Single-lane vehicle dispatching methods, systems, electronic devices, and computer storage media

Abstract

This invention relates to a single-lane vehicle scheduling method, system, electronic device, and computer storage medium, applied to roadside units and belonging to the field of vehicle-to-everything (V2X) technology. The method includes: receiving basic vehicle information for a single lane from an onboard unit; generating vehicle sequence information based on the basic vehicle information; and sending the vehicle sequence information to an onboard domain controller to enable vehicles to pass based on the vehicle sequence information. This invention generates vehicle sequence information based on basic vehicle information for a single lane, which can flexibly respond to single-lane road conditions and ensure the long-term safe and reliable operation of autonomous vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking technology, and in particular to a single-lane vehicle dispatching method, system, electronic device, and computer storage medium. Background Technology

[0002] The concept of the Internet of Vehicles (IoV) is derived from the Internet of Things (IoT) and is generally known as V2X. It includes applications based on vehicle-to-vehicle, vehicle-to-road infrastructure, vehicle-to-pedestrian, and vehicle-to-back-end data centers or vehicle-to-cloud, to further realize information interconnection and interoperability, thereby enabling effective management of people, vehicles, roads, and networks, and achieving a high degree of coordination among people, vehicles, and roads in spatiotemporal environments. The IoV was proposed mainly to solve problems such as driving safety and reducing fuel consumption.

[0003] Existing traffic management studies mostly focus on 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, it is urgent to solve the problems of intersections without traffic lights and one-way traffic. Summary of the Invention

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

[0006] To address the aforementioned problems, in a first aspect, the present invention provides a single-lane vehicle scheduling method applied to a roadside unit, comprising:

[0007] Receive basic vehicle information for a single lane from the onboard unit;

[0008] Generate vehicle sequence information based on the single-lane vehicle basic information;

[0009] The vehicle sequence message is sent to the vehicle domain controller so that the vehicle can pass based on the vehicle sequence message.

[0010] In one possible implementation, the above method also includes:

[0011] The vehicle-mounted unit and the roadside unit are connected via PC5 communication.

[0012] In one possible implementation, the basic vehicle information for a single lane includes vehicle identifier, vehicle direction, vehicle arrival time, vehicle current status, and vehicle type.

[0013] In one possible implementation, the vehicle sequence message includes: a list of vehicle passage order, the maximum and minimum speeds of the target vehicles, vehicle IDs, vehicle passage status, and task numbers.

[0014] In one possible implementation, generating vehicle sequence information based on the single-lane vehicle basic information includes:

[0015] The convoy waiting queue is determined based on the arrival time of each vehicle, and the vehicle with the earliest arrival time is determined as the vehicle in the first direction.

[0016] Traverse the waiting queue of the convoy to determine the vehicles in the second direction, wherein the vehicles in the second direction are the vehicles in the opposite direction with the earliest arrival time;

[0017] Determine the arrival time of vehicles in the second direction;

[0018] If the arrival time of a vehicle in the second direction is not less than the passage time window of a vehicle in the first direction, the vehicle in the first direction is marked as a vehicle with priority passage.

[0019] If the arrival time of a vehicle in the second direction is less than the passage time window of a vehicle in the first direction, mark the vehicle in the second direction as a priority vehicle and update the arrival time of the vehicle in the first direction.

[0020] The vehicle passage order determination method described above is applied sequentially to other vehicles in the convoy waiting queue to generate the vehicle order message.

[0021] In one 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:

[0022] Calculate the waiting time for vehicles in the first direction;

[0023] The arrival time of the vehicle in the first direction is updated based on the waiting time.

[0024] In one possible implementation, sending the vehicle sequence message to the vehicular domain controller to enable vehicles to pass based on the vehicle sequence message includes:

[0025] The vehicle sequence message is sent to the vehicle unit, so that the vehicle unit sends the vehicle sequence message to the vehicle domain controller through the network port, and controls the vehicle to pass based on the vehicle sequence message.

