Vehicle scheduling method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle scheduling method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a first target image containing a scheduling instruction board, and the scheduling instruction board comprises first graphic code information; identifying the first graphic code information of the scheduling instruction board, wherein the first graphic code information comprises a scheduling instruction; and controlling the vehicle to act based on the scheduling instruction. According to the technical scheme, the vehicle scheduling task can be realized under the condition of a weak network or no network, and the scheduling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and specifically to a vehicle dispatching method and device, electronic equipment, and storage medium. Background Art

[0002] With the rapid development of artificial intelligence, unmanned vehicles have been applied in certain fields. For example, in the field of logistics, they can reduce manual operations, reduce labor costs, and improve the automation of logistics transportation. During transportation, loading and unloading, unmanned vehicle movement operations need to be carried out according to the on-site conditions. However, the existing solutions have some problems in dispatching vehicles. Summary of the invention

[0003] In order to solve the above problems, the embodiments of the present application provide a vehicle scheduling method and device, an electronic product, and a storage medium.

[0004] In a first aspect, an embodiment of the present application provides a vehicle dispatching method, comprising: acquiring a first target image including a dispatching instruction sign, the dispatching instruction sign including first graphic code information; identifying the first graphic code information of the dispatching instruction sign, the first graphic code information including a dispatching instruction; and controlling the vehicle action based on the dispatching instruction.

[0005] In combination with the first aspect, the first graphic code information also includes vehicle information, and based on the dispatch instruction, the vehicle action is controlled, including: matching the vehicle information with the vehicle; if the vehicle information matches the vehicle successfully, controlling the vehicle action based on the dispatch instruction.

[0006] In combination with the first aspect, before obtaining the first target image including the dispatch instruction board, the vehicle dispatch method also includes: obtaining a second target image including the dispatch instruction board, the dispatch instruction board including second graphic code information, and the second graphic code information is displayed on the dispatch instruction board before the first graphic code information; identifying the second graphic code information of the dispatch instruction board, the second graphic code information including a vehicle control request instruction; based on the vehicle control request instruction, controlling the vehicle to send a vehicle controlled signal.

[0007] In combination with the first aspect, the second graphic code information also includes vehicle information, and based on the vehicle control request instruction, controls the vehicle to send a vehicle controlled signal, including: matching the vehicle information with the vehicle; if the vehicle information matches the vehicle successfully, based on the vehicle control request instruction, controls the vehicle to send a vehicle controlled signal.

[0008] In combination with the first aspect, obtaining a first target image containing a dispatch instruction sign and / or obtaining a second target image containing a dispatch instruction sign includes: collecting environmental images around the vehicle through an image acquisition device at preset time intervals; identifying and processing the environmental images to determine candidate images containing at least one dispatch instruction sign; and enlarging and screenshotting the dispatch instruction sign area in the candidate images to obtain the first target image or the second target image containing the dispatch instruction sign.

[0009] In combination with the first aspect, before controlling the vehicle action based on the scheduling instruction, the vehicle scheduling method also includes: controlling the vehicle to send an identified scheduling instruction signal; and / or after controlling the vehicle action based on the scheduling instruction, the vehicle scheduling method also includes: controlling the vehicle to send a completion scheduling signal.

[0010] In combination with the first aspect, the dispatching instruction includes a parking instruction, and based on the dispatching instruction, the vehicle action is controlled, including: controlling the vehicle to stop driving and controlling the vehicle to turn on the double flash lights; and / or, the dispatching instruction includes a pullover parking instruction, and based on the dispatching instruction, the vehicle action is controlled, including: controlling the vehicle to pull over and control the vehicle to turn on the double flash lights; and / or, the dispatching instruction includes a resume driving instruction, and based on the dispatching instruction, the vehicle action is controlled, including: controlling the vehicle to cancel the double flash lights and controlling the vehicle to continue driving; and / or, the dispatching instruction includes moving M parking spaces to the left or right, and based on the dispatching instruction, the vehicle action is controlled, including: controlling the vehicle to move M parking spaces to the left or right to stop at the designated position, wherein M is greater than or equal to 1; and / or, the dispatching instruction includes moving N parking spaces to the left or right, and based on the dispatching instruction, the vehicle action is controlled, including: controlling the vehicle to move N parking spaces to the left or right to stop at the designated position, wherein N is greater than or equal to 1.

