Vehicle scheduling method and device, terminal equipment and storage medium
By geofencing and refined vehicle scheduling at intersections, the traffic congestion and inefficiency of low-speed autonomous vehicles passing through intersections is solved, and more efficient and safe vehicle traffic is achieved.
Patent Information
- Application Number
- CN202411655187.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-19
- Publication Date
- 2025-03-04
AI Technical Summary
When low-speed autonomous driving vehicles pass through intersections, the prior art is difficult to effectively manage mutual interference between vehicles, resulting in traffic congestion or collision risks, and vehicle traffic efficiency in fleet operation mode is inefficient.
By pre-fenced the dispatch intersection, it is divided into multiple dispatch areas, and the autonomous driving vehicle is controlled to report route and location information to the cloud. Based on this information, refined vehicle scheduling and fleet matching are carried out to ensure efficient traffic of vehicles at intersections.
It improves the traffic efficiency of low-speed autonomous driving vehicles at intersections, reduces vehicle waiting time and system wear, and enhances overall traffic smoothness and safety.
Smart Images
Figure CN119559804A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a vehicle dispatching method, device, terminal equipment and storage medium. Background Art
[0002] With the continuous development of autonomous driving technology, low-speed autonomous driving vehicles such as unmanned logistics vehicles, unmanned express delivery vehicles and unmanned sanitation vehicles have achieved operations from point A to point B in the park. These vehicles can rely on the single-vehicle intelligent system, including modules such as perception, positioning, control and decision-making, to independently complete transportation tasks. However, with the increase in the number of vehicles in the park and the increase in the complexity of routes, relying solely on single-vehicle intelligence has significant limitations in some cases, especially in traffic management and scheduling at intersections. In park operations, low-speed autonomous driving vehicles often face the following major problems when passing through intersections: when multiple vehicles arrive and pass through intersections at the same time, they are prone to mutual interference, causing traffic congestion or collision risks; because each vehicle needs to make independent judgments and decisions, it often causes vehicles to be stranded at intersections, resulting in low traffic efficiency.
[0003] In the prior art, the cloud is often used to dispatch multiple low-speed autonomous driving vehicles at intersections. After receiving the vehicle location information, the cloud assigns a traffic priority to each vehicle based on the traffic flow at the intersection and controls the driving behavior of each vehicle according to the priority. The unified dispatching through the cloud does reduce the game and waiting time of vehicles at intersections. However, with the increase in the workload, low-speed autonomous driving vehicles tend to form a convoy naturally for continuous operation after avoiding pedestrians and other vehicles. However, the existing dispatching scheme does not fully consider the special needs of the convoy operation mode. When the convoy passes through the intersection, after the front vehicle obtains high priority, the rear vehicle may still obtain low priority and need to stop at the intersection to wait for vehicles in other directions to pass. This not only consumes extra time, but also increases the wear of the vehicle's braking and power systems. Low-speed autonomous driving vehicles, especially unmanned logistics vehicles, usually carry more goods. Frequent starting and stopping can easily cause excessive wear of the braking and power systems, increasing the risk of equipment damage and maintenance costs. Summary of the invention
[0004] The present invention aims to provide a vehicle dispatching method, apparatus, terminal device and storage medium to solve the above-mentioned technical problems and improve the traffic efficiency of low-speed autonomous driving vehicles in intersection environments.
[0005] In order to solve the above technical problems, the present invention provides a vehicle dispatching method, comprising:
[0006] Geographically fence the intersection to be dispatched in advance, and divide the area at different preset distances from the intersection to be dispatched into a number of dispatch areas;
[0007] Controlling the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle;
[0008] Controlling the autonomous driving vehicle in the operation execution state to report the position information to the cloud in real time;
[0009] Dispatching the first autonomous driving vehicle entering the first dispatching area based on the route information and the location information; wherein the first autonomous driving vehicles adjacent to each other and having the same route planning information are teamed and matched to obtain a passing team;
[0010] Based on the position information, traffic priorities are assigned to the second autonomous driving vehicles entering the second scheduling area in turn, so that the second autonomous driving vehicles pass through the intersection to be scheduled based on the assigned priority; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
[0011] In the above scheme, the intersection to be dispatched is geofenced in advance, and the areas at different preset distances from the intersection to be dispatched are divided into several dispatching areas, which is convenient for pre-planning and adjusting the vehicle driving path and reducing the temporary dispatching needs of vehicles when approaching the intersection. By dividing the dispatching areas with different distances, more refined vehicle management and dispatching can be achieved, reducing the complexity of global dispatching. The cloud efficiently generates the route planning of each vehicle based on the reported route information, ensures the rationality of the vehicle driving path, avoids repeated dispatching caused by path changes when the vehicle approaches the intersection, and improves the traffic efficiency. By receiving the vehicle location information in real time, the cloud can monitor the driving status of the vehicle in time and dynamically adjust the dispatching strategy. Real-time location information reporting reduces dispatching errors caused by location errors and ensures the accuracy of dispatching instructions. Fleet matching is performed in the first dispatching area to ensure that the vehicles forming the fleet can pass the intersection in coordination and reduce the individual dispatching of a single vehicle. Team matching is performed in advance to reduce the temporary teaming needs when approaching the intersection and improve the traffic efficiency of the intersection. Vehicles in the fleet can obtain continuous high priority in the second dispatching area, avoid low-priority waiting of the rear vehicles in the fleet, and reduce repeated braking and starting. The priority of traffic is continuously allocated to ensure that the convoy can pass smoothly through the intersection, reducing waiting time and vehicle wear. By pre-dividing the dispatch area, reporting location information in real time and performing refined fleet matching, the efficient and safe passage of autonomous vehicles in the fleet operation mode is ensured, which not only reduces the waiting time of vehicles at the intersection and system wear, but also improves the overall smoothness and safety of traffic.
