Vehicle parking guiding method and device and related equipment

Abstract

The invention provides a vehicle parking guiding method and device and related equipment. For a target platform comprising an overtaking lane and a plurality of sub-platforms, conflicts between incoming vehicles and outgoing vehicles can be avoided. Specifically, when vehicles are guided, information of a set of vehicles to enter a station and information of a set of vehicles to leave the station can be obtained firstly. Then, whether a traffic conflict exists between the set of vehicles to enter the station and the set of vehicles to leave the station or not can be judged; if yes, the vehicles with the traffic conflicts can be called as a conflict pull-in vehicle set and a conflict pull-out vehicle set. The to-be-pulled-in vehicle set comprises a conflict pull-in vehicle set, and the to-be-pulled-out vehicle set comprises a conflict pull-out vehicle set. Then, the conflict pull-in vehicle set can be guided to wait for the conflict pull-out vehicle set to get out of the station and then get in the station, or the conflict pull-out vehicle set can also be guided to wait for the conflict pull-in vehicle set to get out of the station and then get out of the station.

Description

Technical Field

[0001] The present application relates to the field of public transportation technology, and in particular to a vehicle stop guidance method, device and related equipment. Background Art

[0002] Parking at a station is a common application scenario in the transportation field. For example, buses can park at bus stations, and taxis can park at taxi stands at train stations, airports, and other areas. In some scenarios, one or more parking spaces can be pre-allocated in the parking area corresponding to the station. Vehicles can drive into the pre-allocated parking spaces and park. By optimizing the parking spaces allocated to vehicles, the traffic efficiency of vehicles can be improved.

[0003] In order to improve the parking efficiency of vehicles, sensors and processors can be deployed at the platform. The sensors can collect information about the vehicles that are about to dock at the platform, and the processor can make plans based on the vehicle information, determine the appropriate driving speed, and guide the vehicle to dock at the platform according to the driving speed. In this way, by guiding the driving speed of the vehicle, the efficiency of the vehicle entering the station can be improved.

[0004] However, the inventors of the present application have discovered that the existing docking planning method still has the problem of low docking efficiency. Summary of the invention

[0005] In view of this, the present application provides a vehicle docking guidance method, device and related equipment, aiming to improve the docking efficiency of vehicles docking at platforms.

[0006] In a first aspect, the present application provides obtaining information of a set of vehicles to be entered and a set of vehicles to be exited from a target platform, wherein the target platform includes a plurality of sub-platforms;

[0007] According to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited, determining whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited;

[0008] If so, determine a conflicting inbound vehicle set from the set of vehicles to be inbound, determine a conflicting outbound vehicle set from the set of vehicles to be outbound, and the distance between the sub-station where the conflicting inbound vehicle set stops and the exit of the target platform is less than or equal to the distance between the sub-station where the conflicting outbound vehicle set stops and the exit of the target platform;

[0009] The conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

[0010] In some possible implementations, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or guiding the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane includes:

[0011] According to the information of the conflicting inbound vehicle set and the information of the conflicting outbound vehicle set, a first waiting time and a second waiting time are calculated, wherein the first waiting time is the waiting time of the conflicting inbound vehicle set when the conflicting inbound vehicle set waits for the conflicting outbound vehicle set to enter the station after exiting the station, and the second waiting time is the waiting time of the conflicting outbound vehicle set when the conflicting inbound vehicle set waits for the conflicting inbound vehicle set to enter the station and then exit the station;

[0012] If the first waiting time is less than the second waiting time, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane;

[0013] If the first waiting time is longer than the second waiting time, the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

[0014] In some possible implementations, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or guiding the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane includes:

[0015] Determine whether the parking position of the conflicting inbound vehicle set coincides with the parking position of the conflicting outbound vehicle set;

[0016] If they overlap, the conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane.

[0017] In some possible implementations, judging whether there is a traffic conflict between the vehicle to be entered and the vehicle set to be exited according to the information of the vehicle to be entered and the vehicle set to be exited includes:

[0018] Determine at least one entry sub-platform and the entry time of each entry sub-platform according to the information of the set of vehicles to be entered;

[0019] Determine at least one exit sub-platform and the exit time of each exit sub-platform according to the information of the set of vehicles to be exited;

[0020] Based on the position of the entry sub-platform and the entry time of the entry sub-platform, the position of the exit sub-platform and the time of the exit sub-platform, it is determined whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited.

[0021] In some possible implementations, the inbound sub-platform includes a first inbound sub-platform, and the outbound sub-platform includes a first outbound sub-platform;

[0022] The determining whether there is a traffic conflict between the waiting-in vehicle and the waiting-out vehicle set based on the position of the incoming sub-platform and the incoming time of the incoming sub-platform, the position of the outgoing sub-platform and the outgoing time of the outgoing sub-platform comprises:

[0023] According to the position of the first entry sub-platform and the position of the first exit sub-platform, determining whether the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform;

[0024] Determining whether there is an intersection between the arrival time of the first arrival sub-platform and the departure time of the first departure sub-platform;

[0025] If the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform, and there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform, it is determined that there is a traffic conflict between the vehicles to be entered and the set of vehicles to be exited, and the conflicting entry vehicle set includes the set of vehicles to be entered into the first entry sub-platform; and the conflicting exit vehicle set includes the set of vehicles to be exited from the first exit sub-platform.

[0026] In some possible implementations, after determining that there is an intersection between the arrival time of the first arrival sub-platform and the departure time of the first departure sub-platform, the method further includes:

[0027] Correcting the entry time of the first sub-platform according to the preset speed;

[0028] It is determined whether there is an intersection between the corrected arrival time of the first sub-platform and the departure time of the first departure sub-platform.

