Single-lane vehicle scheduling method and system, electronic equipment and computer storage medium

Abstract

The invention relates to a single-lane vehicle scheduling method and system, electronic equipment and a computer storage medium, is applied to a roadside unit and belongs to the technical field of Internet of Vehicles, and the method comprises the following steps: receiving single-lane vehicle basic information sent by a vehicle-mounted unit; generating a vehicle sequence message according to the single-lane vehicle basic message; and sending the vehicle sequence message to a vehicle-mounted domain controller, so that the vehicle passes based on the vehicle sequence message. According to the invention, the vehicle sequence message is generated according to the basic message of the single-lane vehicle, the single-lane road condition can be flexibly handled, and the unmanned vehicle can safely and reliably run for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and in particular to a single-lane vehicle dispatching method, system, electronic equipment and computer storage medium. Background Art

[0002] The concept of the Internet of Vehicles is derived from the Internet of Things, also commonly referred to as V2X, which includes applications based on vehicles and vehicles, vehicles and road infrastructure, vehicles and pedestrians, and vehicles and background data centers or vehicles and cloud computing, further realizing information interconnection and interoperability, thereby effectively managing people, vehicles, roads, and networks, and achieving a high degree of coordination between people, vehicles, and roads in a time and space environment. The Internet of Vehicles is mainly proposed to solve driving safety, reduce fuel consumption and other issues.

[0003] Most of the existing scheduling research is aimed at traffic light intersections on open roads, but there are also many problems such as low traffic efficiency and numerous safety accidents at intersections without traffic lights and one-way lanes.

[0004] Therefore, there is an urgent need to solve the problem of intersections without traffic lights and one-way lanes. Summary of the invention

[0005] In view of this, it is necessary to provide a single-lane vehicle dispatching method, system, electronic device and computer storage medium to solve the problems of low traffic efficiency and prone to safety accidents in single-lane vehicles.

[0006] In order to solve the above problems, in a first aspect, the present invention provides a single-lane vehicle dispatching method, which is applied to a roadside unit, comprising: Receive basic information of single-lane vehicles sent by the on-board unit; Generating a vehicle sequence message according to the single-lane vehicle basic message; The vehicle order message is sent to the vehicle domain controller so that the vehicle passes based on the vehicle order message.

[0007] In a possible implementation, the method further includes: The on-board unit is connected to the roadside unit through PC5 communication.

[0008] In a possible implementation, the single-lane vehicle basic information includes a vehicle identifier, a vehicle direction, a vehicle arrival time, a vehicle current status, and a vehicle type.

[0009] In a possible implementation, the vehicle sequence message includes: a vehicle passage sequence list, a maximum value and a minimum value of the target vehicle speed, a vehicle ID, a vehicle passage status, and a task number.

[0010] In a possible implementation, the generating a vehicle order message according to the single-lane vehicle basic message includes: Determine a waiting queue of the vehicle fleet based on the vehicle arrival time of each vehicle, and determine the vehicle with the earliest vehicle arrival time as the first direction vehicle; Traversing the waiting queue of the vehicle fleet to determine a second direction vehicle, wherein the second direction vehicle is an oncoming vehicle with the earliest vehicle arrival time; determining an arrival time of the vehicle in the second direction; If the arrival time of the vehicle in the second direction is not less than the passing time window of the vehicle in the first direction, mark the vehicle in the first direction as a priority vehicle; If the arrival time of the second direction vehicle is less than the passing time window of the first direction vehicle, mark the second direction vehicle as a priority vehicle, and update the vehicle arrival time of the first direction vehicle; The above-mentioned vehicle passing order determination method is executed on other vehicles in the waiting queue of the fleet in turn to generate the vehicle order message.

[0011] In a possible implementation, if the arrival time of the vehicle in the second direction is less than the travel time window of the vehicle in the first direction, the method further includes: Calculating the waiting time of the vehicle in the first direction; The vehicle arrival time of the first-direction vehicle is updated based on the waiting time.