[0012] In one implementation, the controlling the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle, specifically includes:
[0013] Generate corresponding route information based on the operation task sent by the user and report the route information to the cloud; wherein the route information includes the frame number and route ID;
[0014] Control the cloud to perform traversal query in a pre-constructed map based on the received route ID, obtain the longitude and latitude information corresponding to each route ID, and generate the driving route of each autonomous driving vehicle in the operation task and the intersection point of each driving route based on the longitude and latitude information;
[0015] The driving route and the intersection point are used as the route planning information.
[0016] In one implementation, the step of forming a team of adjacent first autonomous driving vehicles having the same route planning information to obtain a passing team specifically includes:
[0017] The driving routes of the first autonomous driving vehicles entering the first dispatching area are judged one by one. When the first autonomous driving vehicle has the same driving route as the preceding vehicle, two of the first autonomous driving vehicles are teamed up to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
[0018] In one implementation, the assigning of traffic priorities to the second autonomous driving vehicles entering the second scheduling area in sequence based on the position information so that the second autonomous driving vehicles pass through the to-be-scheduled intersection based on the assigned priorities specifically includes:
[0019] The second autonomous driving vehicles are assigned priorities according to the order of entering the second dispatch area; wherein the third autonomous driving vehicle that first enters the second dispatch area is assigned the highest passing priority;
[0020] The highest traffic priority is assigned to a fourth autonomous driving vehicle within the second scheduling area; wherein the driving route of the fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle.
[0021] In one implementation, there is at most one of the third autonomous driving vehicle and the fourth autonomous driving vehicle in the passing fleet;
[0022] When the third autonomous driving vehicle and the fourth autonomous driving vehicle respectively form the traffic fleet with the remaining autonomous driving vehicles, the fourth autonomous driving vehicle constituting the traffic fleet is assigned the second highest traffic priority.
[0023] In a second aspect, the present application also provides a vehicle dispatching method and device, including: a geo-fence module, a first reporting module, a second reporting module, a vehicle dispatching module, and a level allocation module;
[0024] The geo-fencing module is used to pre-geo-fence the intersection to be scheduled, and divide the area at different preset distances from the intersection to be scheduled into a plurality of scheduling areas;
[0025] The first reporting module is used to control the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle;
[0026] The second reporting module is used to control the autonomous driving vehicle in the job execution state to report the position information to the cloud in real time;
[0027] The vehicle dispatching module is used to dispatch the first autonomous driving vehicle entering the first dispatching area based on the route information and the location information; wherein the first autonomous driving vehicles having the same route planning information and being adjacent to each other are teamed and matched to obtain a passing team;
[0028] The level allocation module is used to assign traffic priorities to the second autonomous driving vehicles entering the second scheduling area in sequence based on the location information, so that the second autonomous driving vehicle passes through the intersection to be scheduled based on the assigned priority; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
[0029] In the above scheme, the intersection to be dispatched is geofenced in advance, and the areas at different preset distances from the intersection to be dispatched are divided into several dispatching areas, which is convenient for pre-planning and adjusting the vehicle driving path and reducing the temporary dispatching needs of vehicles when approaching the intersection. By dividing the dispatching areas with different distances, more refined vehicle management and dispatching can be achieved, reducing the complexity of global dispatching. The cloud efficiently generates the route planning of each vehicle based on the reported route information, ensures the rationality of the vehicle driving path, avoids repeated dispatching caused by path changes when the vehicle approaches the intersection, and improves the traffic efficiency. By receiving the vehicle location information in real time, the cloud can monitor the driving status of the vehicle in time and dynamically adjust the dispatching strategy. Real-time location information reporting reduces dispatching errors caused by location errors and ensures the accuracy of dispatching instructions. Fleet matching is performed in the first dispatching area to ensure that the vehicles forming the fleet can pass the intersection in coordination and reduce the individual dispatching of a single vehicle. Team matching is performed in advance to reduce the temporary teaming needs when approaching the intersection and improve the traffic efficiency of the intersection. Vehicles in the fleet can obtain continuous high priority in the second dispatching area, avoid low-priority waiting of the rear vehicles in the fleet, and reduce repeated braking and starting. The priority of traffic is continuously allocated to ensure that the convoy can pass smoothly through the intersection, reducing waiting time and vehicle wear. By pre-dividing the dispatch area, reporting location information in real time and performing refined fleet matching, the efficient and safe passage of autonomous vehicles in the fleet operation mode is ensured, which not only reduces the waiting time of vehicles at the intersection and system wear, but also improves the overall smoothness and safety of traffic.
