Vehicle request response method and device, equipment and storage medium

Abstract

The invention provides a vehicle request response method and device, equipment and a storage medium, and can be applied to the technical field of intelligent driving. The method comprises the steps of determining a target lock point from a pre-lock point set of a target vehicle in response to a lock point request of the target vehicle; under the condition that the locking state of the target lock point is determined to be unlocked, determining a waiting vehicle with the highest driving priority from a plurality of pre-locked vehicles according to request information of the plurality of pre-locked vehicles for reserving and locking the target lock point; determining a driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the pre-locking information of the waiting vehicle; determining a reserved vehicle with the highest driving priority corresponding to the next lock point of the target lock point in the pre-lock point set; and under the condition that the reservation vehicle is determined to be the target vehicle, locking the target lock point, so that the target vehicle runs to the position of the target lock point from the current position based on the driving strategy.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent driving, and more specifically, to a vehicle request response method, device, equipment and storage medium. Background Art

[0002] At present, when an AGV is driving, it usually moves by locking a point on the map. If the vehicle locks a point successfully, it can move forward. If it fails to lock a point, it needs to wait. All vehicles have the same right to drive on each road.

[0003] In the process of realizing the concept of the present disclosure, the inventors found that there are at least the following problems in the related technology: since all vehicles have the same driving rights, vehicles with urgent tasks are difficult to get priority and can only wait in line, resulting in task timeouts and low efficiency in completing vehicle tasks. Summary of the invention

[0004] In view of this, the present disclosure provides a vehicle request response method, device, equipment and storage medium.

[0005] One aspect of the present disclosure provides a vehicle request response method, comprising: in response to a lock point request of a target vehicle, determining a target lock point from a pre-lock point set of the target vehicle; when it is determined that the lock state of the target lock point is unlocked, determining a waiting vehicle with the highest driving priority from the multiple pre-locked vehicles according to request information of multiple pre-locked vehicles that have reserved to lock the target lock point; determining a driving strategy for the target vehicle according to the pre-lock information of the target vehicle and the waiting vehicle respectively; determining a reserved vehicle with the highest driving priority corresponding to the next lock point of the target lock point in the pre-lock point set; and when it is determined that the reserved vehicle is the target vehicle, locking the target lock point so that the target vehicle travels from a current position to the position of the target lock point based on the driving strategy.

[0006] According to an embodiment of the present disclosure, the request information of the plurality of pre-locked vehicles for locking the target locking point by appointment is used to determine the waiting vehicle with the highest driving priority from the plurality of pre-locked vehicles, including: determining the pre-locking time of each of the pre-locked vehicles according to the plurality of request information; eliminating the pre-locked vehicles whose pre-locking time is earlier than the expiration time among the plurality of pre-locked vehicles, to obtain a plurality of valid vehicles, wherein the expiration time is earlier than the current time, and the time difference between the expiration time and the current time is a preset time period; determining the driving task information of each of the valid vehicles based on the plurality of request information; determining the waiting vehicle with the highest driving priority from the plurality of valid vehicles according to the task level in each of the driving task information.

[0007] According to an embodiment of the present disclosure, the driving strategy of the target vehicle is determined based on the pre-locking information of the target vehicle and the waiting vehicle, respectively, including: when it is determined that the waiting vehicle is not the target vehicle, the target key type and the target lock point distance number in the pre-locking information of the target vehicle are respectively compared with the waiting key type and the waiting lock point distance number in the pre-locking information of the waiting vehicle to generate a comparison result; when the comparison result indicates that the waiting key type and the target key type are inconsistent, and the target lock point distance number is less than the waiting lock point distance number, the driving strategy is generated according to the target road sign in the pre-locking information of the target vehicle and the waiting road sign in the pre-locking information of the waiting vehicle.