[0026] Secondly, the present invention also provides a single-lane vehicle dispatching system, comprising: an on-board unit, a roadside unit, and an on-board domain controller; the on-board unit and the roadside unit are connected via PC5 communication.

[0027] The on-board unit is used to acquire basic vehicle information and send the basic vehicle information to the roadside unit;

[0028] The roadside unit is used to receive the vehicle basic information, generate vehicle sequence information based on the vehicle basic information, and send the vehicle sequence information to the vehicle unit.

[0029] The on-board unit is also used to send the vehicle sequence message to the on-board domain controller so that the on-board domain controller can control the passage of vehicles.

[0030] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the above-described photovoltaic cell parameter identification method.

[0031] Fourthly, the present invention also provides a computer storage medium, which stores a computer program that, when executed by a processor, implements the steps of the photovoltaic cell parameter identification method described above.

[0032] The beneficial effects of this invention are:

[0033] This invention transmits the vehicle basic information (BSM) to the roadside unit (RSU) via the onboard unit (OBU) and calculates and generates a passage order message. Then, it sends the passage order message (TEST) to the OBU. The OBU then sends the passage order message to the onboard domain controller (ADU) to control vehicle passage, thereby flexibly responding to single-lane road conditions and ensuring the safe and reliable operation of unmanned vehicles for a long time. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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 effort.

[0035] Figure 1 This is a flowchart illustrating an embodiment of a single-lane vehicle scheduling method provided by the present invention.

[0036] Figure 2 This is a schematic diagram of message flow provided in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of a single-lane vehicle dispatching system according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0039] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form 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 intended to limit the scope of the present invention.

[0040] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] PC5 communication refers to the direct communication interface in C-V2X technology, which supports short-range direct communication between vehicles (V2V), vehicles and pedestrians (V2P), and vehicles and infrastructure (V2I). Through direct communication, the PC5 interface can achieve low-latency information transmission, support multiple users accessing the network, accommodate a large number of communication nodes, and provide highly reliable communication services by adopting advanced communication technologies and protocols, ensuring accurate information transmission.

[0043] OBU: Onboard Unit, a microwave device that uses DSRC (Dedicated Short Range Communication) technology to communicate with RSU (Road Side Unit). The OBU is placed on the vehicle, and the RSU is installed on the roadside, communicating with each other via microwave.

[0044] RSU stands for Road-Side Unit, which consists of a microwave antenna and a read / write controller. The microwave antenna is a microwave transceiver module responsible for receiving / transmitting signals and data, modulation / demodulation, encoding / decoding, and encryption / decryption; the read / write controller is a module that controls the transmission and reception of data and processes information sent and received to the host computer.

[0045] ADU stands for Autonomous Driving Unit, which integrates computationally intensive sensor data processing and sensor fusion with control strategy development into a single control unit. This facilitates the establishment of a structured and organized vehicle controller network. Applications include unmanned logistics delivery, unmanned sanitation, unmanned mining trucks, unmanned buses, and intelligent construction machinery.

[0046] A specific embodiment of the present invention, such as Figure 1 As shown, a single-lane vehicle scheduling method is disclosed, applied to a roadside unit, including:

[0047] Step 101: Receive basic vehicle information for a single lane from the onboard unit;

[0048] Step 102: Generate vehicle sequence information based on the basic vehicle information for a single lane;

[0049] Step 103: Send a vehicle sequence message to the vehicle domain controller so that vehicles can pass based on the vehicle sequence message.

[0050] This invention transmits the basic vehicle information (BSM) to the roadside unit (RSU) via the onboard unit (OBU) and calculates and generates a passage sequence message. Then, it sends the passage sequence message (TEST) to the OBU. The OBU then sends the passage sequence message to the onboard domain controller (ADU) to control vehicle passage, thereby flexibly responding to single-lane road conditions and ensuring the safe and reliable operation of unmanned vehicles for extended periods.