[0012] In a possible implementation, sending the vehicle order message to the vehicle domain controller so that the vehicle passes based on the vehicle order message includes: The vehicle order message is sent to the on-board unit, so that the on-board unit sends the vehicle order message to the on-board domain controller through the network port, and controls the vehicle to pass based on the vehicle order message.

[0013] In a second aspect, the present invention further provides a single-lane vehicle dispatching system, comprising: a vehicle-mounted unit, a roadside unit and a vehicle-mounted domain controller; the vehicle-mounted unit is connected to the roadside unit via PC5 communication; The on-board unit is used to obtain basic vehicle information and send the basic vehicle information to the roadside unit; The roadside unit is used to receive the vehicle basic message, generate a vehicle order message based on the vehicle basic message; and send the vehicle order message to the vehicle-mounted unit; The on-board unit is also used to send the vehicle order message to the on-board domain controller so that the on-board domain controller controls the passage of vehicles.

[0014] In a third aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the above-mentioned photovoltaic cell parameter identification method when executing the computer program.

[0015] In a fourth aspect, the present invention further provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the photovoltaic cell parameter identification method as described above are implemented.

[0016] The beneficial effects of the present invention are: The present invention transmits the basic vehicle message BSM to the roadside unit RSU through the on-board unit OBU and calculates and generates a traffic order message, and then sends the traffic order message TEST to the on-board unit OBU. The on-board unit OBU sends the traffic order message to the on-board domain controller ADU to control the passage of vehicles, thereby flexibly responding to single-lane road conditions and ensuring long-term safe and reliable operation of unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A method flow chart of an embodiment of a single-lane vehicle dispatching method provided by the present invention; Figure 2 A message flow diagram provided for an embodiment of the present invention; Figure 3 A schematic structural diagram of an embodiment of a single-lane vehicle dispatching system provided by the present invention; Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0020] The descriptions of "first", "second", etc. involved in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0021] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] PC5 communication: refers to the direct communication interface in C-V2X technology, which supports short-distance direct communication between vehicles (V2V), vehicles and people (V2P), and vehicles and infrastructure (V2I). Through direct communication, the PC5 interface can achieve low-latency information transmission, support multi-user access to the network, accommodate a large number of communication nodes, use advanced communication technologies and protocols, and provide highly reliable communication services to ensure accurate information transmission.

[0023] OBU: On board Unit, a microwave device that uses DSRC, a dedicated short-range communication technology, to communicate with RSU. OBU is placed on the vehicle, and a roadside unit (RSU-Road Side Unit) is set up on the roadside, and they communicate with each other via microwaves.

[0024] RSU: Road-Side Units, roadside units, consist of microwave antennas and read-write controllers. Microwave antennas are microwave transceiver modules responsible for receiving / sending, modulating / demodulating, encoding / decoding, and encrypting / decrypting signals and data; read-write controllers are modules that control the transmission and reception of data and process the information sent and received to the upper computer.

[0025] ADU: Autonomous Driving Unit, the on-board domain controller unit of unmanned vehicles, can integrate computationally intensive sensor data processing and sensor fusion work with control strategy development into a control unit, which helps to establish a structured and organized vehicle controller network. It can be used in unmanned logistics distribution, unmanned sanitation, unmanned mining vehicles, unmanned buses, intelligent engineering machinery and other application fields.

[0026] A specific embodiment of the present invention, as Figure 1 As shown, a single-lane vehicle dispatching method is disclosed, which is applied to a roadside unit, comprising: Step 101: receiving basic information of a single-lane vehicle sent by a vehicle-mounted unit; Step 102: Generate a vehicle sequence message according to the single-lane vehicle basic message; Step 103: Send a vehicle order message to the vehicle domain controller so that the vehicle can pass based on the vehicle order message.