[0008] According to an embodiment of the present disclosure, the pre-locking information of the target vehicle includes information of each pre-locking point in the pre-locking point set, and the target key type, target lock point distance number and target road identification of the target vehicle are determined in the following manner: based on the position of the target lock point and the current position of the target vehicle, and the position of the historical lock point of the target vehicle, the target key type is determined, wherein the historical lock point is the last lock point that the target vehicle has passed; according to the current position and the position of the target lock point, and the unit distance, the target lock point distance number is determined; according to the road type corresponding to the position of the target lock point, the road type corresponding to the current position, and the road type corresponding to the position of the historical lock point, the road identification of the target lock point is determined.

[0009] According to an embodiment of the present disclosure, the target key type is determined based on the position of the target lock point and the current position of the target vehicle, including: determining the driving direction of the target vehicle based on the position of the target lock point and the current position of the target vehicle, and the position of the historical lock point; matching the driving direction with a preset direction rule to determine the target key type.

[0010] According to an embodiment of the present disclosure, the driving strategy is generated based on the target road sign and the waiting road sign, including: performing direction detection on the driving direction of the waiting vehicle and the driving direction of the target vehicle to generate a detection result; when the detection result indicates that the driving direction of the target vehicle is straight ahead, and the exit direction in the driving direction of the target vehicle is inconsistent with the exit direction in the driving direction of the waiting vehicle, the driving strategy is generated based on the entry direction and the exit direction in the driving direction of the target vehicle.

[0011] According to an embodiment of the present disclosure, before determining the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively, it also includes: determining the pre-locking range of the target vehicle based on the pre-locking point set; pre-processing the pre-locking information of the target vehicle based on the pre-locking range to obtain new pre-locking information of the target vehicle to eliminate the information of the pre-locking points outside the pre-locking range, and determining the driving strategy of the target vehicle based on the new pre-locking information of the target vehicle.

[0012] Another aspect of the present disclosure provides a vehicle request response device, including: a locking point determination module, for determining a target locking point from a pre-locking point set of the target vehicle in response to a locking point request of the target vehicle; a waiting determination module, for determining a waiting vehicle with the highest driving priority from a plurality of pre-locked vehicles according to request information of a plurality of pre-locked vehicles that have reserved to lock the target locking point, when determining that the locking state of the target locking point is unlocked; a strategy determination module, for determining a driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle, respectively; a reservation determination module, for determining a reserved vehicle with the highest driving priority corresponding to a next locking point of the target locking point in the pre-locking point set; and a locking point locking module, for locking the target locking point, when determining that the reserved vehicle is the target vehicle, so that the target vehicle travels from a current position to the position of the target locking point based on the driving strategy.

[0013] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above method when executed.

[0014] Another aspect of the present disclosure provides a computer program product, the computer program product comprising computer executable instructions, and the instructions are used to implement the above method when executed.

[0015] According to an embodiment of the present disclosure, when it is determined that the locking state of the target locking point is unlocked, the driving strategy of the target vehicle is determined according to the pre-locking information of the target vehicle and the waiting vehicle. Since the waiting vehicle is the vehicle with the highest driving priority among the multiple vehicles that have reserved the target locking point, the driving strategy of the target vehicle with priority driving can be determined based on the pre-locking information of the target vehicle and the waiting vehicle without interfering with the driving of the waiting vehicle. Further, when it is determined that the reserved vehicle is the target vehicle, since the reserved vehicle is the vehicle with the highest driving priority corresponding to the next locking point of the target locking point, it can be confirmed that after the target vehicle passes the target locking point based on the driving strategy, the target vehicle can still pass the next locking point smoothly, and no congestion will occur during the driving process. By determining the waiting vehicle and the reserved vehicle, and determining the driving strategy based on the pre-locking information, the waiting time of the target vehicle can be reduced to a certain extent, the target vehicle can complete the driving task in time, and the road congestion is effectively reduced, and the task completion efficiency of the target vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 An exemplary system architecture for a vehicle request response method and apparatus to which the present disclosure may be applied is schematically shown;

[0018] Figure 2 A flow chart schematically shows a vehicle request response method according to an embodiment of the present disclosure;

[0019] Figure 3 A schematic diagram of a map direction of a vehicle request response method according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 4 A schematic diagram of locking point directions of a vehicle request response method according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 5 A flow chart schematically shows a vehicle request response method according to another embodiment of the present disclosure;

[0022] Figure 6 A block diagram schematically shows a vehicle request response device according to an embodiment of the present disclosure; and

[0023] Figure 7 A block diagram of an electronic device suitable for implementing a vehicle request response method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0025] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0026] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0027] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0028] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security, and national security.