[0011] In the second aspect, an embodiment of the present application provides a vehicle dispatching device, including: an acquisition module, an identification module and a control module; the acquisition module is used to acquire a first target image including a dispatching instruction sign, the dispatching instruction sign including first graphic code information; the identification module is used to identify the first graphic code information of the dispatching instruction sign, the first graphic code information including dispatching instructions; the control module is used to control the vehicle action based on the dispatching instructions.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor; a memory, the memory being connected to the processor, the memory being used to store a computer program, and the computer program implementing the above-mentioned vehicle dispatching method when executed by the processor.

[0013] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned vehicle dispatching method is implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, including computer program instructions, which implement the above-mentioned vehicle scheduling method when executed by a processor.

[0015] Through the above technical solution, there is no need to command vehicle actions (for example, parking, shifting, etc.) through an APP or remote control system. Vehicle dispatch tasks can be carried out in weak network or no network conditions. The vehicle dispatch work can be directly completed through dispatch instruction signs and single-vehicle intelligent functions, thereby improving dispatch efficiency. In addition, the dispatch process is carried out in conjunction with the logic of the unmanned driving system, and there is no need to switch the vehicle to manual takeover mode. In addition, dispatchers do not need to have vehicle driving qualifications to complete vehicle dispatch. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of a vehicle dispatching method provided in one embodiment of the present application.

[0017] Figure 2a-2e It is a schematic diagram of a graphic code of a dispatch instruction board including dispatch instructions provided in one embodiment of the present application.

[0018] Figure 3 It is a flowchart of a method for controlling vehicle motion provided in one embodiment of the present application.

[0019] Figure 4 It is a flow chart of a vehicle dispatching method provided in yet another embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of a vehicle dispatching process provided in one embodiment of the present application.

[0021] Figure 6 It is a structural block diagram of a vehicle dispatching device provided in one embodiment of the present application.

[0022] Figure 7 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] The autonomous vehicle can move according to the preset path, however, in some cases, the autonomous vehicle may need to deviate from the preset path, or temporarily stop or move the vehicle. Taking the field of logistics as an example, it is usually necessary to perform unmanned vehicle movement operations according to the on-site conditions. At present, dispatchers or cloud managers can command vehicles to perform shift operations through applications (Application, APP) or remote control systems. However, in some scenarios, dispatchers are not allowed to use mobile phones, or temporary dispatch managers do not have the time or conditions to download APP and bind vehicles, or the network signal is poor, resulting in the dispatch instruction not being transmitted to the unmanned vehicle for dispatch in time, which limits the application scenarios of unmanned freight vehicles. It should be noted that the embodiments of the present application mainly take vehicle dispatching in logistics scenarios as an example, and the vehicle dispatching method of the embodiments of the present application can also be applied to other scenarios. For example, in a specific section or specific intersection where vehicle dispatching is required. For example, at an intersection where a traffic light is damaged, vehicle dispatching can be performed by the method of the embodiments of the present application.

[0025] In order to solve the above problems, an embodiment of the present application provides a vehicle dispatching method, which includes: obtaining a first target image including a dispatching instruction board, the dispatching instruction board includes a first graphic code information; identifying the first graphic code information of the dispatching instruction board, the first graphic code information includes a dispatching instruction; based on the dispatching instruction, controlling the vehicle action. In an embodiment of the present application, there is no need to command the vehicle action (for example, parking, shifting, etc.) through an APP or a remote control system, and the vehicle dispatching task can be performed in the case of a weak network or no network (that is, the technical solution of the present application can be applied to the situation of no network or poor network signal), and the vehicle dispatching work is directly completed through the dispatching instruction board and the single-vehicle intelligent function, thereby improving the dispatching efficiency; in addition, the dispatching process is carried out in combination with the logic of the unmanned driving system, and there is no need to switch the vehicle to a manual takeover mode; in addition, the dispatcher can complete the vehicle dispatching without having the vehicle driving qualification.