[0051] In one embodiment of the present invention, the above method further includes:

[0052] The vehicle-mounted unit and the roadside unit are connected via PC5 communication.

[0053] Understandably, given the low latency and stability of PC5 communication, the communication time can be compressed to the 100ms level, encompassing the entire message transmission process. This would be more stable than the latency of 5G UU communication and would not incur any data usage. Alternatively, 5G cellular network communication could be used to replace PC5 communication, but its communication performance would be inferior.

[0054] In one embodiment of the present invention, sending a vehicle sequence message to the vehicle domain controller to enable vehicles to pass based on the vehicle sequence message includes:

[0055] Send vehicle sequence messages to the on-board unit so that the on-board unit can send vehicle sequence messages to the on-board domain controller via the network port, and control the vehicles to pass based on the vehicle sequence messages.

[0056] Understandably, please refer to Figure 2 , Figure 2This is a schematic diagram of message flow provided in one embodiment of the present invention. The Onboard Unit (OBU) transmits the Basic Vehicle Message (BSM) to the Roadside Unit (RSU) via PC5 communication and calculates and generates the Vehicle Sequence Message (TEST). The RSU then sends the TEST to the OBU, which in turn sends data to the Onboard Domain Controller (ADU) to control vehicle passage. This allows for flexible responses to single-vehicle road conditions and ensures the safe and reliable operation of the autonomous driving system over a long period of time.

[0057] In one embodiment of the present invention, generating vehicle sequence information based on single-lane vehicle basic information includes:

[0058] The convoy waiting queue is determined based on the arrival time of each vehicle, and the vehicle with the earliest arrival time is determined as the vehicle in the first direction.

[0059] Traverse the waiting queue of the convoy to determine the vehicles in the second direction, where the vehicles in the second direction are the vehicles that arrive earliest in the opposite direction;

[0060] Determine the arrival time of vehicles traveling in the second direction;

[0061] If the arrival time of a vehicle in the second direction is not less than the passage time window of a vehicle in the first direction, the vehicle in the first direction is marked as a vehicle with priority passage.

[0062] If the arrival time of a vehicle in the second direction is less than the passage time window of a vehicle in the first direction, mark the vehicle in the second direction as a priority vehicle and update the arrival time of the vehicle in the first direction.

[0063] The vehicle passage order determination method described above is applied sequentially to other vehicles in the convoy waiting queue to generate vehicle order messages.

[0064] If the arrival time of vehicles in the second direction is less than the travel time window for vehicles in the first direction, it also includes:

[0065] Calculate the waiting time for vehicles in the first direction;

[0066] The arrival time of vehicles in the first direction is updated based on the waiting time.

[0067] First, it should be noted that all autonomous vehicles on the road must be equipped with an onboard domain controller and an Onboard Unit (OBU), and the OBU's GPS positioning must be functioning correctly. Basic vehicle information for a single lane includes vehicle identifier, vehicle direction, vehicle arrival time, vehicle current status, and vehicle type. Vehicle sequence information includes: a list of vehicle passage order, the maximum and minimum speeds of the target vehicles, vehicle ID, vehicle passage status, and task number.

[0068] The on-vehicle unit OBU on the driverless vehicle reports the BSM, that is, the vehicle basic message. Define the 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 status si, generally waiting or having passed, initialized to waiting. Define the waiting queue Q as a priority queue, sorted based on the vehicle arrival time ti of each vehicle. The RSU generates an order message TEST, a custom message set packet P2(S, O, c1, c2, c3) and a passing order list O = []. S is the maximum and minimum values of the target unmanned vehicle speed, c1 is the vehicle ID, c2 is the passing status command, and c3 is the task number.

[0069] When a new vehicle arrives, the RSU adds the received BSM-like message to the waiting queue Q according to the vehicle number and sets its status to waiting.