[0030] In one implementation, the first reporting module is used to control the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle, specifically including:
[0031] Generate corresponding route information based on the operation task sent by the user and report the route information to the cloud; wherein the route information includes the frame number and route ID;
[0032] Control the cloud to perform traversal query in a pre-constructed map based on the received route ID, obtain the longitude and latitude information corresponding to each route ID, and generate the driving route of each autonomous driving vehicle in the operation task and the intersection point of each driving route based on the longitude and latitude information;
[0033] The driving route and the intersection point are used as the route planning information.
[0034] In one implementation, the step of forming a team of adjacent first autonomous driving vehicles having the same route planning information to obtain a passing team specifically includes:
[0035] The driving routes of the first autonomous driving vehicles entering the first dispatching area are judged one by one. When the first autonomous driving vehicle has the same driving route as the preceding vehicle, two of the first autonomous driving vehicles are teamed up to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
[0036] In one implementation, the assigning of traffic priorities to the second autonomous driving vehicles entering the second scheduling area in sequence based on the position information so that the second autonomous driving vehicles pass through the to-be-scheduled intersection based on the assigned priorities specifically includes:
[0037] The second autonomous driving vehicles are assigned priorities according to the order of entering the second dispatch area; wherein the third autonomous driving vehicle that first enters the second dispatch area is assigned the highest passing priority;
[0038] The highest traffic priority is assigned to a fourth autonomous driving vehicle within the second scheduling area; wherein the driving route of the fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle.
[0039] In one implementation, there is at most one of the third autonomous driving vehicle and the fourth autonomous driving vehicle in the passing fleet;
[0040] When the third autonomous driving vehicle and the fourth autonomous driving vehicle respectively form the traffic fleet with the remaining autonomous driving vehicles, the fourth autonomous driving vehicle constituting the traffic fleet is assigned the second highest traffic priority.
[0041] In a third aspect, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the vehicle scheduling method as described above is implemented.
[0042] In a fourth aspect, the present application also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle dispatching method as described above. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] Figure 1 A schematic flow chart of a vehicle dispatching method provided in one embodiment of the present invention;
[0044] Figure 2 A schematic diagram of a geographic fence of an intersection to be dispatched provided in one embodiment of the present invention;
[0045] Figure 3The module diagram of a vehicle dispatching device provided in one embodiment of the present invention. DETAILED DESCRIPTION
[0046] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0047] The terms "first" and "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.
[0048] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations 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.
[0049] First, some terms in this application are explained to facilitate understanding by those skilled in the art.
[0050] (1) Geographic fencing: It is a technical means of monitoring and managing specific geographic areas by setting virtual boundaries or areas using geographic information system (GIS) and global positioning system (GPS) technologies. Geographic fencing can be applied to a variety of scenarios, such as logistics management, fleet monitoring, smart transportation, commercial marketing, etc.
[0051] (2) MQTT: (Message Queuing Telemetry Transport) is a lightweight message transmission protocol designed specifically for low-bandwidth, high-latency or unreliable network environments. Originally developed by IBM, it has now become one of the standards of OASIS (Organization for the Advancement of Open Systems). MQTT is widely used in scenarios such as the Internet of Things (IoT), mobile devices, and real-time information push.
[0052] (3) HTTPS (HyperText Transfer Protocol Secure) is a secure version of the Hypertext Transfer Protocol, which is mainly used to securely transmit information over a computer network. It adds an SSL / TLS (Secure Sockets Layer / Transport Layer Security) encryption layer to the standard HTTP protocol to protect the privacy and integrity of data.