[0026] Figure 1 FIG. 1 is a flow chart of a vehicle dispatching method provided in an embodiment of the present application. The method is applied to unmanned vehicles to realize the dispatching of unmanned vehicles. Figure 1 As shown, the method includes the following steps.

[0027] Step S110, obtaining a first target image including a dispatch instruction board. The dispatch instruction board includes first graphic code information, and the first graphic code information includes a dispatch instruction. In the embodiment of the present application, the first graphic code includes a barcode, a QR code, etc.

[0028] In an embodiment of the present application, the dispatch instruction board includes a display panel and a support plate. For example, the size of the display panel is 30*30cm, and the length of the support rod is 50cm. In other embodiments, the dispatch instruction board may also include other sizes, which are not limited by the embodiment of the present application. The first graphic code information is displayed on the display panel. Optionally, the display panel is a flat plate, and the picture of the first graphic code information is pasted on the display panel. At this time, different graphic code information needs to be set to different dispatch instruction boards. However, different dispatch instructions are required in different situations, and multiple dispatch instruction boards need to be made. On the one hand, they take up too much placement space, and on the other hand, the wrong dispatch instruction board may be taken, resulting in wrong dispatch. Preferably, the display panel is an electronic display screen, and the electronic display screen can display the graphic codes of different dispatch instructions. For example, a plurality of instruction buttons are provided on the support plate or the display panel, for example, a vehicle control request button, a parking button, a resume driving button, a shift button, etc., and different buttons correspond to the graphic codes of different dispatch instructions. The dispatcher presses the button according to the dispatch requirement, and the graphic code corresponding to the dispatch instruction is displayed on the display panel. Optionally, the dispatch instruction board supports the insertion of storage media such as SD cards and U disks storing vehicle dispatch instructions, so that the graphic code of the dispatch instruction can be displayed without network connection; and the dispatch instruction can be updated through storage media such as SD cards and U disks. Optionally, the dispatch instruction board can be carried with the vehicle or placed in an area where the vehicle needs to be dispatched, so that the dispatch personnel can obtain the dispatch instruction board.

[0029] In an embodiment of the present application, the vehicle travels along a preset path. During the driving process, an image acquisition device (e.g., a monocular camera) installed on the vehicle acquires environmental images around the vehicle at regular intervals to identify obstacles in front of the vehicle or traffic signs, etc. In an embodiment of the present application, an image acquisition device (e.g., a monocular camera) is installed in the middle of the front of the vehicle, and the dispatch instruction board can be placed in a certain distance and range in front of the vehicle so as to be captured by the image acquisition device. Optionally, the visual range of the monocular camera is approximately 90° to 150°, preferably 100°. Therefore, when the dispatch instruction board is within the visual range of the monocular camera, it can be captured by the monocular camera. In order to improve the recognition accuracy, optionally, the distance between the dispatch instruction board and the monocular camera (or vehicle) is 2 to 6m, for example, 2m, 3m, 4m, 5m, 6m. It can be understood that as long as the dispatch instruction sign is placed within the visible range of the monocular camera, it can be captured by the monocular camera. In other embodiments, the monocular camera can be set at other positions of the vehicle, for example, it can be set on the side or rear of the vehicle. In this case, the dispatch instruction sign can be placed within the visible range of the monocular camera.