[0027] The present invention transmits the BSM vehicle basic message to the roadside unit RSU through the on-board unit OBU and calculates and generates a traffic order message, and then sends the traffic order message TEST to the on-board unit OBU. The on-board unit OBU sends the traffic order message to the on-board domain controller ADU to control the passage of vehicles, thereby flexibly responding to single-lane road conditions and ensuring long-term safe and reliable operation of unmanned vehicles.

[0028] In one embodiment of the present invention, the method further comprises: The on-board unit and the roadside unit are connected via PC5 communication.

[0029] It is understandable that based on the low latency and stability of PC5 communication, the travel time can be compressed to 100ms, including the entire message delivery process. This will be more stable than the UU communication latency of 5G and does not require traffic costs. In addition, 5G cellular network communication can also be used to replace PC5 communication, but its communication effect is inferior to PC5 communication.

[0030] In one embodiment of the present invention, sending a vehicle order message to a vehicle-mounted domain controller so that the vehicle passes based on the vehicle order message includes: The vehicle order message is sent to the on-board unit, so that the on-board unit sends the vehicle order message to the on-board domain controller through the network port, and controls the vehicle to pass based on the vehicle order message.

[0031] Understandably, see Figure 2 , Figure 2 A message flow diagram provided for an embodiment of the present invention. The on-board unit OBU transmits BSM, i.e., basic vehicle message, to the roadside unit RSU through PC5 communication and calculates and generates TEST, i.e., vehicle sequence message, and then sends TEST to the on-board unit OBU. The on-board unit OBU sends data to the on-board domain controller ADU to control vehicle traffic, thereby flexibly responding to single-lane road conditions and ensuring long-term safe and reliable operation of the unmanned driving system.

[0032] In one embodiment of the present invention, generating a vehicle order message according to a single-lane vehicle basic message includes: Determine a waiting queue of the vehicle fleet based on the vehicle arrival time of each vehicle, and determine the vehicle with the earliest vehicle arrival time as the first direction vehicle; Traverse the waiting queue of the fleet and determine the second direction vehicle, wherein the second direction vehicle is the opposite direction vehicle with the earliest vehicle arrival time; Determine the arrival time of the vehicle in the second direction; If the arrival time of the second direction vehicle is not less than the passing time window of the first direction vehicle, mark the first direction vehicle as a priority vehicle; If the arrival time of the second direction vehicle is less than the passing time window of the first direction vehicle, mark the second direction vehicle as a priority vehicle and update the vehicle arrival time of the first direction vehicle; The above-mentioned vehicle passing order determination method is executed on other vehicles in the waiting queue of the fleet in turn to generate a vehicle order message.

[0033] If the arrival time of the vehicle in the second direction is less than the travel time window of the vehicle in the first direction, the method further includes: Calculate the waiting time of vehicles in the first direction; The vehicle arrival time of the first-direction vehicle is updated based on the waiting time.

[0034] First of all, it should be noted that all unmanned vehicles on the road need to be equipped with an on-board domain controller and an on-board unit OBU, and the GPS positioning of the on-board unit OBU is normal. The basic information of a single-lane vehicle includes the vehicle identifier, vehicle direction, vehicle arrival time, vehicle current status and vehicle type. The vehicle sequence message includes: vehicle passage sequence list, maximum and minimum speed of the target vehicle, vehicle ID, vehicle passage status and task number.

[0035] The on-board unit OBU on the unmanned vehicle reports BSM, i.e., the basic vehicle message, and defines a vehicle set V={v1,v2,…,vn}, where each vehicle vi has vehicle attributes: identifier id, direction di, represented by +1 or -1, arrival time ti, vehicle type Fi, and current state si, which is generally waiting or passed, initialized to waiting. The waiting queue Q is defined as a priority queue, sorted based on the vehicle arrival time ti of each vehicle. RSU generates a sequence message TEST, a custom message set package P2 (S, O, c1, c2, c3) and a pass order list O=[]. S is the maximum and minimum speed of the target unmanned vehicle, c1 is the vehicle ID, c2 is the pass state command, and c3 is the task number.