[0029] In a second aspect, the present application provides a vehicle parking guidance device, the device comprising:

[0030] An acquisition unit, used for acquiring information of a set of vehicles to be entered and a set of vehicles to be exited from a target platform, wherein the target platform includes a plurality of sub-platforms;

[0031] A judging unit, configured to judge whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited according to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited;

[0032] a vehicle set determining unit, for determining, if any, a conflicting inbound vehicle set from the set of vehicles to be inbound, and a conflicting outbound vehicle set from the set of vehicles to be outbound, wherein the distance between the sub-station where the conflicting inbound vehicle set stops and the exit of the target platform is less than or equal to the distance between the sub-station where the conflicting outbound vehicle set stops and the exit of the target platform;

[0033] The guiding unit is used to guide the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or to guide the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

[0034] In some possible implementations, the guiding unit is specifically used to calculate a first waiting time and a second waiting time based on the information of the conflicting inbound vehicle set and the information of the conflicting outbound vehicle set, wherein the first waiting time is the waiting time of the conflicting inbound vehicle set while waiting for the conflicting outbound vehicle set to enter the station after exiting the station, and the second waiting time is the waiting time of the conflicting outbound vehicle set while waiting for the conflicting inbound vehicle set to enter the station before exiting the station; if the first waiting time is less than the second waiting time, the conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station through the overtaking lane; if the first waiting time is greater than the second waiting time, the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station after entering the station.

[0035] In some possible implementations, the guiding unit is specifically used to determine whether the parking positions of the conflicting inbound vehicle set coincide with the parking positions of the conflicting outbound vehicle set; if they coincide, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane.

[0036] In some possible implementations, the judgment unit is specifically used to determine at least one entry sub-platform and the entry time of each entry sub-platform based on the information of the set of vehicles to be entered; determine at least one exit sub-platform and the exit time of each exit sub-platform based on the information of the set of vehicles to be exited; and judge whether there is a traffic conflict between the vehicles to be entered and the set of vehicles to be exited based on the position of the entry sub-platform and the entry time of the entry sub-platform, the position of the exit sub-platform and the exit time of the exit sub-platform.

[0037] In some possible implementations, the entry sub-platform includes a first entry sub-platform, and the exit sub-platform includes a first exit sub-platform; the judgment unit is specifically used to judge whether the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform according to the position of the first entry sub-platform and the position of the first exit sub-platform; judge whether there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform; if the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform, and there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform, it is determined that there is a traffic conflict between the to-be-entering vehicles and the to-be-exiting vehicle set, the conflicting entry vehicle set includes the vehicle set to enter the first entry sub-platform; the conflicting exit vehicle set includes the vehicle set to exit from the first exit sub-platform.

[0038] In some possible implementations, the judgment unit is further used to correct the arrival time of the first sub-platform according to a preset speed; and to judge whether there is an intersection between the corrected arrival time of the first sub-platform and the departure time of the first exit sub-platform.

[0039] In a third aspect, the present application provides a device comprising a memory and a processor, wherein the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the vehicle parking guidance method described in any one of the first aspects above.

[0040] In a fourth aspect, the present application provides a platform, the platform comprising a guiding device. The guiding device is used to guide a vehicle to dock at the platform. The guiding device comprises a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the guiding device performs any of the methods described in the first aspect.

[0041] In a fifth aspect, the present application provides a computer storage medium having codes stored therein. When the codes are executed, a device executing the codes implements the method described in any one of the aforementioned first aspects.

[0042] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect.

[0043] The present application provides a vehicle stop guidance method, device and related equipment. For a target station including a passing lane and multiple sub-stations, the conflict between the incoming vehicle and the outgoing vehicle can be avoided. Specifically, when guiding the vehicle, the information of the set of vehicles to be entered and the information of the set of vehicles to be exited can be obtained first. The set of vehicles to be entered can include at least one vehicle to be entered, and the set of vehicles to be exited can include at least one vehicle to be exited. Then, it can be determined whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited. If there is, the vehicles with traffic conflicts can be called the conflicting inbound vehicle set and the conflicting outbound vehicle set. The set of vehicles to be entered includes the conflicting inbound vehicle set, and the set of vehicles to be exited includes the conflicting outbound vehicle set. In addition, the distance from the sub-station where the conflicting inbound vehicle set stops to the exit of the target station is less than or equal to the distance from the sub-station where the conflicting outbound vehicle set stops to the exit of the target station. Therefore, when the conflicting inbound vehicle set enters the station, a traffic conflict will occur with the conflicting outbound vehicle set. After determining the conflicting inbound vehicle set and the conflicting outbound vehicle set, the conflicting inbound vehicle set can be guided to wait for the conflicting outbound vehicle set to exit the station before entering the station through the overtaking lane, or the conflicting outbound vehicle set can be guided to wait for the conflicting inbound vehicle set to enter the station before exiting the station through the overtaking lane.

[0044] That is to say, when guiding vehicles in and out of the target station, it is possible to determine whether the incoming vehicle set will have a traffic conflict with the outgoing vehicle set based on the information of the vehicle set, and find the vehicle set that may have a conflict. In this way, by guiding the incoming vehicle set or the outgoing vehicle set to wait before entering the overtaking lane, traffic conflicts in the overtaking lane can be avoided, thereby avoiding affecting other vehicles passing through the overtaking lane. In this way, traffic conflicts between the incoming vehicle set and the outgoing vehicle set can be avoided, and the parking efficiency of the target station can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of a process flow of a vehicle parking guidance method provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of the structure of a vehicle parking guidance device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] It should be noted that the concepts such as "platform", "sub-platform", "vehicle collection" and "vehicle" mentioned in the embodiments of the present application may refer to "platform", "sub-platform", "vehicle collection" and "vehicle" in the real sense, or to "platform", "sub-platform", "vehicle collection" and "vehicle" in the virtual sense. In other words, "platform", "sub-platform" and "vehicle" may be "physical platform", "physical sub-platform", "physical vehicle collection" and "physical vehicle" in the real world, or may be virtual "platform", "sub-platform", "vehicle collection" and "vehicle" in the digital field, for example, may be "platform", "sub-platform", "vehicle collection" and "vehicle" used for simulation in simulation software.

[0049] In actual public transportation planning, there may be a large number of bus lines that need to stop at the same station. For example, in crowded scenes such as train stations, airports, and bus stations, there are often a large number of bus lines stopping. If a large number of bus lines stop at the same station, it may result in multiple buses stopping at the station at the same time, affecting the station's parking efficiency and the bus's traffic efficiency.