[0030] In an embodiment of the present application, an environmental image around the vehicle is collected by an image acquisition device (e.g., a monocular camera) at a preset time interval (e.g., 1s, 2s, etc.); the environmental image is recognized and processed to determine a candidate image containing at least one dispatch instruction sign; the candidate image is directly used as the first target image. In some cases, the candidate image includes a lot of environmental information, and the area of ​​the dispatch instruction sign in the candidate image is relatively small, so it is not easy to identify the first graphic code information on the dispatch instruction sign. In some embodiments, the dispatch instruction sign area in the candidate image is enlarged and screenshot processed to obtain a first target image containing the dispatch instruction sign, so that the first graphic code information on the dispatch instruction sign can be accurately identified.

[0031] Step S120, identifying the first graphic code information of the dispatch instruction sign.

[0032] After acquiring the first target image including the dispatch instruction sign, the first graphic code information included in the dispatch instruction sign is parsed to determine the dispatch instruction included in the first graphic code information. Optionally, the dispatch instruction may include at least one of a parking instruction, a pull-over instruction, a resume driving instruction, and a shift instruction.

[0033] Optionally, after the dispatch instruction is identified, the vehicle is controlled to send a recognized dispatch instruction signal so that the dispatcher knows that the vehicle is about to start action. If the vehicle does not send a recognized dispatch instruction signal, the dispatcher needs to take other emergency measures, such as controlling the vehicle to make an emergency stop, etc., to ensure driving safety. In an embodiment of the present application, a recognized dispatch instruction signal can be sent through the vehicle's sound and light equipment. Exemplarily, the vehicle's headlights light up once and / or the horn sounds once to indicate that the dispatch instruction has been recognized. In other embodiments, the vehicle's sound and light equipment can be controlled to perform other actions to indicate that the dispatch instruction has been recognized, and the embodiment of the present application is not limited thereto.

[0034] Step S130, controlling the vehicle action based on the dispatch instruction.

[0035] After the dispatch instruction is identified, the vehicle action is controlled based on the dispatch instruction. Figure 2a As shown, the dispatch instruction in the first graphic code information includes a stop instruction. Based on the dispatch instruction, the vehicle action is controlled, including: controlling the vehicle to stop driving and controlling the vehicle to turn on the double flash lights. Figure 2b As shown, the dispatch instruction in the first graphic code information includes a pull-over parking instruction. Based on the dispatch instruction, the vehicle action is controlled, including: controlling the vehicle to pull over and control the vehicle to turn on the double flash lights. Figure 2c As shown, the dispatch instruction in the first graphic code information includes a resume driving instruction. Based on the dispatch instruction, the vehicle action is controlled, including: controlling the vehicle to cancel the double flash lights and controlling the vehicle to continue driving. Figure 2d As shown, the dispatch instruction in the first graphic code information includes moving M parking spaces to the left or right. Based on the dispatch instruction, controlling the vehicle action includes: controlling the vehicle to move M parking spaces to the left or right to stop at the specified position, wherein M is greater than or equal to 1. Optionally, as Figure 2e As shown, the dispatch instruction in the first graphic code information includes moving N storage locations to the left or right. Based on the dispatch instruction, the vehicle action is controlled, including: controlling the vehicle to move N storage locations to the left or right to stop at a specified position, wherein N is greater than or equal to 1. Optionally, after controlling the vehicle action, the vehicle is controlled to send a dispatch completion signal so that the dispatcher knows that the vehicle has completed the dispatch. Optionally, the dispatch completion signal can be sent through the vehicle's sound and light equipment. Exemplarily, the vehicle headlights light up three times to indicate that the dispatch has been completed. In other embodiments, the vehicle's sound and light equipment can be controlled to perform other actions to indicate that the dispatch has been completed. The embodiments of the present application are not limited thereto.

