first passing time according to the third driving speed of the third vehicle and the third driving trend of the third vehicle.

[0011] A possible implementation method is to determine the first control signal of the first signal light and the second control signal of the second signal light according to the first arrival time and the first passing time, including: if there is a vehicle in the public lane, adjust the second signal light to a no-passing signal, and obtain the second driving speed and the second driving trend of the fourth vehicle traveling to the intersection in the public lane. Determine the second passing time of the fourth vehicle passing the intersection according to the second driving speed and the second driving trend. Determine the third passing time of allowing the first vehicle to pass the intersection according to the second passing time and the first arrival time. Adjust the first signal light to a passing signal at the third passing time.

[0012] In a possible implementation, the method further includes: if there is no vehicle in the public lane, adjusting the first signal light to a passing signal at the first arrival time, and adjusting the second signal light to a stop signal at the first arrival time. Adjusting the first signal light to a stop signal at the first passing time, and adjusting the second signal light to a passing signal at the first passing time.

[0013] On the second aspect, the embodiment itself provides a vehicle dispatching device, which is applied to an intersection. The intersection is an intersection of a dedicated lane and a public lane. The dedicated lane is deployed with a first camera and a first signal light, and the public lane is deployed with a second signal light. The device includes: an acquisition module, a prediction module, a determination module, and a control module.

[0014] The acquisition module is used to acquire a vehicle image of the first vehicle through the first camera when the first vehicle is detected entering the dedicated lane.

[0015] The prediction module is used to obtain first driving data of the first vehicle using a first camera after determining that the first vehicle is a special vehicle using a vehicle image, and predict a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection based on the first driving data.

[0016] The determination module is used to determine a first control signal of the first signal light and a second control signal of the second signal light according to the first arrival time and the first passing time.

[0017] The control module is used to control the first signal light using a first control signal and to control the second signal light using a second control signal, so that the first vehicle has priority to pass through the intersection.

[0018] In a third aspect, an embodiment of the present application provides a vehicle dispatching device, which has the function of implementing the vehicle dispatching method of the first aspect or any possible implementation method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, the computer can execute the vehicle scheduling method of the first aspect or any possible implementation method.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the vehicle dispatching method of the first aspect or any possible implementation method described above.

[0021] Among them, the technical effects brought about by any design method in the second to fifth aspects can be referred to the technical effects brought about by different possible implementation methods in the first aspect or different possible implementation methods in the second aspect or different possible implementation methods in the third aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A structural schematic diagram of a vehicle dispatching system provided in an embodiment of the present application; Figure 2 A flow chart of a vehicle dispatching method provided in an embodiment of the present application; Figure 3 A structural schematic diagram of a vehicle dispatching device provided in an embodiment of the present application; Figure 4Another structural schematic diagram of a vehicle dispatching system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0026] At present, intersections of dedicated lanes and public lanes often face traffic congestion and low traffic efficiency. Special vehicles (such as customs vehicles, etc.) need to pass through the intersection quickly in an emergency, while ordinary vehicles (such as railway vehicles, etc.) need to pass in an orderly manner while ensuring safety. Traditional traffic signal control methods are difficult to flexibly respond to such complex situations, resulting in low traffic efficiency for special vehicles and affecting the traffic efficiency of public vehicles.

[0027] Based on this, an embodiment of the present application provides a vehicle dispatching method, which is applied to an intersection, wherein the intersection is an intersection of a dedicated lane and a public lane, the dedicated lane is deployed with a first camera and a first signal light, and the public lane is deployed with a second signal light. The method includes: when a first vehicle is detected to enter the dedicated lane, a vehicle image of the first vehicle is acquired through a first camera. After the first vehicle is determined to be a dedicated vehicle using the vehicle image, the first driving data of the first vehicle is acquired using the first camera, and based on the first driving data, a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection are predicted. Based on the first arrival time and the first passing time, a first control signal of the first signal light and a second control signal of the second signal light are determined. The first control signal is used to control the first signal light and the second control signal is used to control the second signal light so that the first vehicle has priority to pass through the intersection.