[0070] When the waiting queue Q is not empty, repeat the following steps:

[0071] 1. Take out the vehicle that arrived earliest:

[0072] Take out the first-direction vehicle vi with the earliest arrival time from the waiting queue Q.

[0073] 2. Check for oncoming vehicles:

[0074] Initialize a flag variable opposite = False. It is used to determine whether there are oncoming vehicles that may have an impact when the current vehicle passes. False means that there are no oncoming vehicles that may have an impact when the current vehicle passes.

[0075] 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 to determine whether oncoming vehicles may have an impact when the current vehicle passes.

[0076] If a second-direction vehicle that meets the conditions is found, set opposite to True, which means that there are oncoming vehicles that may have an impact when the current vehicle passes. And record the earliest-arriving second-direction vehicle vearliest_opposite.

[0077] 3. Decide to pass or wait:

[0078] If `opposite` is False or the arrival time of the earliest arriving second-direction vehicle `vearliest_opposite` is not less than `current_time + Δt`, then vehicle `vi` can pass, is added to the passage order list `O`, and its status is updated to "passed".

[0079] Otherwise, vehicle vi needs to wait. Calculate the new waiting time ti′, update the arrival time of vehicle vi to ti′, and reinsert it into the waiting queue Q. Here, ti′ = max(current_time + Δtwait, tearliest_opposite + ϵ), where Δtwait is the fixed waiting time for the vehicle (which may be zero, depending on the specific situation), tearliest_opposite is the arrival time of the vehicle in the second direction, and ϵ is a small time increment used to ensure a safe interval after the oncoming vehicle passes first.

[0080] The vehicle passage order determination method described above is applied sequentially to other vehicles in the convoy waiting queue to generate a passage order list. The RSU packages the final passage order list O=[] into a sequence message TEST, i.e., a custom message set packet P2, and sends it to the OBU via PC5 communication. The OBU then sends direct connection decision information to the ADU via the network interface. The vehicles then make the corresponding passage order decisions.

[0081] The following is a specific embodiment for illustration:

[0082] Assume a single-lane, two-way road with vehicles traveling in both directions (A and B). Initially, the waiting queue Q is empty. There are 5 vehicles: V1, V2, V3, V4, and V5. V1 travels in direction A with an arrival time of 0 seconds; V2 travels in direction B with an arrival time of 5 seconds; V3 travels in direction A with an arrival time of 10 seconds; V4 travels in direction B with an arrival time of 15 seconds; and V5 travels in direction A with an arrival time of 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.

[0083] The scheduling results are as follows:

[0084] Time 0 seconds: Vehicle V1 arrives and is added to the waiting queue Q, with a waiting status. Waiting queue Q: {V1}, Passing order list O: {}.

[0085] Time 5 seconds: Vehicle V2 arrives and is added to waiting queue Q, in a waiting state. Waiting queue Q (sorted by arrival time): {V1, V2}. Since V1 and V2 are traveling in opposite directions, and V2 arrives within V1's travel time window, V1 needs to wait. Calculate V1's new waiting time: ti′=max(current_time+Δtwait, V2 arrival time+ϵ)=max(5, 5+2)=7 seconds. Reinsert V1 into waiting queue Q, updating its arrival time to 7 seconds. Waiting queue Q (sorted by arrival time): {V2, V1(7 seconds)}.

[0086] Time: 7 seconds. V1's waiting time ends, it is removed from the waiting queue Q and added to the passage order list O. Passage order list O: {V1} V1 begins passage, and its status is updated to "passed". Waiting queue Q: {V2}.

[0087] Time 10 seconds: Vehicle V3 arrives and is added to waiting queue Q, status is waiting. Waiting queue Q (sorted by arrival time): {V2, V3}. Since V1 has already passed, V2 can now pass. Add V2 to the passage order list O. Passage order list O: {V1, V2}. V2 begins to pass, status updated to passed. Waiting queue Q: {V3}.