[0036] In some embodiments, there may be multiple vehicles that need to be dispatched at the same time. Each vehicle is dispatched using a dispatch instruction sign. The first target image captured by the image acquisition device may contain multiple dispatch instruction signs. At this time, it is necessary to identify the dispatch instruction sign corresponding to the vehicle, that is, it is necessary to match the dispatch instruction sign with the vehicle. After matching, the vehicle action is controlled according to the dispatch instruction, such as Figure 3 shown. Figure 3 The method includes the following steps. Step S310, matching the vehicle information in the first graphic code information with the vehicle. The vehicle information is also encoded in the first graphic code information. When the first graphic code information is identified, the dispatch instruction and the vehicle information can be identified at the same time. Optionally, the vehicle information may include at least one of the frame number, the license plate number, and the vehicle code. After matching the vehicle information with the vehicle, execute step S320 to determine whether the vehicle information matches the vehicle successfully. If the vehicle information matches the vehicle successfully, execute step S330. That is, based on the dispatch instruction, the vehicle action is controlled. Optionally, if the vehicle information does not match the vehicle successfully, execute step S340, that is, there is no need to execute the dispatch instruction.

[0037] In the embodiments of the present application, there is no need to command vehicle actions (for example, parking, shifting, etc.) through an APP or a remote control system. Vehicle dispatch tasks can be performed in the case of weak network or no network. The vehicle dispatch work can be directly completed through dispatch instruction signs and single-vehicle intelligent functions, thereby improving dispatch efficiency. In addition, the dispatch process is carried out in conjunction with the logic of the unmanned driving system, and there is no need to switch the vehicle to manual takeover mode. In addition, dispatchers do not need to have vehicle driving qualifications to complete vehicle dispatch.

[0038] In some embodiments, before dispatching, it is necessary to confirm that the vehicle can recognize the dispatch instruction and notify the vehicle to enter the instruction dispatch state. Therefore, before dispatching, the dispatcher needs to display the vehicle control request instruction first, and after the vehicle receives the vehicle control request instruction, it enters the instruction dispatch state. Specifically, Figure 4 shown.

[0039] Figure 4 FIG. 1 is a flow chart of a vehicle dispatching method provided by another embodiment of the present application. Figure 4 As shown, the method includes the following steps.

[0040] Step S410, obtaining a second target image including a dispatch instruction board.

[0041] In an embodiment of the present application, the dispatch instruction board includes second graphic code information, and the second graphic code information includes a vehicle control request instruction. Optionally, the second graphic code includes a barcode, a QR code, etc. Optionally, the display panel of the dispatch instruction board is an electronic display screen, which can display different graphic code information at different times. In an embodiment of the present application, the second graphic code information is displayed on the dispatch instruction board before the first graphic code information. Optionally, the display panel of the dispatch instruction board is a flat panel, and the graphic code image is affixed to the display panel. In this case, multiple dispatch instruction boards are required, and the dispatch instruction board including the second graphic code information is displayed first, and then the dispatch instruction board including the first graphic code information is displayed later.

[0042] In the embodiment of the present application, the method for acquiring the second target image is the same as the method in step S110, and will not be repeated here.

[0043] Step S420, identifying the second graphic code information of the dispatch instruction sign.

[0044] After the second target image including the dispatch instruction board is acquired, the second graphic code information included in the dispatch instruction board is parsed to determine the vehicle control request instruction.

[0045] Step S430: Based on the vehicle control request instruction, the vehicle is controlled to send a vehicle controlled signal.

[0046] After identifying the vehicle control request instruction, the vehicle is controlled to send a vehicle control signal. In the embodiment of the present application, the vehicle control signal can be sent through the sound and light equipment of the vehicle. For example, the vehicle headlights are lit once and / or the horn is honked once to indicate that the vehicle has been controlled. In other embodiments, the sound and light equipment of the vehicle can be controlled to perform other actions to indicate that the vehicle has been controlled, which is not limited in the embodiment of the present application.

[0047] In the embodiment of the present application, it is necessary to identify the dispatch instruction sign corresponding to the vehicle, that is, it is necessary to match the dispatch instruction sign with the vehicle, and then control the vehicle action according to the dispatch instruction after matching. The second graphic code information also includes vehicle information. The method also includes: matching the vehicle information with the vehicle; if the vehicle information matches the vehicle successfully, based on the vehicle control request instruction, controlling the vehicle to send a vehicle controlled signal.