[0053] Example 1
[0054] See also Figure 1 , Figure 1 The flowchart of a vehicle dispatching method provided in one embodiment of the present invention is shown in FIG. The present invention provides a method including steps 101 to 105, each of which is specifically as follows:
[0055] Step 101: Geographically fence the intersection to be dispatched in advance, and divide the area at different preset distances from the intersection to be dispatched into a plurality of dispatch areas.
[0056] In an embodiment of the present invention, a geographic area near an intersection to be dispatched is defined by geo-fencing technology, and vehicles that need to pass through the intersection to be dispatched are processed in advance. When a device or vehicle enters, leaves, or stays in the geo-fence area, a preset event or behavior is triggered. Exemplarily, the implementation of geo-fencing is as follows: collect and organize geographic data of the geographic area (intersection to be dispatched), usually using GIS software for processing. Define the boundaries of the geo-fence in the GIS software, and set the shape and size of the area. Integrate the geo-fence system with GPS or location services to obtain the location information of the autonomous driving vehicle in real time. Set trigger events in the geo-fence area, such as entering, leaving, staying, etc., and define corresponding response behaviors. See Figure 2 , Figure 2 A schematic diagram of a geo-fence for an intersection to be dispatched provided in one embodiment of the present invention. In the embodiment of the present invention, a polygonal geo-fence is drawn at the intersection to be dispatched, and the virtual boundary can be adjusted according to the specific area of the intersection to be dispatched, that is, the shape of the geo-fence, which can be a polygon, a circle, etc., which is not limited here. Exemplarily, three rectangular geo-fences are drawn, and from the center to the surrounding areas are the intersection to be dispatched, the first dispatching area, and the second dispatching area. Among them, the first dispatching area is 60 meters away from the intersection to be dispatched, and the second dispatching area is 30 meters away from the intersection to be dispatched.
[0057] Step 102: Control the autonomous driving vehicle that receives the work task to report route information to the cloud, so that the cloud generates route planning information for the autonomous driving vehicle.
[0058] In one embodiment, the control of the autonomous driving vehicle receiving the work task reports route information to the cloud so that the cloud generates route planning information for the autonomous driving vehicle, specifically including: generating corresponding route information based on the work task sent by the user and reporting the route information to the cloud; wherein the route information includes a vehicle frame number and a route ID; controlling the cloud to perform a traversal query in a pre-constructed map based on the received route ID, obtaining the longitude and latitude information corresponding to each route ID, generating a driving route for each autonomous driving vehicle in the work task based on the longitude and latitude information, and an intersection point of each driving route; and using the driving route and the intersection point as the route planning information.
[0059] In an embodiment of the present invention, the operator issues specific operation tasks to the low-speed autonomous driving vehicle through the management system or control platform. These tasks may include transporting goods, cleaning areas, express delivery, etc. After the vehicle receives the task, the task information is parsed through the on-board computing system, including key information such as the destination, starting point, and operation requirements. According to the parsed task information and real-time environmental data, the low-speed autonomous driving vehicle uses a path planning algorithm (such as the Dijkstra algorithm or a graph-based route search algorithm) to perform routing calculations in a pre-built high-precision map to generate a route ID corresponding to the task route. The frame number and route ID of each autonomous driving vehicle are used as route information, and the autonomous driving vehicle is controlled to be transmitted to the cloud through the HTTPS protocol. Among them, the pre-built high-precision map contains the task execution range of the autonomous driving vehicle. The obtained route ID and the frame number of the autonomous driving vehicle are reported to the cloud as route information. Among them, the cloud uses the same high-precision map as the vehicle. After the cloud obtains the route ID, the longitude and latitude information corresponding to each route ID can be retrieved from the high-precision map, thereby generating the driving routes of the operation tasks corresponding to the routes of different autonomous driving vehicles within the geographic fence, and the existence of intersections of each driving route. The intersection points of the driving routes of each autonomous driving vehicle are used as route planning information.
[0060] Step 103: Control the autonomous driving vehicle in the job execution state to report the location information to the cloud in real time.
[0061] In the embodiment of the present invention, each autonomous driving vehicle communicates wirelessly with the cloud via the MQTT transmission protocol. When the autonomous driving vehicle is in a task execution state, the vehicle's current latitude and longitude information is uploaded to the cloud using the MQTT transmission protocol every 1 second.
[0062] Step 104: Dispatch the first autonomous driving vehicle entering the first dispatching area based on the route information and the location information; wherein, adjacent first autonomous driving vehicles having the same route planning information are teamed and matched to obtain a passing fleet.