[0029] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0030] The embodiments of the present disclosure provide a vehicle request response method, a vehicle request response device, an electronic device, a computer-readable storage medium, and a computer program product. The method includes: in response to a lock point request of a target vehicle, determining a target lock point from a pre-lock point set of the target vehicle; when it is determined that the lock state of the target lock point is unlocked, according to the request information of multiple pre-locked vehicles that have reserved the target lock point, determining a waiting vehicle with the highest driving priority from multiple pre-locked vehicles; determining the driving strategy of the target vehicle according to the pre-lock information of the target vehicle and the waiting vehicle respectively; determining the reserved vehicle with the highest driving priority corresponding to the next lock point of the target lock point in the pre-lock point set; when it is determined that the reserved vehicle is the target vehicle, locking the target lock point so that the target vehicle travels from the current position to the position of the target lock point based on the driving strategy.

[0031] Figure 1 The exemplary system architecture of the vehicle request response method and device to which the present disclosure can be applied is schematically shown. It should be noted that: Figure 1 What is shown is merely an example of a system architecture to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0032] like Figure 1 As shown, the system architecture 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0033] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 101, 102, 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients and / or social platform software, etc. (only as examples).

[0034] The terminal devices 101 , 102 , and 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers.

[0035] The server 105 may be a server that provides various services, such as a background management server (only an example) that provides support for websites browsed by users using the terminal devices 101, 102, and 103. The background management server may analyze and process the received data such as user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0036] It should be noted that the vehicle request response method provided in the embodiment of the present disclosure can generally be executed by the server 105. Accordingly, the vehicle request response device provided in the embodiment of the present disclosure can generally be set in the server 105. The vehicle request response method provided in the embodiment of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the terminal devices 101, 102, 103 and / or the server 105. Correspondingly, the vehicle request response device provided in the embodiment of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the terminal devices 101, 102, 103 and / or the server 105. Alternatively, the vehicle request response method provided in the embodiment of the present disclosure can also be executed by the terminal devices 101, 102, or 103, or can also be executed by other terminal devices different from the terminal devices 101, 102, or 103. Correspondingly, the vehicle request response device provided in the embodiment of the present disclosure may also be arranged in the terminal device 101 , 102 , or 103 , or in other terminal devices different from the terminal device 101 , 102 , or 103 .

[0037] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0038] Figure 2 A flowchart of a vehicle request response method according to an embodiment of the present disclosure is schematically shown.

[0039] like Figure 2 As shown, the method includes operations S210 to S250.

[0040] In operation S210, in response to a lock point request of a target vehicle, a target lock point is determined from a set of pre-lock points of the target vehicle;

[0041] In operation S220, when it is determined that the locking state of the target locking point is unlocked, a waiting vehicle with the highest driving priority is determined from among the plurality of pre-locked vehicles according to request information of the plurality of pre-locked vehicles that reserve locking of the target locking point.

[0042] In operation S230, a driving strategy of the target vehicle is determined according to the pre-locking information of the target vehicle and the waiting vehicle respectively.

[0043] In operation S240, a reserved vehicle having the highest travel priority corresponding to a locking point next to the target locking point in the pre-locking point set is determined.

[0044] In operation S250, when it is determined that the reserved vehicle is the target vehicle, the target locking point is locked so that the target vehicle travels from the current position to the position of the target locking point based on the driving strategy.

[0045] According to an embodiment of the present disclosure, multiple locking points can be determined on a map based on the driving path of the target vehicle, and a pre-locking point set can be generated. Among them, there cannot be two turning points in the pre-locking point set. Since the target vehicle takes a long time to drive at a turning point, the number of turning points is maintained to make the final driving strategy more accurate. During the driving process, the target vehicle sequentially locks multiple locking points in the pre-locking point set, and drives according to the locked locking points, thereby completing the driving task. Among them, the target vehicle can be an automatic guided vehicle.