[0048] Step S440, obtaining a first target image including a dispatch instruction board. The first target image includes first graphic code information, and the first graphic code information includes a dispatch instruction.

[0049] After the vehicle sends out a vehicle controlled signal, it indicates that the vehicle is in a command dispatch state. At this time, a first target image containing a dispatch instruction sign is acquired. In an embodiment of the present application, since the image acquisition device acquires an image once at regular intervals, and the vehicle may be in a driving state during this process, the position of the dispatch instruction sign in the first target image and the second target image may be different, that is, the first target image and the second target image are different images. Here, the first target image and the second target image are only used for distinction, and do not indicate the order in which the target images are acquired. In an embodiment of the present application, the second target image is acquired first, and then the first target image is acquired. When acquiring the first target image, please refer to the details of this application. Figure 1 The description of step S110 is not repeated here.

[0050] Step S450, identifying the first graphic code information of the dispatch instruction sign.

[0051] Optionally, after acquiring the first target image containing the dispatch instruction sign, the first graphic code information included in the dispatch instruction sign is parsed to determine the dispatch instruction contained in the first graphic code information. Optionally, the dispatch instruction may include at least one of a parking instruction, a pull-over instruction, a resume driving instruction, and a shift instruction. For more description, please refer to this application Figure 1 The description of step S120 is not repeated here.

[0052] Step S460, controlling the vehicle action based on the dispatch instruction.

[0053] After identifying the dispatch instruction, the vehicle action is controlled based on the dispatch instruction. For more description, please refer to this application Figure 1 The description of step S130 is not repeated here.

[0054] In an embodiment of the present application, the dispatcher first displays the vehicle control request instruction. After the vehicle receives the vehicle control request instruction, it enters the instruction dispatch state. This ensures that the vehicle can receive the dispatch instruction and avoids the difficulty in implementing vehicle dispatch due to the inability to receive the dispatch instruction. After the dispatcher receives the vehicle controlled signal, he displays the dispatch instruction to dispatch the vehicle and avoids invalid dispatch.

[0055] Figure 5 FIG. 1 is a schematic diagram of a vehicle dispatching process provided by an embodiment of the present application. Figure 5 As shown, first, the dispatcher displays a dispatch instruction board containing a vehicle control request instruction. The perception layer (e.g., a monocular camera) of the vehicle obtains a target image containing the dispatch instruction board and sends the target image to the decision layer. The decision layer identifies the vehicle control request instruction of the dispatch instruction board and then sends a control instruction to the control layer. The control layer controls the sound and light equipment of the vehicle to respond, for example, the vehicle headlights are lit once and / or the horn is sounded once. The dispatcher receives the sound and light signal and then displays the dispatch instruction board containing the dispatch instruction. The perception layer (e.g., a monocular camera) of the vehicle obtains a target image containing the dispatch instruction board and sends the target image to the decision layer. The decision layer identifies the dispatch instruction of the dispatch instruction board and then sends the control instruction to the control layer. The control layer controls the vehicle to move to the instruction position. After moving to the specified position, the control layer controls the sound and light equipment of the vehicle to respond, for example, the vehicle headlights are lit three times. The dispatcher receives the sound and light signal and completes the dispatch. If it is necessary to continue dispatching the vehicle, the dispatcher can display the dispatch instruction board containing the dispatch instruction again and repeat the above process.

[0056] Figure 6 is a structural block diagram of a vehicle dispatching device provided by an embodiment of the present application. Figure 6 As shown, the vehicle dispatching device 600 includes an acquisition module 610 , an identification module 620 and a control module 630 .

[0057] The acquisition module 610 is used to acquire a first target image including a dispatch instruction board, where the dispatch instruction board includes first graphic code information.

[0058] The identification module 620 is used to identify the first graphic code information of the dispatch instruction sign, and the first graphic code information includes the dispatch instruction.