[0050] To this end, a platform including multiple sub-platforms can be planned. Different sub-platforms can be used to stop different bus routes. There is a certain distance between the sub-platforms. In this way, when a bus stops, it can stop at the corresponding sub-platform according to the bus route to which the bus belongs. Since there is a certain distance between the sub-platforms, it can avoid a large number of buses from the bus routes from stopping together.

[0051] In order to facilitate buses to stop at different sub-platforms, an overtaking lane can be set outside the sub-platform. In this way, if there are already vehicles parked at the sub-platform near the entrance of the target platform, and the new vehicle entering the target platform needs to stop at the sub-platform near the exit of the target platform, the vehicle can drive to the sub-platform near the exit of the target platform through the overtaking lane and stop. In actual scenarios, the number of overtaking lanes at the platform is often limited. For example, for most platforms, there may be only one overtaking lane.

[0052] The inventor of the present application has found that during the actual parking process of vehicles, there may be traffic conflicts between vehicles entering and leaving the station. If there is a traffic conflict, it may cause the passing lane to be blocked, affecting the entry and exit of vehicles, and greatly reducing the parking efficiency of the platform.

[0053] For example, suppose that platform A includes sub-platform A1, sub-platform A2 and sub-platform A3, sub-platform A1 is close to the entrance of platform A, sub-platform A3 is close to the exit of platform A, and sub-platform A2 is located between sub-platforms A1 and A3. In the process of the vehicle docking at sub-platform A3, the overtaking lane of platform A may be blocked. At this time, if there is a vehicle that has docked at sub-platform A1 and wants to exit platform A, it needs to wait for the vehicle to dock at sub-platform A3. If there are still vehicles that need to dock at sub-platform A2, it is necessary to wait for the vehicle to dock at sub-platform A3 first, and then wait for the vehicle to exit from sub-platform A1. In this way, there is a traffic conflict between the outgoing vehicles of sub-platform A1, the incoming vehicles of sub-platform A2 and the incoming vehicles of sub-platform A3, which will affect the docking efficiency of the target platform.

[0054] In order to solve the above problems, the present application provides a vehicle docking guidance method. The vehicle docking guidance method can analyze the impact of the front vehicle group on the rear vehicle group among the vehicles to be docked, so as to select a suitable method to guide the vehicles to be docked to the platform and avoid congestion in the overtaking lane.

[0055] The following describes the vehicle docking guidance method provided by the embodiment of the present application from the perspective of the vehicle docking guidance device. The vehicle docking guidance device may be a software device, for example, it may be software running on a guidance device of a target station, or it may be a software module running on a server or server cluster. The target station may determine the guidance strategy of the vehicle by calling the vehicle docking guidance device, and guide the vehicle into the station according to the guidance strategy of the vehicle. The target station is a single-lane station, and the vehicles docked at the target station follow the first-in-first-out principle.

[0056] Optionally, the vehicle parking guidance device may include a software module running on the platform side. The software running on the platform side refers to software running on a computing device deployed on the platform or associated with the platform. And / or, the vehicle parking guidance device may also include a software module running on the server side, for example, it may include a software module running on the Internet of Vehicles server. And / or, the vehicle parking guidance device may also include a software module running on the vehicle side, for example, running on the vehicle side of the Internet of Vehicles software.

[0057] The software module running on the vehicle side is used to display relevant information about the parking space to the vehicle driver. For example, after determining the strategy for guiding the vehicle to dock at the platform, a guiding animation can be generated and displayed on the vehicle side, thereby guiding the vehicle to dock at the platform through the guiding animation. The guiding animation is used to simulate the process of the vehicle docking at the platform according to the determined strategy through animation effects.

[0058] Specifically, the station side, service side or vehicle side of the Internet of Vehicles system can generate the first animation or the second animation, and display the first animation or the second animation through the vehicle side.

[0059] The first animation is used to show the process of the vehicle docking at the target station through animation effects. In this way, by showing the first animation, the driver can understand the process of the vehicle docking at the target station, and thus dock at the target station according to the guidance of the first animation. The second animation is used to show the process of the vehicle waiting through animation effects. After the waiting is over, the first animation can be shown to instruct the driver to dock at the target station.

[0060] In this way, by showing the second animation, the driver can understand that the vehicle needs to wait. Optionally, the second animation may also include a waiting prompt screen, which is used to prompt the first vehicle to wait through slogans, signs, etc. Optionally, the second animation may include a waiting countdown animation. The waiting countdown animation is a countdown of the estimated waiting time of the vehicle.

[0061] Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0062] See also Figure 1 , Figure 1 A method flow chart of a vehicle parking guidance method provided in an embodiment of the present application includes:

[0063] S101: Acquire information on a set of vehicles to be entered and a set of vehicles to be exited from a target platform.

[0064] In order to guide the vehicle to stop at the target platform, firstly, the information of the set of vehicles to be entered and the information of the set of vehicles to be exited at the target platform may be obtained.

[0065] The set of vehicles to be entered refers to the set of vehicles that are about to stop at the target station, for example, it can be the set of vehicles that will stop at the target station within a preset time period in the future. The set of vehicles to be exited refers to the set of vehicles that are about to leave the target station, for example, it can be the set of vehicles that will leave the target station within a preset time period in the future. Traffic conflicts may occur between the set of vehicles to be entered and the set of vehicles to be exited. A vehicle set may include multiple vehicles or one vehicle.

[0066] The information of the set of vehicles to be entered may include the estimated entry time and the estimated stop position of each vehicle to be entered. The estimated stop position includes the sub-station where the vehicle to be entered is expected to stop, and may also include the berth where the vehicle to be entered is expected to stop. In addition, the information of the set of vehicles to be entered may also include the travel speed of each vehicle to be entered.

[0067] The information of the set of vehicles to be departed may include the actual parking position and estimated departure time of each vehicle to be departed. The actual parking position of the vehicle to be departed includes the sub-station where the vehicle to be departed stops, and may also include the berth of the vehicle to be departed.

[0068] The information of the set of vehicles to be inbound and the information of the set of vehicles to be outbound can be obtained through traffic information planning. For example, the vehicle guidance device can be connected to the traffic planning system through a network. The vehicle guidance device can obtain the information of the set of vehicles to be inbound and the information of the set of vehicles to be outbound from the traffic planning system through a corresponding network interface.