[0028] The vehicle dispatching method provided in the embodiment of the present application can determine the first arrival time of the first vehicle at the intersection and the first passing time of the first vehicle through the intersection by using the first driving data of the first vehicle when detecting that the first vehicle enters the dedicated lane, and then control the first signal light of the dedicated lane and the second signal light of the public lane according to the first arrival time and the first passing time, so as to realize the priority dispatching of dedicated vehicles and improve the passing efficiency of public vehicles while ensuring the priority passage of dedicated vehicles in special intersections.

[0029] The solution provided by the embodiment of the present application will be described in detail below with reference to specific drawings.

[0030] On the one hand, the solution shown in the embodiment of the present application can be executed by a vehicle dispatching system. Figure 1 As shown, the vehicle dispatching system 100 may include a first camera 101 , a second camera 102 , a first signal light 103 , a second signal light 104 , a first gate 105 , a second gate 106 and a vehicle dispatching device 107 .

[0031] The first camera 101, the first signal light 103 and the first gate 105 are deployed in the dedicated lane. The second camera 102, the second signal light 104 and the second gate 106 are deployed in the public lane. The dedicated lane and the public lane intersect at the intersection. Special vehicles travel in the dedicated lane and public vehicles travel in the public lane. The intersection is a special intersection. Vehicles are only allowed to communicate in opposite directions and cannot turn left or right. When one lane is open, the other lane is closed.

[0032] The first camera 101 can be used to detect vehicles entering the dedicated lane and obtain vehicle images. The first camera 101 can also be used to use image recognition technology to identify the type of vehicle and determine whether it is a dedicated vehicle. The first camera 101 can also be used to obtain the driving speed and driving trend of the vehicle. The first camera 101 can also be used to monitor the traffic flow status of the dedicated lane and provide real-time data support.

[0033] The second camera 102 can be used to obtain vehicle images of the public lane. The second camera 102 can also be used to detect vehicles entering the public lane and obtain vehicle images. The second camera 102 can also be used to obtain the driving speed and driving trend of vehicles in the public lane. The second camera 102 can also be used to monitor the traffic flow status of the public lane and provide real-time data support.

[0034] The first signal light 103 is used to control the traffic signal of the dedicated lane according to the first control signal calculated by the system to ensure that the dedicated vehicles have priority. The first signal light 103 can also be used to indicate the traffic status of the dedicated lane through the change of red, green and yellow lights.

[0035] The second signal light 104 can be used to control the traffic signal of the public lane according to the second control signal calculated by the system, so as to ensure that ordinary vehicles pass in an orderly manner without affecting special vehicles. The second signal light 104 can also be used to indicate the traffic status of the public lane by changing the red, green and yellow lights.

[0036] The first gate 105 can be used to open or close according to the traffic status of the dedicated lane to instruct vehicles in the dedicated lane to pass or stop.

[0037] The second gate 106 can be used to open or close according to the traffic status of the public lane to instruct vehicles in the public lane to pass or stop.

[0038] The vehicle dispatching device 107 is used to manage the first camera 101, the second camera 102, the first signal light 103, the second signal light 104, the first gate 105 and the second gate 106. The vehicle dispatching device 107 can also be used to configure a preset speed measurement line. The vehicle dispatching device 107 can also be used to display vehicle statistics (including violation information, total number of vehicle lists, total number of pass records), display vehicle lists (fields include license plate number, license issuance date, number of passes, notes), and the vehicle dispatching device 107 can also be used to configure vehicle lists (white list list, new vehicles, fill in the license plate number to add to the white list). The vehicle dispatching device 107 can also be used to display vehicle lists (fields include license plate number, license issuance date, number of passes, notes). The vehicle dispatching device 107 can also be used to perform vehicle pass inquiries, including card pass record inquiries, lists (fields include license plate number, whether to pass, pass date, container number, channel number, pass photos). The vehicle dispatching device 107 can also be used to query and list illegal parking detection records (fields include license plate number, violation type, travel time, and violation information).

[0039] On the one hand, the embodiment of the present application provides a vehicle dispatching method, which can be deployed by Figure 1 The vehicle dispatch system 100 shown in FIG. Figure 2 As shown, the method may include the following steps.