[0088] Time 15 seconds: Vehicle V4 arrives and is added to waiting queue Q, in a waiting state. Waiting queue Q (sorted by arrival time): {V3, V4}. V2 has already passed, but since V3 and V4 are traveling in opposite directions, and V4 arrived within V3's passing time window, V3 needs to wait. Calculate V3's new waiting time: ti′=max(current_time+Δtwait, V4 arrival time+ϵ)=max(15, 15+2)=17 seconds. Reinsert V3 into waiting queue Q, updating its arrival time to 17 seconds. Waiting queue Q (sorted by arrival time): {V4, V3(17 seconds)}.

[0089] Time 17 seconds: V3's waiting time ends, it is removed from the waiting queue Q and added to the passage order list O. Passage order list O: {V1, V2, V3}, V3 begins passage, and its status is updated to "passed". Waiting queue Q: {V4}.

[0090] Time 20 seconds: Vehicle V5 arrives and is added to waiting queue Q, status is waiting. Waiting queue Q (sorted by arrival time): {V4, V5}, V3 has passed, V4 can now pass. Add V4 to the passage order list O. Passage order list O: {V1, V2, V3, V4}, V4 begins to pass, status updated to passed. Waiting queue Q: {V5}.

[0091] Final scheduling result: Passage order list O: {V1, V2, V3, V4, V5}. In practical applications, the scheduling result may vary depending on the specific vehicle situation and road conditions.

[0092] To better implement the single-lane vehicle scheduling method in this embodiment of the invention, based on the single-lane vehicle scheduling method, correspondingly, as follows: Figure 3 As shown, this embodiment of the invention also provides a single-lane vehicle dispatching system, the single-lane vehicle dispatching system 300 including:

[0093] The vehicle-mounted unit 301, the roadside unit 302, and the vehicle-mounted domain controller 303 are connected via PC5 communication;

[0094] The on-board unit 301 is used to acquire basic vehicle information and send the basic vehicle information to the roadside unit 302;

[0095] The roadside unit 302 is used to receive vehicle basic information, generate vehicle sequence information based on the vehicle basic information, and send the vehicle sequence information to the on-board unit 301.

[0096] The on-board unit 301 is also used to send vehicle sequence messages to the on-board domain controller 303 so that the on-board domain controller 303 can control vehicle passage.

[0097] The single-lane vehicle dispatching system 300 provided in the above embodiments can realize the technical solutions described in the above embodiments of the single-lane vehicle dispatching method. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the single-lane vehicle dispatching method, and will not be repeated here.

[0098] 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 the components shown, and more or fewer components may be implemented instead.

[0099] In some embodiments, processor 401 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as the single-lane vehicle scheduling method of the present invention.

[0100] In some embodiments, processor 401 may be a single server or a group of servers. 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 on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.

[0101] In some embodiments, memory 402 may be an internal storage unit of electronic device 400, such as a hard disk or memory of electronic device 400. In other embodiments, memory 402 may also be an external storage device of electronic device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 400.

[0102] Furthermore, the memory 402 may include both internal storage units of the electronic device 400 and external storage devices. The memory 402 is used to store application software and various types of data installed on the electronic device 400.

[0103] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 403 is used to display information from electronic device 400 and to display a visual user interface. Components 401-403 of electronic device 400 communicate with each other via a system bus.

[0104] In some embodiments, when the processor 401 executes the single-lane vehicle dispatching program in the memory 402, the following steps may be implemented:

[0105] Receive basic vehicle information for a single lane from the onboard unit;

[0106] Generate vehicle sequence information based on basic vehicle information for a single lane;

[0107] Send vehicle sequence messages to the on-board unit so that vehicles can pass based on the vehicle sequence messages.

[0108] It should be understood that when the processor 401 executes the single-lane vehicle scheduling program in the memory 402, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0109] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 400 mentioned. Electronic device 400 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can 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 invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0110] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the single-lane vehicle scheduling method provided in the above-described method embodiments.