[0059] The control module 630 is used to control the vehicle action based on the dispatch instruction.

[0060] Optionally, the control module 630 is also used to match the vehicle information with the vehicle; if the vehicle information matches the vehicle successfully, the vehicle action is controlled based on the dispatch instruction.

[0061] Optionally, the acquisition module 610 is further used to acquire a second target image including a dispatch instruction board, the dispatch instruction board including second graphic code information, and the second graphic code information is displayed on the dispatch instruction board before the first graphic code information. The recognition module 620 is further used to recognize the second graphic code information of the dispatch instruction board, the second graphic code information including a vehicle control request instruction. The control module 630 is further used to control the vehicle to send a vehicle controlled signal based on the vehicle control request instruction.

[0062] Optionally, the control module 630 is also used to match the vehicle information with the vehicle; if the vehicle information matches the vehicle successfully, based on the vehicle control request instruction, the vehicle is controlled to send a vehicle controlled signal.

[0063] Optionally, the acquisition module 610 is also used to collect environmental images around the vehicle through an image acquisition device at preset time intervals; identify and process the environmental images to determine candidate images that contain at least one dispatch instruction sign; and enlarge and screenshot the dispatch instruction sign area in the candidate image to obtain a first target image or a second target image that contains the dispatch instruction sign.

[0064] Optionally, the control module 630 is further configured to control the vehicle to send a recognized dispatch instruction signal; and / or control the vehicle to send a dispatch completion signal.

[0065] Optionally, the dispatch instruction includes a parking instruction, and the control module 630 is further used to control the vehicle to stop driving and control the vehicle to turn on the double flash lights. Alternatively, the dispatch instruction includes a pull-over parking instruction, and the control module 630 is further used to control the vehicle to pull over and control the vehicle to turn on the double flash lights. Alternatively, the dispatch instruction includes a resume driving instruction, and the control module 630 is further used to control the vehicle to cancel the double flash lights and control the vehicle to continue driving. Alternatively, the dispatch instruction includes moving M parking spaces to the left or right, and the control module 630 is further used to control the vehicle to move M parking spaces to the left or right to stop at the specified position, wherein M is greater than or equal to 1. Alternatively, the dispatch instruction also includes moving N storage spaces to the left or right, and the control module 630 is further used to control the vehicle to move N storage spaces to the left or right to stop at the specified position, wherein N is greater than or equal to 1.

[0066] The specific working principle and benefits of the vehicle dispatching device provided in the embodiment of the present application are similar to the specific working principle and benefits of the vehicle dispatching method provided in the embodiment of the present application, and will not be repeated here.

[0067] Below, reference Figure 7 To describe an electronic device according to an embodiment of the present application. Figure 7 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application.

[0068] like Figure 7 As shown, the electronic device 700 includes one or more processors 701 and a memory 702 .

[0069] The processor 701 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 700 to perform desired functions.

[0070] The memory 702 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 701 may run the program instructions to implement the vehicle dispatching method of each embodiment of the present application described above and / or other desired functions. Various contents such as vehicle control request instructions, dispatching instructions, etc. may also be stored in the computer-readable storage medium.

[0071] In one example, the electronic device 700 may further include: an input device 703 and an output device 704, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0072] The input device 703 may include, for example, a keyboard, a mouse, etc.

[0073] The output device 704 can output various information to the outside, including dispatch instruction signals, vehicle control signals, etc. The output device 704 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0074] Of course, to simplify, Figure 7 Only some of the components related to the present application in the electronic device 700 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 700 may also include any other appropriate components.

[0075] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle scheduling method according to various embodiments of the present application described above in this specification.

[0076] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0077] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the vehicle scheduling method according to various embodiments of the present application described above in this specification.

[0078] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0079] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0080] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0081] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0082] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0083] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A vehicle dispatching method, characterized in that: include: Acquire a first target image including a dispatch instruction board, wherein the dispatch instruction board includes first graphic code information; Identify the first graphic code information of the dispatch instruction sign, where the first graphic code information includes a dispatch instruction; Based on the maneuver instruction, the vehicle action is controlled.