[0069] S102: judging whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited, according to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited.

[0070] After obtaining the information of the incoming vehicle set and the outgoing vehicle set, it can be determined whether there is a traffic conflict between the incoming vehicle set and the outgoing vehicle set based on the information of the incoming vehicle set and the outgoing vehicle set.

[0071] Traffic conflict refers to the conflict between vehicles in time and space. That is, if there is a traffic conflict, at least two vehicles will overlap in space at a certain point in the future. Obviously, the overlap in space means the occurrence of a traffic accident. Therefore, in order to avoid traffic accidents, vehicles need to temporarily wait in the passing lane of the target platform, which may block the passing lane of the target platform and reduce the parking efficiency of the target platform.

[0072] Considering that traffic conflicts occurring in the overtaking lane have a greater impact on the platform traffic efficiency, traffic conflicts occurring in the overtaking lane can be mainly considered.

[0073] Therefore, if there is no traffic conflict, it means that according to the original plan, the vehicles in the waiting-in vehicle set will not be affected by the vehicles in the waiting-out vehicle set during the entry process, and the vehicles in the waiting-out vehicle set will not be affected by the vehicles in the waiting-in vehicle set during the exit process. Therefore, it is not necessary to guide the vehicles waiting to enter the station and the vehicles waiting to exit the station, or the vehicles can be guided to enter the station and the vehicles can be guided to exit the station respectively according to the information of the waiting-in vehicle set and the information of the waiting-out vehicle set.

[0074] If there is a traffic conflict, it means that according to the original plan, the vehicles to be entered and the vehicles to be exited will overlap at a certain time point in the future. In this way, if the vehicles are guided to enter and exit the station according to the original plan, the vehicles may wait in the passing lane of the target platform, thereby blocking the passing lane of the target platform and reducing the parking efficiency of the target platform. Therefore, the following steps S103 and S104 can be continued to be executed to avoid traffic conflicts by guiding vehicles to wait to enter or wait to exit the station.

[0075] When determining whether there is a traffic conflict, it is possible to determine whether the vehicles to be entered and the vehicles to be exited overlap in time and space based on the information of the set of vehicles to be entered and the information of the set of vehicles to be exited. If so, it can be considered that there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited.

[0076] Optionally, when determining whether there is a traffic conflict, the entry route and time of the vehicle to be entered, and the exit route and time of the vehicle to be exited may be determined respectively, and whether there is a traffic conflict may be determined based on the route and time.

[0077] Specifically, at least one entry sub-platform and the entry time of each entry sub-platform can be determined based on the information of the set of vehicles to be entered. At least one exit sub-platform and the exit time of each exit sub-platform can be determined based on the information of the set of vehicles to be exited.

[0078] The entry sub-platform refers to the sub-platform where the vehicles in the set of vehicles to be entered are parked. If all vehicles in the set of vehicles to be entered are parked at the same sub-platform, then the number of entry sub-platforms is one. If the vehicles in the set of vehicles to be entered are parked at N sub-platforms respectively (N is a positive integer greater than 1), then N entry sub-platforms can be determined respectively. Each entry sub-platform corresponds to an entry time. The vehicles parked at the entry sub-platform will arrive at the entry sub-platform at the entry time. Optionally, the entry time can be a time period, indicating that there are vehicles entering the sub-platform within the time period.

[0079] The exit sub-platform refers to the sub-platform in the target platform where vehicles are exiting. That is, the vehicles in the set of vehicles to be exited will be determined from the exit sub-platform. Similar to the number of entry sub-platforms, the number of exit sub-platforms can be determined based on the actual situation of the vehicles to be exited, and the number of exit sub-platforms can be one or more.

[0080] Each exit sub-platform corresponds to an exit time. The exit time is the time when the vehicle parked in the exit sub-platform drives out of the exit sub-platform. Optionally, the exit time can be a time period, indicating that a vehicle drives out of the sub-platform within the time period.

[0081] After determining the arrival time of each arrival sub-platform and the departure time of each departure sub-platform, it is possible to determine whether there is a conflict between any group of arrival sub-platforms and departure sub-platforms based on the position of the arrival sub-platform, the arrival time of the arrival sub-platform, the position of the departure sub-platform and the departure time of the departure sub-platform.

[0082] Specifically, assuming that X entry sub-platforms and Y exit sub-platforms are determined (both X and Y are positive integers), the entry sub-platforms and exit sub-platforms can be combined one by one to determine X*Y groups of platforms. For each group of platforms, it can be determined whether there is a traffic conflict in this group of platforms based on the position and entry time of the entry sub-platforms in this group of platforms, and the position and exit time of the exit sub-platforms. If there is a traffic conflict between any group of platforms in the X*Y group of platforms, it can be considered that there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited.

[0083] The following takes the i-th entry sub-platform among X entry sub-platforms and the j-th exit sub-platform among Y exit sub-platforms as examples to introduce two implementation methods for determining whether there is a traffic conflict. Among them, i is a positive integer not greater than X, and j is a positive integer not greater than Y.

[0084] In the first implementation, the travel time-space characteristics of the inbound vehicle of the i-th inbound sub-platform can be determined based on the position of the i-th inbound sub-platform and the inbound time of the i-th inbound sub-platform. The travel time-space characteristics indicate the position at which the vehicle is traveling at what time. That is, if the vehicle of the i-th inbound sub-platform is not guided, the position of the inbound vehicle of the i-th inbound sub-platform at any time can be determined based on the travel time-space characteristics. Similarly, the travel time-space characteristics of the outbound vehicle of the j-th outbound sub-platform can also be determined based on the position of the j-th outbound sub-platform and the inbound time of the j-th outbound sub-platform.

[0085] Optionally, the spatiotemporal characteristics of the vehicle can be determined based on the vehicle's travel speed. The vehicle's travel speed can be a preset travel speed, or can be derived from information about a set of vehicles to enter the station or information about a set of vehicles to leave the station.