[0063] In one embodiment, the first autonomous driving vehicles that have the same route planning information and are adjacent to each other are teamed up to obtain a passing fleet, which specifically includes: judging the driving routes of the first autonomous driving vehicles that enter the first dispatching area one by one, and when the first autonomous driving vehicle has the same driving route as the preceding vehicle, teaming up two of the first autonomous driving vehicles to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
[0064] In the embodiment of the present invention, the first autonomous driving vehicle entering the first dispatching area is preliminarily dispatched, and the route ID reported by the vehicle is used to determine whether the autonomous driving vehicle is on the same route ID as the preceding vehicle. If two adjacent autonomous driving vehicles have the same driving route, the following vehicle is teamed with the preceding vehicle to form a passing team, and the following vehicle obtains the same passing priority as the preceding vehicle. For the first autonomous driving vehicle that does not have a teaming relationship, independent dispatch control is performed, and the vehicle travels to the second dispatching area according to the order in which the vehicles enter the first dispatching area.
[0065] Step 105: Based on the position information, traffic priorities are assigned to the second autonomous driving vehicles entering the second scheduling area in turn, so that the second autonomous driving vehicles pass through the intersection to be scheduled based on the assigned priorities; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
[0066] In one embodiment, the second autonomous driving vehicles entering the second scheduling area are assigned traffic priorities in sequence based on the position information so that the second autonomous driving vehicles pass through the intersection to be scheduled based on the assigned priorities, specifically including: assigning priorities to the second autonomous driving vehicles according to the order of entering the second scheduling area; wherein the third autonomous driving vehicle that first enters the second scheduling area is assigned the highest traffic priority; and the fourth autonomous driving vehicle in the second scheduling area is assigned the highest traffic priority; wherein the driving route of the fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle.
[0067] In an embodiment of the present invention, the cloud obtains the vehicle position based on the latitude and longitude information reported by the autonomous driving vehicle, and dispatches the second autonomous driving vehicle entering the second scheduling area. If the vehicle is the first autonomous driving vehicle to enter the second scheduling area, the cloud sends the highest traffic priority to the third autonomous driving vehicle through the MQTT transmission protocol, so that the third autonomous driving vehicle has priority to pass through the intersection to be scheduled. Further, it is determined whether there is an intersection between the driving routes of the remaining second autonomous driving vehicles in the second scheduling area and the driving route of the third autonomous driving vehicle. If there is no intersection, the cloud can also assign the highest traffic priority to the remaining fourth autonomous driving vehicles that do not have any route intersection. The autonomous driving vehicle still maintains the highest traffic priority before exiting the geographic fence; if there is a route intersection, it is scheduled according to the order in which the autonomous driving vehicles enter the second scheduling area, and priorities are assigned to the second autonomous driving vehicles in turn. See. Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a geographic fence of an intersection to be dispatched provided in one embodiment of the present invention. Figure 2 For example, car 1 and car 2 have an intersection in the area of the geo-fenced area. At this time, car 2 enters the second scheduling area first and obtains the highest traffic priority. Car 1 enters the second scheduling area after car 2. At this time, it obtains a low traffic priority and needs to stop and wait in place. It can continue to drive through the intersection to be scheduled after car 2 passes through the intersection to be scheduled. However, at this time, car 3 and car 2 in the first scheduling area have the same driving route, so car 3 can be formed with car 2 to build a traffic team. The vehicles in the traffic team maintain the same high traffic priority. Therefore, car 1 needs to maintain a low traffic priority throughout the entire traffic team, that is, car 2 and car 3 pass through the intersection to be scheduled. In an embodiment of the present invention, when the third autonomous driving vehicle is the first vehicle to enter the second scheduling area, the cloud sends the highest traffic priority to the vehicle through the MQTT protocol, so that it can pass the intersection to be scheduled first. When assigning priorities, the cloud will analyze the driving routes of all autonomous driving vehicles in the second scheduling area. If the driving route of a fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle, the cloud will assign the highest traffic priority to the vehicle. Priority scheduling based on entry order and driving route analysis can reduce the waiting time of vehicles at intersections and improve the traffic efficiency of the entire area. Furthermore, the intersection of vehicle driving routes can be avoided by judging the intersection point, which improves driving efficiency and reduces potential collision risks.
[0068] In one embodiment, there is at most one of the third autonomous driving vehicle and the fourth autonomous driving vehicle as the passing fleet; when the third autonomous driving vehicle and the fourth autonomous driving vehicle respectively form the passing fleet with the remaining autonomous driving vehicles, the fourth autonomous driving vehicle constituting the passing fleet is assigned the second highest passing priority.