[0036] When a new vehicle arrives, the RSU adds the received BSM message to the waiting queue Q according to the vehicle number and sets its status to waiting.

[0037] When the waiting queue Q is not empty, repeat the following steps: 1. Take out the earliest arriving vehicle: The first-direction vehicle vi with the earliest arrival time is taken out from the waiting queue Q.

[0038] 2. Check oncoming vehicles: Initialize a flag variable opposite = False. It is used to determine whether the current vehicle has an oncoming vehicle that may affect its passage. False means that the current vehicle has no oncoming vehicle that may affect its passage.

[0039] Traverse other vehicles vj (j ≠ i) in the waiting queue Q, and determine whether vj is an oncoming vehicle and within the passing time window of the current vehicle vi, that is, current_time ≤ tj < current_time + Δt, where Δt is the allowed time window for oncoming vehicles, used to determine whether oncoming vehicles may have an impact when the current vehicle is passing.

[0040] If a vehicle in the second direction that meets the conditions is found, set opposite to True, which is used to indicate that there is an oncoming vehicle that may have an impact when the current vehicle is passing. And record the earliest arriving vehicle in the second direction vearliest_opposite.

[0041] 3. Decide to pass or wait: If opposite is False or the arrival time tearliest_opposite of the earliest arriving vehicle in the second direction vearliest_opposite is not less than current_time + Δt, then the vehicle vi can pass, add it to the passing order list O, and update its status to passed.

[0042] Otherwise, the vehicle vi needs to wait. Calculate the new waiting time ti′, and update the arrival time of the vehicle vi to ti′, and re-insert it into the waiting queue Q. Where ti′ = max(current_time + Δtwait, tearliest_opposite + ϵ), Δtwait is the fixed time the vehicle needs to wait, which may be zero and is set according to specific circumstances, tearliest_opposite is the arrival time of the vehicle in the second direction, and ϵ is a small time increment used to ensure a safety interval after the oncoming vehicle passes first.

[0043] Execute the above vehicle passing order judgment method for other vehicles in the vehicle fleet waiting queue in turn to generate a passing order list. The RSU packs the finally calculated final passing order list O = [] into an order message TEST, that is, a custom message set package P2, and sends it to the OBU through PC5 communication. The OBU then sends the direct connection decision information to the ADU through the network port. The vehicle makes the corresponding passing order.

[0044] The following is illustrated with a specific embodiment: Assume a single-lane two-way road with vehicles in directions A and B. Initially, the waiting queue Q is empty. There are five vehicles, V1, V2, V3, V4, and V5. V1 travels in direction A and arrives in 0 seconds. V2 travels in direction B and arrives in 5 seconds. V3 travels in direction A and arrives in 10 seconds. V4 travels in direction B and arrives in 15 seconds. V5 travels in direction A and arrives in 20 seconds. Δt (travel time window) is set to 10 seconds, Δtwait (waiting time) is set to 0 seconds, and ϵ (safety interval) is set to 2 seconds.

[0045] The scheduling results are as follows: Time 0 seconds: Vehicle V1 arrives and is added to the waiting queue Q, with the status of waiting. Waiting queue Q: {V1}, passing order list O: {}.

[0046] Time 5 seconds: Vehicle V2 arrives and is added to the waiting queue Q, with the status of waiting. Waiting queue Q (sorted by arrival time): {V1, V2}. Since V1 and V2 are in opposite directions and V2 arrives within the travel time window of V1, V1 needs to wait. Calculate the new waiting time of V1: ti′=max(current_time+Δtwait, V2 arrival time+ϵ)=max(5, 5+2)=7 seconds. Reinsert V1 into the waiting queue Q and update the arrival time to 7 seconds. Waiting queue Q (sorted by arrival time): {V2, V1(7 seconds)}.

[0047] Time 7 seconds: V1's waiting time ends, it is taken out of the waiting queue Q and added to the pass order list O. Pass order list O: {V1} V1 starts to pass, and the status is updated to passed. Waiting queue Q: {V2}.