[0086] After determining the travel time and space characteristics of the incoming vehicles and the outgoing vehicles, it is possible to determine whether there is a traffic conflict between the two based on the travel time and space characteristics of the incoming vehicles and the outgoing vehicles. Specifically, it is possible to determine whether there is a time point at which the positions of the incoming vehicles and the outgoing vehicles coincide. If so, it is considered that there is a traffic conflict between the incoming vehicle of the i-th incoming sub-platform and the outgoing vehicle of the j-th outgoing sub-platform.

[0087] In the second implementation, the judgment can be made based on the distance from the platform to the exit of the target platform. Specifically, if the i-th entry sub-platform is located at the entrance of the target platform and the j-th exit sub-platform is located at the exit of the target platform, then regardless of the entry time, the inbound vehicle of the i-th entry sub-platform will not have a traffic conflict with the outbound vehicle of the j-th exit sub-platform.

[0088] Therefore, when determining whether a traffic conflict occurs, the distance from the i-th entry sub-platform to the exit of the target platform can be calculated based on the position of the i-th entry sub-platform, and the distance from the exit sub-platform to the exit of the target platform can be calculated based on the position of the j-th exit sub-platform. Then, it can be determined whether the distance from the i-th entry sub-platform to the exit of the target platform is less than or equal to the distance from the j-th exit sub-platform to the exit of the target platform.

[0089] If the distance from the i-th entry sub-platform to the exit of the target platform is greater than the distance from the j-th exit sub-platform to the exit of the target platform, it can be considered that there is no traffic conflict between the i-th entry sub-platform and the j-th exit sub-platform.

[0090] In addition to determining the distance from the sub-platform to the exit, it is also possible to determine whether there is an intersection between the entry time of the i-th entry sub-platform and the exit time of the j-th exit sub-platform. If there is no intersection between the entry time and the exit time, it can be considered that there is no traffic conflict between the i-th entry sub-platform and the j-th exit sub-platform.

[0091] If the distance from the jth exit sub-platform to the exit of the target platform is greater than the distance from the ith entry sub-platform to the exit of the target platform, and there is an intersection between the entry time of the ith entry sub-platform and the exit time of the jth exit sub-platform, it can be determined that there is a traffic conflict between the ith entry sub-platform and the jth exit sub-platform, that is, there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited.

[0092] It should be noted that the above two implementations are only examples. In actual application scenarios, there may be other implementations for determining traffic conflicts. For example, it may be determined whether the berth for the incoming vehicle is the same as the berth for the outgoing vehicle. If so, it may be further determined whether the incoming vehicle's entry time is earlier than the outgoing vehicle's exit time. If so, it may be considered that there is a traffic conflict.

[0093] After determining that there is a traffic conflict between the set of vehicles to enter the station and the set of vehicles to exit the station, the vehicles to enter the station and / or the vehicles to exit the station can be guided to prevent the traffic conflict from blocking the overtaking lane of the target platform and affecting the parking efficiency of the target platform.

[0094] For example, in some implementations, the vehicle entering the station can be guided to increase or slow down its speed, thereby advancing the vehicle's station entry time or delaying the vehicle's station entry time. In this way, by increasing or delaying the vehicle's station entry time, traffic conflicts can be avoided to a certain extent.

[0095] That is, after determining that there is a traffic conflict between the vehicles entering the i-th sub-station and the vehicles entering the j-th sub-station, the entry time of the i-th sub-station can be corrected based on the preset speed. For example, the speed of the vehicle entering the station can be summed with the preset speed, and the entry time of the i-th sub-station can be corrected based on the result of the sum. Alternatively, the preset speed can be subtracted from the speed of the vehicle entering the station, and the entry time of the i-th sub-station can be corrected based on the result of the sum. The preset speed can be a pre-set speed that can guide the vehicle to adjust.

[0096] Next, it can be determined whether there is a traffic conflict based on the corrected entry time of the ith sub-platform. For example, according to the second implementation method of determining whether there is a traffic conflict, it can be determined whether there is an intersection between the corrected entry time of the ith sub-platform and the exit time of the jth exit sub-platform.

[0097] If there is no intersection, it means that the traffic conflict can be avoided by guiding the incoming vehicles to speed up or slow down, so the incoming vehicles of the i-th sub-station can be guided to correct the travel speed at the preset speed. If there is an intersection, it means that the traffic conflict cannot be avoided by guiding the incoming vehicles to speed up or slow down, so the following step S103 can be continued.

[0098] S103: If so, determine a conflicting inbound vehicle set from the set of vehicles to be inbound, and determine a conflicting outbound vehicle set from the set of vehicles to be outbound.

[0099] After determining that there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited, a conflicting set of vehicles to be entered can be determined from the set of vehicles to be entered, and a conflicting set of vehicles to be exited can be determined from the set of vehicles to be exited. The conflicting set of vehicles to be entered is a set consisting of vehicles to be entered that have a traffic conflict, and the conflicting set of vehicles to be exited is a set consisting of vehicles to be exited that have a traffic conflict.

[0100] Optionally, the incoming vehicles and outgoing vehicles with traffic conflicts may be referred to as a conflicting vehicle group. The conflicting vehicle group includes a conflicting incoming vehicle set and a conflicting outgoing vehicle set. For example, in the example given above, if there is a traffic conflict between the incoming vehicles of the i-th incoming sub-station and the outgoing vehicles of the j-th outgoing sub-station, the incoming vehicles of the i-th incoming sub-station and the outgoing vehicles of the j-th outgoing sub-station may be determined as a conflicting vehicle group. The incoming vehicles of the i-th incoming sub-station are the conflicting incoming vehicle set in the conflicting vehicle group, and the outgoing vehicles of the j-th outgoing sub-station are the conflicting outgoing vehicle set in the conflicting vehicle group.

[0101] S104: guiding the conflicting inbound vehicles to gather and wait for the conflicting outbound vehicles to gather and then enter the station through the overtaking lane, or guiding the conflicting outbound vehicles to gather and wait for the conflicting inbound vehicles to gather and then exit the station through the overtaking lane.