[0069] In an embodiment of the present invention, when the third autonomous driving vehicle and the fourth autonomous driving vehicle entering the second dispatching area respectively form a passing fleet with other autonomous driving vehicles, the fourth autonomous driving vehicle constituting the passing fleet is assigned the second highest passing priority, and the third autonomous driving vehicle and the passing fleet formed by the third autonomous driving vehicle have priority to pass the intersection to be dispatched. When there are multiple fleets at an intersection at the same time, the cloud dispatching system needs to process the priority judgment and traffic arrangement of multiple fleets at the same time, which increases the complexity of decision-making. By limiting the existence of one fleet at the same time, the dispatching logic can be simplified, the traffic plan of the fleet can be quickly determined, and the overall traffic efficiency can be improved. Multiple fleets compete for the right of passage at the same time, which is easy to cause mutual interference and congestion, affecting the traffic efficiency of the entire intersection. Only one fleet has priority passage, which can reduce such interference and ensure that vehicles pass through the intersection in a fixed order. When a vehicle in the passing fleet passes through the area of the geo-fenced area, the cloud removes the vehicle from the passing fleet until there is only one autonomous driving vehicle in the fleet. When there is only one autonomous driving vehicle left in the passing fleet, the passing fleet is disbanded. Furthermore, in the embodiment of the present invention, for the vehicles that make up the traveling fleet, the distance, speed and direction between the two vehicles in the traveling fleet are controlled through single-vehicle intelligent control such as vehicle perception, positioning, and decision-making, so as to improve road traffic efficiency and safety.
[0070] In an embodiment of the present invention, a vehicle dispatching device is also provided, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the above-mentioned vehicle dispatching method when executing the computer program.
[0071] In an embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored computer program. When the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned vehicle dispatching method.
[0072] Exemplarily, the computer program can be divided into one or more modules, one or more modules are stored in a memory and executed by a processor to complete the present invention. One or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the vehicle dispatching device.
[0073] The vehicle dispatching device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The vehicle dispatching device may include, but is not limited to, a processor, a memory, and a display. Those skilled in the art will appreciate that the above components are merely examples of vehicle dispatching devices and do not constitute a limitation on the vehicle dispatching device. The vehicle dispatching device may include more or fewer components than the components, or may combine certain components, or different components. For example, the vehicle dispatching device may also include input and output devices, network access devices, buses, and the like.
[0074] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the vehicle dispatching device, and uses various interfaces and lines to connect various parts of the entire vehicle dispatching device.
[0075] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the fuel cell performance recovery device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, a text conversion function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.
[0076] Wherein, if the module based on vehicle dispatch is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0077] The embodiment of the present invention provides a vehicle dispatching method, which pre-geographically fences the intersection to be dispatched, divides the area at different preset distances from the intersection to be dispatched into several dispatching areas, facilitates pre-planning and adjustment of vehicle driving paths, and reduces the temporary dispatching requirements of vehicles when approaching the intersection. By dividing the dispatching areas at different distances, more refined vehicle management and dispatching can be achieved, reducing the complexity of global dispatching. The cloud efficiently generates the route planning of each vehicle based on the reported route information, ensures the rationality of the vehicle driving path, avoids repeated dispatching caused by path changes when the vehicle approaches the intersection, and improves the traffic efficiency. The cloud can monitor the driving status of the vehicle in time and dynamically adjust the dispatching strategy by receiving the vehicle location information in real time. Real-time location information reporting reduces dispatching errors caused by location errors and ensures the accuracy of dispatching instructions. Fleet matching is performed in the first dispatching area to ensure that the vehicles forming the fleet can pass the intersection in coordination, reducing the individual dispatching of a single vehicle. Team matching is performed in advance to reduce the temporary teaming requirements when approaching the intersection and improve the traffic efficiency of the intersection. Vehicles in the convoy can obtain continuous high priority in the second dispatch area, avoiding the low-priority waiting of the following vehicles in the convoy and reducing repeated braking and starting. The continuous allocation of traffic priority ensures that the convoy can pass through the intersection smoothly, reducing waiting time and vehicle wear. By pre-dividing the dispatch area, reporting location information in real time and performing refined convoy matching, the efficient and safe passage of autonomous vehicles in the convoy operation mode is ensured, which not only reduces the waiting time of vehicles at intersections and system wear, but also improves the overall traffic smoothness and safety.