[0040] S201, when a first vehicle is detected entering a dedicated lane, a vehicle image of the first vehicle is acquired through a first camera.

[0041] In a possible implementation manner, when there is only one vehicle in the vehicle image, the vehicle image of the first vehicle is acquired through the first camera.

[0042] Another possible implementation is that when the vehicle image includes at least two first vehicles, any first vehicle among the at least two first vehicles is determined to be a target vehicle. Multiple component areas corresponding to the target vehicle are identified to obtain multiple sub-vehicle images of the target vehicle. The sub-vehicle images contain feature information of the target vehicle. Based on the feature information, the multiple sub-vehicle images are identified to obtain multiple identification results. Based on the multiple identification results, the vehicle type of the target vehicle is determined. If the vehicle type of the target vehicle meets the special vehicle type, the first vehicle is determined to be a special vehicle.

[0043] Exemplarily, the first vehicle is recognized by the license plate recognition camera and the radar is triggered to detect a vehicle. At this time, it is considered that a vehicle has entered the dedicated checkpoint. The first camera collects real-time images of the intersection and sends it to the vehicle dispatching device. The vehicle dispatching device uses edge detection, morphological operation and other technologies to extract vehicle contour information from the real-time image to obtain multiple vehicle contour information to be processed. The multiple vehicle contour information to be processed is compared for similarity, and false detection caused by illumination changes, occlusion and other reasons is eliminated, and the true vehicle contour information is retained. For each target vehicle, multiple component areas corresponding to it are identified from the vehicle contour information, such as license plates, lights, and vehicle logos. These component areas contain important feature information of the vehicle. These component areas are extracted from the vehicle contour to generate multiple sub-vehicle images. Feature information, such as color, shape, texture, etc., is extracted from each sub-vehicle image. These feature information will be used for subsequent vehicle type recognition. The extracted feature information is matched with a known vehicle type database to obtain the recognition result of each sub-vehicle image. According to the recognition results of multiple sub-vehicle images, the type of the target vehicle is comprehensively judged. For example, if the recognition results of multiple sub-vehicle images all point to the same type of vehicle (such as a customs vehicle that has been registered with the customs, etc.), the type of the target vehicle can be determined. If the type of the target vehicle meets the predefined special vehicle type, that is, the license plate number is on the special vehicle whitelist (whitelist inspection can prevent public vehicles from entering the special lane, and the whitelist is entered in the vehicle list in the system background), the target vehicle is determined to be a special vehicle. After determining that the target vehicle is a special vehicle, the system will mark the special vehicle in the intersection display screen and give a dispatch instruction for priority passage.

[0044] If the type of the target vehicle does not meet the predefined special vehicle type, that is, the license plate number is not in the special vehicle whitelist, a pass record is generated (the release status is prohibited from passing) and the traffic equipment remains unchanged.

[0045] S202, after determining that the first vehicle is a special vehicle using the vehicle image, obtaining first driving data of the first vehicle using the first camera, and predicting a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection based on the first driving data.

[0046] The first driving data includes a first driving speed and a first driving trend.

[0047] A possible implementation method is to obtain traffic flow status information of a dedicated lane. Use a first camera to obtain a first time when a first vehicle travels to a first preset speed measuring line of the dedicated lane and a second time when the first vehicle travels to a second preset speed measuring line of the dedicated lane. Determine a first driving trend of the first vehicle based on the traffic flow status information. Determine a first driving speed of the first vehicle based on the first driving trend, the first time, and the second time.

[0048] The traffic flow status information is used to indicate the congestion of vehicles in the current lane. The traffic flow status information may be vehicle density, which is not limited in this application.

[0049] Exemplarily, two speed measurement lines are delineated in the image of the dedicated road monitoring camera, a first preset speed measurement line and a second preset speed measurement line, with distances of 50 meters and 100 meters respectively. When a dedicated vehicle touches the first preset speed measurement line, the system recognizes that a dedicated vehicle is about to enter the intersection, and this time is the first time. When the dedicated vehicle touches the second preset speed measurement line, this time is the second time, and the time difference between the first time of triggering the first preset speed measurement line and the second time of the second preset speed measurement line is recorded.