[0102] After determining the conflicting inbound planning group and the conflicting outbound vehicle set, the conflicting inbound planning group and / or the conflicting outbound vehicle set can be guided to avoid traffic conflicts. Specifically, the conflicting inbound vehicle set can be guided to wait outside the target platform entrance first, without entering the passing lane, and after the conflicting outbound vehicle set leaves the station, the conflicting inbound vehicle set can be guided to stop at the target platform. Alternatively, the conflicting outbound vehicle set can be guided to continue to stop at the target platform first, without entering the passing lane, and after waiting for the conflicting inbound vehicle set to stop at the target platform, the conflicting outbound vehicle set can be guided to leave the target platform.

[0103] It can be seen that no matter which method is used to guide vehicles, vehicles can be prevented from entering the overtaking lane in advance, and conflicting vehicles can be prevented from gathering in the overtaking lane to cause traffic conflicts. In this way, traffic conflicts can be avoided in the overtaking lane, and congestion in the overtaking lane can be avoided, thereby improving the traffic efficiency of the platform.

[0104] Optionally, if there are multiple conflicting vehicle groups, different guidance methods can be selected for each conflicting vehicle group. For example, if there is a first conflicting vehicle group and a second conflicting vehicle group, then for the first conflicting vehicle group, the conflicting outbound vehicle set in the first conflicting vehicle group can be guided to exit the station first, and the conflicting inbound vehicle set in the first conflicting vehicle group can be guided to wait outside the target platform, and then enter the station after the conflicting outbound vehicle set exits the station. For the second conflicting vehicle group, the conflicting inbound vehicle set in the second conflicting vehicle group can be guided to enter the station first, and the conflicting outbound vehicle set in the second conflicting vehicle group can be guided to wait at the target platform, and then exit the station after the conflicting inbound vehicle set enters the station. The following is an introduction using one conflicting vehicle group as an example.

[0105] Among them, the vehicle collection entering the station refers to the vehicle collection parking at the berth of the sub-platform. The vehicle collection leaving the station refers to the vehicle collection driving out of the berth of the sub-platform. That is to say, if the conflicting outbound vehicle collection drives out of the berth of the sub-platform and enters the overtaking lane of the target platform, even if the conflicting outbound vehicle collection has not yet driven out of the target platform, it is considered that the conflicting outbound vehicle collection has already left the station; if the conflicting inbound vehicle collection drives out of the overtaking lane of the target platform and drives into the berth of the sub-platform, even if the conflicting inbound vehicle collection has not yet completely entered the station, it is considered that the conflicting inbound vehicle collection has already entered the station. That is, when guiding vehicles, whether the vehicle is leaving the station or entering the station is determined based on whether the vehicle enters the overtaking lane from the berth and enters the berth from the overtaking lane.

[0106] For the sake of ease of introduction, the guidance method of guiding conflicting inbound vehicles to gather and wait for conflicting outbound vehicles to gather and then enter the station will be referred to as the first guidance method, and the guidance method of guiding conflicting inbound vehicles to gather and wait for conflicting outbound vehicles to gather and then enter the station will be referred to as the second guidance method.

[0107] The following introduces some implementation methods of selecting the first boot mode or the second boot mode.

[0108] In the first implementation mode, the flow of people at the target platform may be large, so the second guidance mode may be selected.

[0109] Specifically, in the case of a large flow of people and a large number of passengers, the earlier the vehicle stops at the target platform, the earlier the passengers can get on the vehicle. Therefore, when guiding the vehicle, it is more inclined to let the vehicle stop at the platform as soon as possible. Then, when it is determined that there is a traffic conflict between the set of vehicles to enter the station and the set of vehicles to leave the station, the second guidance method can be selected to give priority to guiding the vehicles to enter the station, so that passengers can get on the vehicle earlier and relieve the traffic pressure on the target platform.

[0110] In the second implementation mode, the traffic volume at the target platform may be large, so the first guidance mode may be selected.

[0111] Specifically, in the case of heavy traffic and a large number of vehicles to be parked, the sooner the parked vehicles leave the target platform, the sooner the berths at the target platform will be free. Therefore, when guiding vehicles, it is more inclined to let the parked vehicles leave the target platform as soon as possible. Then, when it is determined that there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited, the first guidance method can be selected to give priority to guiding the vehicles to be exited, thereby clearing the berths at the target platform more quickly and alleviating the traffic pressure on the target platform.

[0112] In a third implementation, a selection may be made from the first guidance mode and the second guidance mode based on the waiting time of the passenger.

[0113] Specifically, the waiting time corresponding to the first guidance mode and the waiting time corresponding to the second guidance mode can be calculated respectively. The waiting time corresponding to the first guidance mode refers to the sum of the waiting time of the conflicting inbound vehicle set and the waiting time of the conflicting outbound vehicle set when the first guidance mode is used to guide the vehicle. The waiting time corresponding to the second guidance mode refers to the sum of the waiting time of the conflicting inbound vehicle set and the waiting time of the conflicting outbound vehicle set when the second guidance mode is used to guide the vehicle. The waiting time corresponding to the first guidance mode can also be referred to as the first waiting time. The waiting time corresponding to the second guidance mode can also be referred to as the second waiting time.

[0114] Optionally, the first waiting time may be the waiting time of the conflicting inbound vehicle set while the conflicting outbound vehicle set waits for the conflicting inbound vehicle set to exit the station before entering the station. The second waiting time may be the waiting time of the conflicting outbound vehicle set while the conflicting outbound vehicle set waits for the conflicting inbound vehicle set to enter the station before exiting the station.

[0115] Optionally, when determining the first waiting time and the second waiting time, the waiting time may be determined in units of vehicles. For example, the first waiting time may be the total waiting time of all vehicles in the conflicting inbound vehicle set when the vehicles are guided in the first guidance mode. Alternatively, the waiting time may be determined in units of passengers. For example, the second waiting time may be the total waiting time of all passengers in the conflicting outbound vehicle set when the vehicles are guided in the second guidance mode. Optionally, the waiting time may also include the waiting time of passengers waiting to board at the target platform.

[0116] If the first waiting time is less than the second waiting time, it means that guiding the vehicle according to the first guidance method will cause the vehicle to wait for a longer time, reducing the parking efficiency of the target platform. Then, the vehicle can be guided according to the second guidance method, that is, the vehicle to be exited can be guided to exit first, and the vehicle to be entered can be guided to wait for the vehicle to be exited before stopping at the target platform.