[0111] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0112] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A single-lane vehicle dispatching method, applied to a roadside unit, characterized in that, Comprising: Receiving the basic single-lane vehicle message sent by the on-vehicle unit, the basic single-lane vehicle message including vehicle identifier, vehicle direction, vehicle arrival time, vehicle current status, and vehicle type; Generating a vehicle sequence message according to the basic single-lane vehicle message, the vehicle sequence message including: a vehicle passing sequence list, the maximum and minimum values of the target vehicle speed, vehicle ID, vehicle passing status, and task number; Sending the vehicle sequence message to the on-vehicle domain controller so that the vehicle passes based on the vehicle sequence message; Wherein, when a new vehicle arrives, the roadside unit adds the vehicle identifier to the waiting queue Q according to the basic single-lane vehicle message and sets its status to waiting; When the waiting queue Q is not empty, repeat the following steps: Taking out the earliest-arriving vehicle: taking out the first-direction vehicle vi with the earliest arrival time from the waiting queue Q; Checking the oncoming vehicle: initializing a flag variable opposite = False, opposite is used to determine whether there is an oncoming vehicle that may have an impact on the current vehicle during its passing, False indicates that there is no oncoming vehicle that may have an impact on the current vehicle during its passing; traversing other vehicles vj in the waiting queue Q, j≠i, to 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 oncoming vehicle time window for determining whether the oncoming vehicle may have an impact on the current vehicle during its passing; if a second-direction vehicle satisfying the conditions is found, set opposite to True, True is used to indicate that there is an oncoming vehicle that may have an impact on the current vehicle during its passing, and record the earliest-arriving second-direction vehicle vearliest_opposite; Deciding to pass or wait: if opposite is False or the arrival time tearliest_opposite of the earliest-arriving second-direction vehicle vearliest_opposite is not less than current_time + Δt, the vehicle vi can pass, add it to the passing sequence list, and update the status to passed; 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 reinsert it into the waiting queue Q, where ti′ = max(current_time + Δtwait, tearliest_opposite + ϵ), Δtwait is the fixed time for which the vehicle needs to wait, tearliest_opposite is the arrival time of the second-direction vehicle, and ϵ is a small time increment for ensuring a safety interval after the oncoming vehicle passes first; Successively performing the above vehicle passing sequence judgment method on other vehicles in the vehicle fleet waiting queue to generate a passing sequence list, and the roadside unit packs the finally calculated final passing sequence list into a sequence message.

2. The single-lane vehicle dispatching method according to claim 1, characterized in that, Also comprising: The vehicle-mounted unit and the roadside unit are connected via PC5 communication.

3. The single-lane vehicle dispatching method according to claim 1, characterized in that, Sending the vehicle sequence message to the vehicle domain controller to enable vehicles to pass based on the vehicle sequence message includes: The vehicle sequence message is sent to the vehicle unit, so that the vehicle unit sends the vehicle sequence message to the vehicle domain controller through the network port, and controls the vehicle to pass based on the vehicle sequence message.

4. A single-lane vehicle dispatching system, used to execute the single-lane vehicle dispatching method as described in any one of claims 1-3, characterized in that, include: The vehicle-mounted unit, the roadside unit, and the vehicle-mounted domain controller are connected via PC5 communication. The on-board unit is used to acquire basic vehicle information and send the basic vehicle information to the roadside unit; The roadside unit is used to receive the vehicle basic information, generate vehicle sequence information based on the vehicle basic information, and send the vehicle sequence information to the vehicle unit. The on-board unit is also used to send the vehicle sequence message to the on-board domain controller so that the on-board domain controller can control the passage of vehicles.

5. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the single-lane vehicle scheduling method according to any one of claims 1 to 3.

6. 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 scheduling method according to any one of claims 1 to 3.

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