[0048] Time 10 seconds: Vehicle V3 arrives and is added to the waiting queue Q, with the status of waiting. Waiting queue Q (sorted by arrival time): {V2, V3}, since V1 has passed, V2 can now pass. Add V2 to the passing order list O. Passing order list O: {V1, V2}, V2 starts to pass, and the status is updated to passed. Waiting queue Q: {V3}.

[0049] Time 15 seconds: Vehicle V4 arrives and is added to the waiting queue Q, with the status of waiting. Waiting queue Q (sorted by arrival time): {V3, V4}, V2 has completed the passage, but because V3 and V4 are in opposite directions and V4 arrives within the passage time window of V3, V3 needs to wait. Calculate the new waiting time of V3: ti′=max(current_time+Δtwait, V4 arrival time+ϵ)=max(15, 15+2)=17 seconds. Reinsert V3 into the waiting queue Q and update the arrival time to 17 seconds. Waiting queue Q (sorted by arrival time): {V4, V3(17 seconds)}.

[0050] Time 17 seconds: V3's waiting time ends, it is taken out of the waiting queue Q and added to the passing order list O. Passing order list O: {V1, V2, V3}, V3 starts to pass, and the status is updated to passed. Waiting queue Q: {V4}.

[0051] Time 20 seconds: Vehicle V5 arrives and is added to the waiting queue Q, with the status of waiting. Waiting queue Q (sorted by arrival time): {V4, V5}, V3 has passed through, and V4 can pass now. Add V4 to the passing order list O. Passing order list O: {V1, V2, V3, V4}, V4 starts to pass, and the status is updated to passed. Waiting queue Q: {V5}.

[0052] Final dispatch result: traffic order list O: {V1, V2, V3, V4, V5}. In actual applications, the dispatch results will vary depending on the specific vehicle conditions and road conditions.

[0053] In order to better implement the single-lane vehicle dispatching method in the embodiment of the present invention, based on the single-lane vehicle dispatching method, correspondingly, Figure 3 As shown, the embodiment of the present invention further provides a single-lane vehicle dispatching system, and the single-lane vehicle dispatching system 300 includes: On-board unit 301, roadside unit 302 and on-board domain controller 303; the on-board unit 301 and the roadside unit 302 are connected to each other through PC5 communication; The vehicle-mounted unit 301 is used to obtain basic vehicle information and send basic vehicle information to the roadside unit 302; The roadside unit 302 is used to receive the vehicle basic message, generate a vehicle order message based on the vehicle basic message; and send the vehicle order message to the vehicle-mounted unit 301; The on-board unit 301 is also used to send the vehicle order message to the on-board domain controller 303, so that the on-board domain controller 303 controls the passage of vehicles.

[0054] The single-lane vehicle dispatching system 300 provided in the above embodiment can implement the technical solution described in the above single-lane vehicle dispatching method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above single-lane vehicle dispatching method embodiment, which will not be repeated here.

[0055] like Figure 4 As shown, the present invention also provides an electronic device 400. The electronic device 400 includes a processor 401, a memory 402 and a display 403. Figure 4 Only some components of the electronic device 400 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0056] In some embodiments, the processor 401 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 402, such as the single-lane vehicle dispatching method of the present invention.

[0057] In some embodiments, processor 401 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 401 may be local or remote. In some embodiments, processor 401 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.

[0058] In some embodiments, the memory 402 may be an internal storage unit of the electronic device 400, such as a hard disk or memory of the electronic device 400. In other embodiments, the memory 402 may also be an external storage device of the electronic device 400, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 400.

[0059] Furthermore, the memory 402 may include both an internal storage unit of the electronic device 400 and an external storage device. The memory 402 is used to store application software installed in the electronic device 400 and various data.

[0060] In some embodiments, the display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 403 is used to display information of the electronic device 400 and to display a visual user interface. The components 401-403 of the electronic device 400 communicate with each other via a system bus.