[0117] If the second waiting time is shorter than the first waiting time, it means that guiding the vehicle in accordance with the second guidance method will cause the vehicle to wait for a longer time, thus reducing the parking efficiency of the target platform. Then, the vehicle can be guided in accordance with the first guidance method, that is, the vehicle to be entered can be guided to exit the station first, and the vehicle to be entered can be guided to wait for the vehicle to exit the station first, and then stop at the target platform.

[0118] It should be noted that the above three implementation methods are only examples. In actual application scenarios, the first guidance method or the second guidance method can also be selected based on other principles. For example, it can also be determined whether the parking position of the conflicting inbound vehicle set coincides with the parking position of the conflicting outbound vehicle set. If they coincide, the conflicting inbound vehicle set cannot enter the station before the conflicting outbound vehicle set exits the station, then the first guidance method can be selected to first guide the conflicting outbound vehicle set out of the station, and then guide the conflicting inbound vehicle set into the station. For another example, the comprehensive traffic efficiency of the first guidance method and the comprehensive traffic efficiency of the second guidance method can also be calculated by comprehensively considering the waiting time, energy consumption, etc., and a guidance method is selected from the first guidance method and the second guidance method based on the comprehensive traffic efficiency to guide the vehicle set to enter the station and / or the vehicle set to exit the station. The embodiments of the present application are not limited to this.

[0119] The present application provides a vehicle stop guidance method. For a target station including a passing lane and multiple sub-stations, conflicts between incoming vehicles and outgoing vehicles can be avoided. Specifically, when guiding a vehicle, information about a set of vehicles to be entered and a set of vehicles to be exited can be first obtained. The set of vehicles to be entered can include at least one vehicle to be entered, and the set of vehicles to be exited can include at least one vehicle to be exited. Then, it can be determined whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited. If so, the vehicles with traffic conflicts can be referred to as a conflicting inbound vehicle set and a conflicting outbound vehicle set. The set of vehicles to be entered includes a conflicting inbound vehicle set, and the set of vehicles to be exited includes a conflicting outbound vehicle set. Moreover, the distance from the sub-station where the conflicting inbound vehicle set stops to the exit of the target station is less than or equal to the distance from the sub-station where the conflicting outbound vehicle set stops to the exit of the target station. Therefore, when the conflicting inbound vehicle set enters the station, a traffic conflict will occur with the conflicting outbound vehicle set. After determining the conflicting inbound vehicle set and the conflicting outbound vehicle set, the conflicting inbound vehicle set can be guided to wait for the conflicting outbound vehicle set to exit the station before entering the station through the overtaking lane, or the conflicting outbound vehicle set can be guided to wait for the conflicting inbound vehicle set to enter the station before exiting the station through the overtaking lane.

[0120] That is to say, when guiding vehicles in and out of the target station, it is possible to determine whether the incoming vehicle set will have a traffic conflict with the outgoing vehicle set based on the information of the vehicle set, and find the vehicle set that may have a conflict. In this way, the incoming vehicle set or the outgoing vehicle set is guided to wait, thereby avoiding the occurrence of traffic conflicts. In this way, traffic conflicts between the incoming vehicle set and the outgoing vehicle set can be avoided, thereby improving the parking efficiency of the target station.

[0121] The above are some specific implementations of the vehicle parking guidance method provided in the embodiment of the present application. Based on this, the present application also provides a corresponding vehicle parking guidance device. The vehicle parking guidance device provided in the embodiment of the present application will be introduced from the perspective of functional modularization.

[0122] See also Figure 2 , Figure 2 A schematic diagram of the structure of a vehicle parking guidance device provided in an embodiment of the present application. Specifically, Figure 2 The vehicle parking guidance device 200 shown includes:

[0123] An acquisition unit 210 is used to acquire information about a set of vehicles to be entered and a set of vehicles to be exited from a target platform, wherein the target platform includes a plurality of sub-platforms;

[0124] A judging unit 220, configured to judge whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited according to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited;

[0125] The vehicle set determining unit 230 is used to determine, if any, a conflicting inbound vehicle set from the set of vehicles to be inbound, and a conflicting outbound vehicle set from the set of vehicles to be outbound, wherein the distance between the sub-station where the conflicting inbound vehicle set stops and the exit of the target platform is less than or equal to the distance between the sub-station where the conflicting outbound vehicle set stops and the exit of the target platform;

[0126] The guiding unit 240 is used to guide the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or to guide the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

[0127] In some possible implementations, the guiding unit 240 is specifically used to calculate a first waiting time and a second waiting time based on the information of the conflicting inbound vehicle set and the information of the conflicting outbound vehicle set, wherein the first waiting time is the waiting time of the conflicting inbound vehicle set while waiting for the conflicting outbound vehicle set to enter the station after exiting the station, and the second waiting time is the waiting time of the conflicting outbound vehicle set while waiting for the conflicting inbound vehicle set to enter the station after exiting the station; if the first waiting time is less than the second waiting time, the conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station through the overtaking lane; if the first waiting time is greater than the second waiting time, the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station after entering the station through the overtaking lane.

[0128] In some possible implementations, the guiding unit 240 is specifically used to determine whether the parking positions of the conflicting inbound vehicle set coincide with the parking positions of the conflicting outbound vehicle set; if they coincide, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane.

[0129] In some possible implementations, the judgment unit 220 is specifically used to determine at least one entry sub-platform and the entry time of each entry sub-platform based on the information of the set of vehicles to be entered; determine at least one exit sub-platform and the exit time of each exit sub-platform based on the information of the set of vehicles to be exited; and judge whether there is a traffic conflict between the vehicles to be entered and the set of vehicles to be exited based on the position of the entry sub-platform and the entry time of the entry sub-platform, the position of the exit sub-platform and the exit time of the exit sub-platform.