[0050] Then, according to the first driving speed and the vehicle density of the current dedicated lane, the first driving trend of the first vehicle is determined. The first driving trend is to predict the upcoming acceleration, deceleration or constant speed of the vehicle. Finally, according to the first driving trend and the time difference, the first driving speed of the dedicated vehicle is calculated.

[0051] In one possible implementation, when the first vehicle is one vehicle, a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection are predicted based on a first driving speed of the first vehicle and a first driving trend of the first vehicle.

[0052] In another possible implementation, when the first vehicle is a plurality of vehicles, a second vehicle that arrives at the intersection first among the plurality of vehicles and a third vehicle that arrives at the intersection last among the plurality of vehicles are determined based on the driving trends and driving speeds of the plurality of vehicles. An arrival time of the second vehicle at the intersection is determined as a first arrival time based on a second driving speed of the second vehicle and a second driving trend of the second vehicle. A passing time of the third vehicle through the intersection is determined as a first passing time based on a third driving speed of the third vehicle and a third driving trend of the third vehicle.

[0053] S203: Determine a first control signal for the first signal light and a second control signal for the second signal light according to the first arrival time and the first passing time.

[0054] In a possible implementation, if there is a vehicle in the public lane, the second signal light is adjusted to a no-passing signal, and the second driving speed and the second driving trend of the fourth vehicle traveling to the intersection in the public lane are obtained. According to the second driving speed and the second driving trend, a second passing time for the fourth vehicle to pass through the intersection is determined. According to the second passing time and the first arrival time, a third passing time for allowing the first vehicle to pass through the intersection is determined. At the third passing time, the first signal light is adjusted to a passing signal.

[0055] Another possible implementation is that if there is no vehicle in the public lane, the first signal light is adjusted to a passing signal at the first arrival time, and the second signal light is adjusted to a stop signal at the first arrival time. The first signal light is adjusted to a stop signal at the first passing time, and the second signal light is adjusted to a passing signal at the first passing time.

[0056] S204: Use the first control signal to control the first signal light and use the second control signal to control the second signal light, so that the first vehicle has priority to pass through the intersection.

[0057] Exemplarily, the first camera and the second camera monitor the vehicle traffic conditions of the dedicated lane and the public lane respectively. The first gate and the second gate are respectively deployed in the dedicated lane and the public lane. The first gate and the second gate are usually in a raised state, allowing vehicles to enter. The first signal light and the second signal light are respectively deployed in the dedicated lane and the public lane. The first signal light and the second signal light display corresponding signals (green light or red light) according to the current traffic conditions. In the dedicated lane, multiple speed measuring lines are pre-set at intervals. By identifying the time when the first vehicle touches the multiple speed measuring lines, the first arrival time of the first vehicle at the intersection and the first passing time through the intersection are calculated. At the same time, in the public lane, multiple speed measuring lines are pre-set at intervals. By identifying the time when the public vehicle touches the multiple speed measuring lines, the second arrival time of the public vehicle at the intersection and the second passing time through the intersection are calculated.

[0058] If the second passing time is later than the first arrival time, the second signal light will turn red and the second gate will be lowered. It should be noted that the countdown time of the second signal light can be adjusted according to the first arrival time. For example, if the second arrival time of a public vehicle is 10 seconds, the countdown time of the second signal light can be adjusted to 5 seconds, leaving 5 seconds of redundant time to remind the driver of the public vehicle that the second signal light is about to turn red.

[0059] If the first passing time is later than the second arrival time, the second signal light turns red and the second gate is lowered. At this time, the first vehicle can be guaranteed to pass through the intersection first. After the first camera determines that the first vehicle has completely passed the intersection, the traffic on the public lane is restored, and the first and second signal lights continue to adjust the corresponding signals according to the current traffic conditions.

[0060] The vehicle dispatching method provided in the embodiment of the present application can determine the first arrival time of the first vehicle at the intersection and the first passing time of the first vehicle through the intersection by using the first driving data of the first vehicle when detecting that the first vehicle enters the dedicated lane, and then control the first signal light of the dedicated lane and the second signal light of the public lane according to the first arrival time and the first passing time, so as to realize the priority dispatching of dedicated vehicles and improve the passing efficiency of public vehicles while ensuring the priority passage of dedicated vehicles in special intersections.