[0061] In some embodiments, when the processor 401 executes the single-lane vehicle dispatching program in the memory 402, the following steps may be implemented: Receive basic information of single-lane vehicles sent by the on-board unit; Generate vehicle sequence message according to single lane vehicle basic message; The vehicle order message is sent to the on-board unit so that the vehicle passes based on the vehicle order message.

[0062] It should be understood that: when the processor 401 executes the single-lane vehicle dispatching program in the memory 402, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0063] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 400 mentioned, and the electronic device 400 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 400 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0064] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the single-lane vehicle scheduling method provided in the above-mentioned method embodiments can be implemented.

[0065] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A single-lane vehicle dispatching method, applied to a roadside unit, characterized in that: include: Receive basic information of single-lane vehicles sent by the on-board unit; Generating a vehicle sequence message according to the single-lane vehicle basic message; The vehicle order message is sent to the vehicle domain controller so that the vehicle passes based on the vehicle order message.

2. The single-lane vehicle dispatching method according to claim 1, characterized in that: Also includes: The on-board unit is connected to the roadside unit through PC5 communication.

3. The single-lane vehicle dispatching method according to claim 1 or 2, characterized in that: The single-lane vehicle basic information includes a vehicle identifier, a vehicle direction, a vehicle arrival time, a vehicle current status, and a vehicle type.

4. The single-lane vehicle dispatching method according to claim 3, characterized in that: The vehicle sequence message includes: a vehicle passing sequence list, a maximum value and a minimum value of the target vehicle speed, a vehicle ID, a vehicle passing status and a task number.

5. The single-lane vehicle dispatching method according to claim 4, characterized in that: The generating of the vehicle sequence message according to the single-lane vehicle basic message comprises: Determine a waiting queue of the vehicle fleet based on the vehicle arrival time of each vehicle, and determine the vehicle with the earliest vehicle arrival time as the first direction vehicle; Traversing the waiting queue of the vehicle fleet to determine a second direction vehicle, wherein the second direction vehicle is an oncoming vehicle with the earliest vehicle arrival time; determining an arrival time of the vehicle in the second direction; If the arrival time of the vehicle in the second direction is not less than the passing time window of the vehicle in the first direction, mark the vehicle in the first direction as a priority vehicle; If the arrival time of the second direction vehicle is less than the passing time window of the first direction vehicle, mark the second direction vehicle as a priority vehicle, and update the vehicle arrival time of the first direction vehicle; The above-mentioned vehicle passing order determination method is executed on other vehicles in the waiting queue of the fleet in turn to generate the vehicle order message.

6. The single-lane vehicle dispatching method according to claim 5, characterized in that: If the arrival time of the vehicle in the second direction is less than the travel time window of the vehicle in the first direction, the method further includes: Calculating the waiting time of the vehicle in the first direction; The vehicle arrival time of the first-direction vehicle is updated based on the waiting time.

7. The single-lane vehicle dispatching method according to claim 1, characterized in that: The sending of the vehicle order message to the vehicle-mounted domain controller so that the vehicle passes based on the vehicle order message includes: The vehicle order message is sent to the on-board unit, so that the on-board unit sends the vehicle order message to the on-board domain controller through the network port, and controls the vehicle to pass based on the vehicle order message.

8. A single-lane vehicle dispatching system, characterized in that: include: On-board unit, roadside unit and on-board domain controller; the on-board unit and the roadside unit are connected via PC5 communication; The on-board unit is used to obtain basic vehicle information and send the basic vehicle information to the roadside unit; The roadside unit is used to receive the vehicle basic message, generate a vehicle order message based on the vehicle basic message; and send the vehicle order message to the vehicle-mounted unit; The on-board unit is also used to send the vehicle order message to the on-board domain controller so that the on-board domain controller controls the passage of vehicles.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the single-lane vehicle dispatching method described in any one of claims 1 to 7 above.

10. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the single-lane vehicle dispatching method described in any one of claims 1 to 7.

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