[0078] Example 2
[0079] See also Figure 3 , Figure 3 Schematic diagram of a vehicle dispatching device provided in an embodiment of the present invention. The present invention provides a vehicle dispatching method and device, including: a geo-fence module 201, a first reporting module 202, a second reporting module 203, a vehicle dispatching module 204 and a level allocation module 205;
[0080] The geo-fencing module 201 is used to pre-geo-fence the intersection to be scheduled, and divide the area at different preset distances from the intersection to be scheduled into a plurality of scheduling areas;
[0081] The first reporting module 202 is used to control the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle;
[0082] The second reporting module 203 is used to control the autonomous driving vehicle in the job execution state to report the position information to the cloud in real time;
[0083] The vehicle dispatching module 204 is used to dispatch the first autonomous driving vehicles entering the first dispatching area based on the route information and the location information; wherein the first autonomous driving vehicles having the same route planning information and being adjacent to each other are teamed and matched to obtain a passing team;
[0084] The level allocation module 205 is used to assign traffic priorities to the second autonomous driving vehicles entering the second scheduling area in sequence based on the location information, so that the second autonomous driving vehicle passes through the intersection to be scheduled based on the assigned priority; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
[0085] In one embodiment, the first reporting module 202 is used to control the autonomous driving vehicle that receives the work task to report route information to the cloud, so that the cloud generates route planning information for the autonomous driving vehicle, specifically including: generating corresponding route information based on the work task sent by the user and reporting the route information to the cloud; wherein the route information includes the vehicle frame number and route ID; controlling the cloud to perform a traversal query in a pre-constructed map based on the received route ID, obtaining the longitude and latitude information corresponding to each route ID, generating the driving route of each autonomous driving vehicle in the work task based on the longitude and latitude information, and the intersection point of each driving route; using the driving route and the intersection point as the route planning information.
[0086] In one embodiment, the first autonomous driving vehicles that have the same route planning information and are adjacent to each other are teamed up to obtain a passing fleet, which specifically includes: judging the driving routes of the first autonomous driving vehicles that enter the first dispatching area one by one, and when the first autonomous driving vehicle has the same driving route as the preceding vehicle, teaming up two of the first autonomous driving vehicles to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
[0087] In one embodiment, the second autonomous driving vehicles entering the second scheduling area are assigned traffic priorities in sequence based on the position information so that the second autonomous driving vehicles pass through the intersection to be scheduled based on the assigned priorities, specifically including: assigning priorities to the second autonomous driving vehicles according to the order of entering the second scheduling area; wherein the third autonomous driving vehicle that first enters the second scheduling area is assigned the highest traffic priority; and the fourth autonomous driving vehicle in the second scheduling area is assigned the highest traffic priority; wherein the driving route of the fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle.
[0088] In one embodiment, there is at most one of the third autonomous driving vehicle and the fourth autonomous driving vehicle in the passing convoy; when the third autonomous driving vehicle and the fourth autonomous driving vehicle respectively form the passing convoy with the remaining autonomous driving vehicles, the fourth autonomous driving vehicle constituting the passing convoy is assigned the second highest passing priority.
[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
[0090] The embodiment of the present invention provides a vehicle dispatching device, which pre-geo-fences the intersection to be dispatched, and divides the area at different preset distances from the intersection to be dispatched into several dispatching areas, so as to facilitate pre-planning and adjustment of the vehicle driving path, and reduce the temporary dispatching demand of the vehicle when approaching the intersection. By dividing the dispatching areas with different distances, more refined vehicle management and dispatching can be achieved, and the complexity of global dispatching can be reduced. The cloud efficiently generates the route planning of each vehicle according to the reported route information, ensures the rationality of the vehicle driving path, avoids repeated dispatching caused by the change of the path when the vehicle approaches the intersection, and improves the traffic efficiency. By receiving the vehicle position information in real time, the cloud can monitor the driving status of the vehicle in time and dynamically adjust the dispatching strategy. The real-time position information reporting reduces the dispatching errors caused by the position error and ensures the accuracy of the dispatching instructions. The fleet matching is performed in the first dispatching area to ensure that the vehicles forming the fleet can pass the intersection in coordination, and reduce the individual dispatching of a single vehicle. The team matching is performed in advance to reduce the temporary teaming demand when approaching the intersection and improve the traffic efficiency of the intersection. Vehicles in the convoy can obtain continuous high priority in the second dispatch area, avoiding the low-priority waiting of the following vehicles in the convoy and reducing repeated braking and starting. The continuous allocation of traffic priority ensures that the convoy can pass through the intersection smoothly, reducing waiting time and vehicle wear. By pre-dividing the dispatch area, reporting location information in real time and performing refined convoy matching, the efficient and safe passage of autonomous vehicles in the convoy operation mode is ensured, which not only reduces the waiting time of vehicles at intersections and system wear, but also improves the overall traffic smoothness and safety.
[0091] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.