[0061] Furthermore, after acquiring the vehicle image using the camera, you can also use a pre-trained vehicle detection model (such as YOLO, SSD or Faster R-CNN, etc.) to identify the vehicle in the vehicle image. The model outputs the location information of the vehicle, that is, the bounding box of each vehicle. The system presets a no-parking area, which can be represented by a polygon or multiple groups of rectangles. For each detected vehicle frame, calculate its overlap ratio with the designated area. If more than 50% of a vehicle frame is located in the designated area, the vehicle is considered to be in an illegal parking state.

[0062] Furthermore, for vehicles that are illegally parked, tracking algorithms (such as KCF, MOSSE, etc.) can be used to continuously track them and record the location changes of the vehicles. If a vehicle remains stationary (i.e., its location changes very little) in the designated area for more than 30 seconds, the system will mark it as an illegally parked vehicle.

[0063] After confirming that a vehicle is illegally parked, the system will immediately trigger an alarm and notify the relevant management department through SMS, email or platform push, etc. For each vehicle marked as illegally parked, the system will automatically save the vehicle image before and after the illegal parking.

[0064] Furthermore, the illegal parking data can be analyzed regularly to collect information such as the time period and location of illegal parking, which can provide reference for traffic planning at the special intersection. The cameras and back-end systems can also be regularly inspected and maintained to ensure the stable operation of the system.

[0065] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the working principle of the device. It is understandable that in order to realize the above functions, the vehicle dispatching device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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.

[0066] The embodiment of the present application can divide the functional modules of the vehicle dispatching device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or software functional module.

[0067] It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. Figure 3 FIG. 2 shows a possible schematic diagram of the vehicle dispatching device involved in the above-mentioned embodiments. Figure 3 As shown, the vehicle dispatching device 300 may include: an acquisition module 301 , a prediction module 302 , a determination module 303 , and a control module 304 .

[0068] The acquisition module 301 is used to support the vehicle dispatching device 300 to execute Figure 2 S201 in the illustrated vehicle dispatching method.

[0069] Prediction module 302, used to support vehicle dispatching device 300 to execute Figure 2 S202 in the illustrated vehicle dispatching method.

[0070] Determination module 303, used to support vehicle dispatching device 300 to execute Figure 2 S203 in the illustrated vehicle dispatching method.

[0071] The control module 304 is used to support the vehicle dispatching device 300 to execute Figure 2 S204 in the illustrated vehicle dispatching method.

[0072] In a possible implementation, when the vehicle image includes at least two first vehicles, the target vehicle is any one of the first vehicles, and the device can also be used to identify multiple component areas corresponding to the target vehicle to obtain multiple sub-vehicle images of the target vehicle. The sub-vehicle image contains feature information of the target vehicle. Based on the feature information, multiple sub-vehicle images are identified to obtain multiple identification results. Based on the multiple identification results, the vehicle type of the target vehicle is determined. If the vehicle type of the target vehicle meets the special vehicle type, the first vehicle is determined to be a special vehicle.

[0073] In a possible implementation, the first driving data includes a first driving speed and a first driving trend. The device can also be used to obtain traffic flow status information of a dedicated lane. A first time when the first vehicle drives to a first preset speed measuring line of the dedicated lane and a second time when the first vehicle drives to a second preset speed measuring line of the dedicated lane are obtained by using a first camera. A first driving trend of the first vehicle is determined based on the traffic flow status information. A first driving speed of the first vehicle is determined based on the first driving trend, the first time, and the second time.

[0074] In one possible implementation, when the first vehicle is one vehicle, the device can also be used to predict a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection based on a first driving speed of the first vehicle and a first driving trend of the first vehicle.