2. The vehicle dispatching method according to claim 1, characterized in that: The first graphic code information further includes vehicle information, and the controlling the vehicle action based on the dispatch instruction includes: matching the vehicle information with the vehicle; If the vehicle information is successfully matched with the vehicle, the vehicle action is controlled based on the dispatch instruction.

3. The vehicle dispatching method according to claim 1, characterized in that: Before acquiring the first target image including the dispatch instruction sign, the vehicle dispatch method further includes: Acquire a second target image including the dispatch instruction board, wherein the dispatch instruction board includes second graphic code information, and the second graphic code information is displayed on the dispatch instruction board before the first graphic code information; Identify the second graphic code information of the dispatch instruction board, where the second graphic code information includes a vehicle control request instruction; Based on the vehicle control request instruction, the vehicle is controlled to send a vehicle controlled signal.

4. The vehicle dispatching method according to claim 3, characterized in that: The second graphic code information further includes vehicle information, and the step of controlling the vehicle to send a vehicle controlled signal based on the vehicle control request instruction includes: matching the vehicle information with the vehicle; If the vehicle information matches the vehicle successfully, based on the vehicle control request instruction, the vehicle is controlled to send the vehicle controlled signal.

5. The vehicle dispatching method according to claim 3, characterized in that: Acquiring a first target image including a dispatch instruction board and / or acquiring a second target image including the dispatch instruction board comprises: At preset time intervals, an image capturing device is used to capture an image of the environment around the vehicle; Performing recognition processing on the environment image to determine a candidate image containing at least one dispatch instruction sign; The dispatch instruction board area in the candidate image is enlarged and captured, so as to obtain a first target image or a second target image including the dispatch instruction board.

6. The vehicle dispatching method according to claim 1, characterized in that: Before controlling the vehicle action based on the scheduling instruction, the vehicle scheduling method further includes: Controlling the vehicle to issue an identified dispatch instruction signal; and / or After controlling the vehicle action based on the dispatch instruction, the vehicle dispatch method further includes: The vehicle is controlled to send a dispatch completion signal.

7. The vehicle dispatching method according to claim 1, characterized in that: The dispatch instruction includes a stop instruction, and the controlling the vehicle action based on the dispatch instruction includes: controlling the vehicle to stop driving and controlling the vehicle to turn on the double flash lights; and / or, The dispatch instruction includes a pull-over instruction, and the controlling the vehicle action based on the dispatch instruction includes: controlling the vehicle to pull over and control the vehicle to turn on the double flash lights; and / or, The dispatch instruction includes a resume driving instruction, and the controlling the vehicle action based on the dispatch instruction includes: controlling the vehicle to cancel the double flash lights and controlling the vehicle to continue driving; and / or, The dispatch instruction includes moving M parking spaces to the left or right, and the controlling the vehicle action based on the dispatch instruction includes: controlling the vehicle to move M parking spaces to the left or right to park at a designated position, wherein M is greater than or equal to 1; and / or, The dispatch instruction includes moving N storage locations to the left or right, and controlling the vehicle movement based on the dispatch instruction includes: controlling the vehicle to move N storage locations to the left or right to stop at a designated position, wherein N is greater than or equal to 1.

8. A vehicle dispatching device, characterized in that: include: An acquisition module, used for acquiring a first target image including a dispatch instruction board, wherein the dispatch instruction board includes first graphic code information; An identification module, used for identifying the first graphic code information of the dispatch instruction sign, wherein the first graphic code information includes a dispatch instruction; A control module is used to control the vehicle action based on the scheduling instruction.

9. An electronic device, characterized in that: include: processor; A memory, wherein the memory is connected to the processor, and the memory is used to store a computer program, and when the computer program is executed by the processor, the vehicle dispatching method according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle dispatching method according to any one of claims 1 to 7 is implemented.

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