Claims
1. A vehicle dispatching method, characterized in that: include: Geographically fence the intersection to be dispatched in advance, and divide the area at different preset distances from the intersection to be dispatched into a number of dispatch areas; Controlling the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle; Controlling the autonomous driving vehicle in the operation execution state to report the position information to the cloud in real time; Dispatching the first autonomous driving vehicle entering the first dispatching area based on the route information and the location information; wherein the first autonomous driving vehicles adjacent to each other and having the same route planning information are teamed and matched to obtain a passing team; Based on the position information, traffic priorities are assigned to the second autonomous driving vehicles entering the second scheduling area in turn, so that the second autonomous driving vehicles pass through the intersection to be scheduled based on the assigned priority; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
2. A vehicle dispatching method as claimed in claim 1, characterized in that: The controlling the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle, specifically includes: Generate corresponding route information based on the operation task sent by the user and report the route information to the cloud; wherein the route information includes the frame number and route ID; Control the cloud to perform traversal query in a pre-constructed map based on the received route ID, obtain the longitude and latitude information corresponding to each route ID, and generate the driving route of each autonomous driving vehicle in the operation task and the intersection point of each driving route based on the longitude and latitude information; The driving route and the intersection point are used as the route planning information.
3. A vehicle dispatching method as claimed in claim 1, characterized in that: The step of forming a team of adjacent first autonomous driving vehicles having the same route planning information to obtain a passing team specifically includes: The driving routes of the first autonomous driving vehicles entering the first dispatching area are judged one by one. When the first autonomous driving vehicle has the same driving route as the preceding vehicle, two of the first autonomous driving vehicles are teamed up to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
4. A vehicle dispatching method as claimed in claim 2, characterized in that: The allocating a traffic priority to the second autonomous driving vehicle entering the second scheduling area in sequence based on the position information so that the second autonomous driving vehicle passes through the to-be-scheduled intersection based on the allocated priority specifically includes: The second autonomous driving vehicles are assigned priorities according to the order of entering the second dispatch area; wherein the third autonomous driving vehicle that first enters the second dispatch area is assigned the highest passing priority; The highest traffic priority is assigned to a fourth autonomous driving vehicle within the second scheduling area; wherein the driving route of the fourth autonomous driving vehicle does not intersect with the driving route of the third autonomous driving vehicle.
5. A vehicle dispatching method as claimed in claim 4, characterized in that: There is at most one of the third autonomous driving vehicle and the fourth autonomous driving vehicle in the passing fleet; When the third autonomous driving vehicle and the fourth autonomous driving vehicle respectively form the traffic fleet with the remaining autonomous driving vehicles, the fourth autonomous driving vehicle constituting the traffic fleet is assigned the second highest traffic priority.
6. A vehicle dispatching method and device, characterized in that: include: A geo-fencing module, a first reporting module, a second reporting module, a vehicle dispatching module, and a level allocation module; The geo-fencing module is used to pre-geo-fence the intersection to be scheduled, and divide the area at different preset distances from the intersection to be scheduled into a plurality of scheduling areas; The first reporting module is used to control the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle; The second reporting module is used to control the autonomous driving vehicle in the job execution state to report the position information to the cloud in real time; The vehicle dispatching module is used to dispatch the first autonomous driving vehicle entering the first dispatching area based on the route information and the location information; wherein the first autonomous driving vehicles having the same route planning information and being adjacent to each other are teamed and matched to obtain a passing team; The level allocation module is used to assign traffic priorities to the second autonomous driving vehicles entering the second scheduling area in sequence based on the location information, so that the second autonomous driving vehicle passes through the intersection to be scheduled based on the assigned priority; wherein the distance between the second scheduling area and the intersection to be scheduled is less than the distance between the first scheduling area and the intersection to be scheduled.
7. A vehicle dispatching method and device as claimed in claim 6, characterized in that: The first reporting module is used to control the autonomous driving vehicle receiving the operation task to report route information to the cloud, so that the cloud generates route planning information of the autonomous driving vehicle, specifically including: Generate corresponding route information based on the operation task sent by the user and report the route information to the cloud; wherein the route information includes the frame number and route ID; Control the cloud to perform traversal query in a pre-constructed map based on the received route ID, obtain the longitude and latitude information corresponding to each route ID, and generate the driving route of each autonomous driving vehicle in the operation task and the intersection point of each driving route based on the longitude and latitude information; The driving route and the intersection point are used as the route planning information.
8. A vehicle dispatching method and device as claimed in claim 6, characterized in that: The step of forming a team of adjacent first autonomous driving vehicles having the same route planning information to obtain a passing team specifically includes: The driving routes of the first autonomous driving vehicles entering the first dispatching area are judged one by one. When the first autonomous driving vehicle has the same driving route as the preceding vehicle, two of the first autonomous driving vehicles are teamed up to obtain the passing fleet; wherein the autonomous driving vehicles in the passing fleet have the same passing priority.
9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the vehicle dispatching method according to any one of claims 1 to 5 is implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle dispatching method as claimed in any one of claims 1 to 5.