[0075] In a possible implementation, when the first vehicle is a plurality of vehicles, the device may also be used to determine, based on the driving trends and driving speeds of each of the plurality of vehicles, a second vehicle that arrives at the intersection first among the plurality of vehicles and a third vehicle that arrives at the intersection last among the plurality of vehicles. Based on the second driving speed of the second vehicle and the second driving trend of the second vehicle, the arrival time of the second vehicle at the intersection is determined as the first arrival time. Based on the third driving speed of the third vehicle and the third driving trend of the third vehicle, the passing time of the third vehicle through the intersection is determined as the first passing time.

[0076] In a possible implementation, the device can also be used to adjust the second signal light to a no-passing signal if there is a vehicle in the public lane, and obtain the second driving speed and the second driving trend of the fourth vehicle traveling to the intersection in the public lane. According to the second driving speed and the second driving trend, determine the second passing time for the fourth vehicle to pass through the intersection. According to the second passing time and the first arrival time, determine the third passing time for allowing the first vehicle to pass through the intersection. Adjust the first signal light to a passing signal at the third passing time.

[0077] In a possible implementation, the device can also be used to adjust the first signal light to a passing signal at the first arrival time and adjust the second signal light to a stop signal at the first arrival time if there is no vehicle in the public lane. At the first passing time, the first signal light is adjusted to a stop signal, and the second signal light is adjusted to a passing signal at the first passing time.

[0078] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0079] The vehicle dispatching device 300 provided in the embodiment of the present application is used to execute the above Figure 2 The vehicle scheduling method shown can therefore achieve the same effect as the above-mentioned vehicle scheduling method.

[0080] The embodiment of the present application also provides a vehicle dispatching device, which can execute the vehicle dispatching method and related steps in the above method embodiment.

[0081] An embodiment of the present application also provides a computer-readable storage medium having instructions stored thereon, and when the instructions are executed, the vehicle scheduling method and related steps in the above method embodiment are executed.

[0082] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer executes the vehicle scheduling method and related steps in the above method embodiment.

[0083] In some embodiments, the methods described herein may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or encoded on other non-transitory media or articles of manufacture.

[0084] The present application embodiment also provides a vehicle dispatching system 400, such as Figure 4 As shown, the vehicle dispatching system 400 includes at least one processor 401 and at least one interface circuit 402 .

[0085] As an example, when the vehicle dispatch system 400 includes a processor and an interface circuit, the processor may be Figure 4 The processor 401 shown in the solid line frame (or the processor 401 shown in the dotted line frame) may be Figure 4 The interface circuit 402 shown in the solid line frame (or the interface circuit 402 shown in the dotted line frame). When the vehicle dispatching system 400 includes two processors and two interface circuits, the two processors include Figure 4 The processor 401 shown in the solid line frame and the processor 401 shown in the dotted line frame, the two interface circuits include Figure 4 The interface circuit 402 shown in the solid line frame and the interface circuit 402 shown in the dotted line frame are not limited to this.

[0086] The processor 401 and the interface circuit 402 may be interconnected via a line. For example, the interface circuit 402 may be used to receive a signal. In another example, the interface circuit 402 may be used to send a signal to another device (e.g., the processor 401). For example, the interface circuit 402 may read a computer instruction stored in a memory and send the computer instruction to the processor 401. The processor 401 executes the instruction and implements the various steps in the above embodiments in combination with the input and output devices, such as implementing Figure 2 The various steps performed in the method embodiment shown. Of course, the vehicle dispatching system may also include other discrete components, which are not specifically limited in the embodiment of the present application.

[0087] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0088] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0089] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0090] 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.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0092] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle dispatching method, characterized in that: Applied to an intersection, the intersection is an intersection of a dedicated lane and a public lane, the dedicated lane is deployed with a first camera and a first signal light, and the public lane is deployed with a second signal light; the method comprises: When a first vehicle is detected entering the dedicated lane, acquiring a vehicle image of the first vehicle through the first camera; After determining that the first vehicle is a special vehicle by using the vehicle image, acquiring first driving data of the first vehicle by using the first camera, and predicting a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection based on the first driving data; determining a first control signal for the first signal light and a second control signal for the second signal light according to the first arrival time and the first passing time; The first control signal is used to control the first signal light, and the second control signal is used to control the second signal light, so that the first vehicle has priority to pass through the intersection.