[0130] In some possible implementations, the entry sub-platform includes a first entry sub-platform, and the exit sub-platform includes a first exit sub-platform; the judgment unit 220 is specifically used to judge whether the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform according to the position of the first entry sub-platform and the position of the first exit sub-platform; judge whether there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform; if the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform, and there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform, it is determined that there is a traffic conflict between the to-be-entering vehicles and the to-be-exiting vehicle set, the conflicting entry vehicle set includes the vehicle set to enter the first entry sub-platform; the conflicting exit vehicle set includes the vehicle set to exit from the first exit sub-platform.

[0131] In some possible implementations, the judgment unit 220 is further used to correct the arrival time of the first sub-platform according to a preset speed; and to judge whether there is an intersection between the corrected arrival time of the first sub-platform and the departure time of the first exit sub-platform.

[0132] The embodiments of the present application also provide corresponding devices, computer storage media and computer program products for implementing the technical solutions provided by the embodiments of the present application.

[0133] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the vehicle parking guidance method described in any embodiment of the present application.

[0134] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the vehicle parking guidance method described in any embodiment of the present application.

[0135] The computer program product includes instructions. When the instructions are executed on a computer, the computer is enabled to execute the vehicle parking guidance method described in any embodiment of the present application.

[0136] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0137] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0138] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0139] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A vehicle parking guidance method, characterized in that: The method comprises: Acquire information about a set of vehicles to be entered and a set of vehicles to be exited from a target platform, wherein the target platform includes a driving lane and a plurality of sub-platforms; According to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited, determining whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited; If so, a conflicting inbound vehicle set is determined from the set of vehicles to be inbound, and a conflicting outbound vehicle set is determined from the set of vehicles to be outbound, and in the absence of guidance, there is a traffic conflict between the vehicles in the conflicting inbound vehicle set and the vehicles in the conflicting outbound vehicle set; The conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

2. The method according to claim 1, characterized in that The step of guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or guiding the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane comprises: According to the information of the conflicting inbound vehicle set and the information of the conflicting outbound vehicle set, a first waiting time and a second waiting time are calculated, wherein the first waiting time is the waiting time of the conflicting inbound vehicle set when the conflicting inbound vehicle set waits for the conflicting outbound vehicle set to enter the station after exiting the station, and the second waiting time is the waiting time of the conflicting outbound vehicle set when the conflicting inbound vehicle set waits for the conflicting inbound vehicle set to enter the station and then exit the station; If the first waiting time is less than the second waiting time, guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane; If the first waiting time is longer than the second waiting time, the conflicting outbound vehicle set is guided to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

3. The method according to claim 1, characterized in that The step of guiding the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or guiding the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane comprises: Determine whether the parking position of the conflicting inbound vehicle set coincides with the parking position of the conflicting outbound vehicle set; If they overlap, the conflicting inbound vehicle set is guided to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane.

4. The method according to claim 1, characterized in that The determining, based on the information of the vehicle to be entered and the information of the vehicle set to be exited, whether there is a traffic conflict between the vehicle to be entered and the vehicle set to be exited comprises: Determine at least one entry sub-platform and the entry time of each entry sub-platform according to the information of the set of vehicles to be entered; Determine at least one exit sub-platform and the exit time of each exit sub-platform according to the information of the set of vehicles to be exited; Based on the position of the entry sub-platform and the entry time of the entry sub-platform, the position of the exit sub-platform and the time of the exit sub-platform, it is determined whether there is a traffic conflict between the vehicles to be entered and the vehicles to be exited.

5. The method according to claim 4, characterized in that The entry sub-platform includes a first entry sub-platform, and the exit sub-platform includes a first exit sub-platform; The determining whether there is a traffic conflict between the incoming vehicle and the outgoing vehicle set based on the position of the incoming sub-platform and the incoming time of the incoming sub-platform, the position of the outgoing sub-platform and the time of the outgoing sub-platform comprises: According to the position of the first entry sub-platform and the position of the first exit sub-platform, determining whether the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform; Determine whether there is an intersection between the arrival time of the first arrival sub-platform and the departure time of the first departure sub-platform; If the distance from the first exit sub-platform to the exit of the target platform is greater than the distance from the first entry sub-platform to the exit of the target platform, and there is an intersection between the entry time of the first entry sub-platform and the exit time of the first exit sub-platform, it is determined that there is a traffic conflict between the vehicles to be entered and the set of vehicles to be exited, and the conflicting entry vehicle set includes the set of vehicles to be entered into the first entry sub-platform; and the conflicting exit vehicle set includes the set of vehicles to be exited from the first exit sub-platform.

6. The method according to claim 5, characterized in that After determining that there is an intersection between the arrival time of the first arrival sub-platform and the departure time of the first departure sub-platform, the method further includes: Correcting the entry time of the first sub-platform according to the preset speed; It is determined whether there is an intersection between the corrected arrival time of the first sub-platform and the departure time of the first departure sub-platform.

7. A vehicle parking guidance device, characterized in that: The device comprises: An acquisition unit, used for acquiring information of a set of vehicles to be entered and a set of vehicles to be exited from a target platform, wherein the target platform includes a plurality of sub-platforms; A judging unit, configured to judge whether there is a traffic conflict between the set of vehicles to be entered and the set of vehicles to be exited according to the information of the set of vehicles to be entered and the information of the set of vehicles to be exited; a vehicle set determining unit, for determining, if any, a conflicting inbound vehicle set from the set of vehicles to be inbound, and a conflicting outbound vehicle set from the set of vehicles to be outbound, wherein the distance between the sub-station where the conflicting inbound vehicle set stops and the exit of the target platform is less than or equal to the distance between the sub-station where the conflicting outbound vehicle set stops and the exit of the target platform; The guiding unit is used to guide the conflicting inbound vehicle set to wait for the conflicting outbound vehicle set to exit the station and then enter the station through the overtaking lane, or to guide the conflicting outbound vehicle set to wait for the conflicting inbound vehicle set to enter the station and then exit the station through the overtaking lane.

8. A device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes, so that the boot device executes the method according to any one of claims 1 to 6.

9. A platform, characterized in that: The platform includes a guiding device, which is used to guide the vehicle to dock at the platform; the guiding device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the guiding device executes the method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor performs the method according to any one of claims 1 to 6.

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