2. The method according to claim 1, characterized in that When the vehicle image includes at least two first vehicles, the target vehicle is any one of the first vehicles, and the method further includes: Identify multiple component areas corresponding to the target vehicle to obtain multiple sub-vehicle images of the target vehicle; the sub-vehicle images contain characteristic information of the target vehicle; Based on the feature information, a plurality of sub-vehicle images are identified to obtain a plurality of identification results; Determining the vehicle type of the target vehicle based on the plurality of recognition results; If the vehicle type of the target vehicle meets the type of a special-purpose vehicle, the first vehicle is determined to be the special-purpose vehicle.

3. The method according to claim 1, characterized in that The first driving data includes a first driving speed and a first driving trend; The using the first camera to obtain the first driving data of the first vehicle includes: Acquiring traffic flow status information of the dedicated lane; Acquire, using the first camera, a first time when the first vehicle drives to a first preset speed measuring line of the dedicated lane and a second time when the first vehicle drives to a second preset speed measuring line of the dedicated lane; determining a first driving trend of the first vehicle according to the traffic flow state information; A first driving speed of the first vehicle is determined according to the first driving trend, the first time, and the second time.

4. The method according to claim 1, characterized in that: When the first vehicle is one vehicle, predicting, based on the first driving data, a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection, includes: A first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection are predicted based on a first driving speed of the first vehicle and a first driving trend of the first vehicle.

5. The method according to claim 1, characterized in that When the first vehicle is a plurality of vehicles, predicting, based on the first driving data, a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection includes: Determine, according to the driving trends of each of the multiple vehicles and the driving speeds of each of the multiple vehicles, a second vehicle that arrives at the intersection first among the multiple vehicles and a third vehicle that arrives at the intersection last among the multiple vehicles; determining, according to a second driving speed of the second vehicle and a second driving trend of the second vehicle, an arrival time of the second vehicle at the intersection as the first arrival time; According to a third driving speed of the third vehicle and a third driving trend of the third vehicle, a passing time of the third vehicle through the intersection is determined as the first passing time.

6. The method according to claim 1, characterized in that The determining, according to the first arrival time and the first passing time, a first control signal of the first signal light and a second control signal of the second signal light comprises: If there is a vehicle in the public lane, adjusting the second signal light to a no-passing signal, and obtaining a second driving speed and a second driving trend of a fourth vehicle in the public lane traveling to the intersection; determining a second passing time of the fourth vehicle through the intersection according to the second driving speed and the second driving trend; Determining a third passing time for allowing the first vehicle to pass through the intersection according to the second passing time and the first arrival time; The first signal light is adjusted to a passing signal at the third passing time.

7. The method according to claim 6, characterized in that The method further comprises: If there is no vehicle in the public lane, adjusting the first signal light to a passing signal at the first arrival time, and adjusting the second signal light to a stop signal at the first arrival time; The first signal light is adjusted to a stop signal at the first passing time, and the second signal light is adjusted to a passing signal at the first passing time.

8. A vehicle dispatching device, characterized in that: Applied to an intersection, the intersection is an intersection of a dedicated lane and a public lane, the dedicated lane is deployed with a first camera and a first signal light, and the public lane is deployed with a second signal light; the device comprises: an acquisition module, configured to acquire a vehicle image of the first vehicle through the first camera when detecting that the first vehicle enters the dedicated lane; a prediction module, configured to, after determining that the first vehicle is a special vehicle by using the vehicle image, obtain first driving data of the first vehicle by using the first camera, and predict a first arrival time of the first vehicle at the intersection and a first passing time of the first vehicle through the intersection based on the first driving data; A determination module, configured to determine a first control signal for the first signal light and a second control signal for the second signal light according to the first arrival time and the first passing time; A control module is used to control the first signal light using the first control signal and to control the second signal light using the second control signal, so that the first vehicle has priority to pass through the intersection.

9. A vehicle dispatching device, characterized in that: The vehicle dispatching device comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the vehicle dispatching method according to any one of claims 1 to 7.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the vehicle dispatching method according to any one of claims 1 to 7.

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