[0046] According to an embodiment of the present disclosure, in response to a lock point request of a target vehicle, a target lock point corresponding to the lock point request is determined from a pre-lock point set. The lock state of the target lock point is determined, and when the lock state is unlocked, the target vehicle can drive to the position of the target lock point by locking the target lock point. If the lock state is locked, it means that a vehicle has already locked the target lock point and is about to drive to the position of the target lock point. Therefore, the target vehicle needs to wait for the previous vehicle to pass the target lock point, and the lock state of the target lock point is switched to unlocked before locking the target lock point.

[0047] According to an embodiment of the present disclosure, when it is determined that the locking state of the target locking point is unlocked, request information of multiple pre-locked vehicles for booking to lock the target locking point is obtained. According to the multiple request line information, the waiting vehicle with the highest driving priority is determined from the multiple pre-locked vehicles, that is, the vehicle that can lock the target locking point first.

[0048] According to an embodiment of the present disclosure, the pre-locking information of the target vehicle and the pre-locking information of the waiting vehicle are obtained, wherein the pre-locking information includes the road type and driving direction of the vehicle during driving, and also includes the information of the target vehicle's historical locking of the target locking point. Based on the pre-locking information of the target vehicle and the waiting vehicle, respectively, the driving strategy of the target vehicle passing the target locking point is determined, so that the target vehicle can drive preferentially based on the driving strategy without interfering with the driving of the waiting vehicle, without waiting in line.

[0049] According to an embodiment of the present disclosure, the next locking point of the target locking point is determined in the pre-locking point set, and request information of multiple pre-locked vehicles for pre-locking the next locking point is obtained. The pre-locked vehicle with the highest driving priority is determined from the multiple pre-locked vehicles according to the multiple request line information, that is, the vehicle that can first lock the next locking point.

[0050] According to the embodiment of the present disclosure, it is determined whether the reserved vehicle is the target vehicle. If the reserved vehicle is the target vehicle, it means that after passing the target locking point, the target vehicle can also pass the next locking point smoothly without causing congestion. Therefore, the target locking point can be locked, so that the target vehicle drives from the current position to the position of the target locking point based on the driving strategy, and continues to drive to the position of the next locking point.

[0051] According to the embodiment of the present disclosure, if the reserved vehicle is not the target locking point, it means that the target vehicle needs to wait at the next locking point after passing the target locking point, thereby causing road congestion. Therefore, when it is determined that the reserved vehicle is not the target locking point, it is determined that the target vehicle cannot currently lock the target locking point and needs to wait in line.

[0052] According to an embodiment of the present disclosure, when it is determined that the locking state of the target locking point is unlocked, the driving strategy of the target vehicle is determined according to the pre-locking information of the target vehicle and the waiting vehicle. Since the waiting vehicle is the vehicle with the highest driving priority among the multiple vehicles that have reserved the target locking point, the driving strategy of the target vehicle with priority driving can be determined based on the pre-locking information of the target vehicle and the waiting vehicle without interfering with the driving of the waiting vehicle. Further, when it is determined that the reserved vehicle is the target vehicle, since the reserved vehicle is the vehicle with the highest driving priority corresponding to the next locking point of the target locking point, it can be confirmed that after the target vehicle passes the target locking point based on the driving strategy, the target vehicle can still pass the next locking point smoothly, and no congestion will occur during the driving process. By determining the waiting vehicle and the reserved vehicle, and determining the driving strategy based on the pre-locking information, the waiting time of the target vehicle can be reduced to a certain extent, the target vehicle can complete the driving task in time, and the road congestion is effectively reduced, and the task completion efficiency of the target vehicle is improved.

[0053] Reference below Figure 3 to Figure 5 , combined with specific embodiments Figure 2 The method shown is further explained.

[0054] According to an embodiment of the present disclosure, based on request information of multiple pre-locked vehicles for scheduled locking target locking points, a waiting vehicle with the highest driving priority is determined from the multiple pre-locked vehicles, including: determining the pre-locking time of each pre-locked vehicle based on the multiple request information; eliminating the pre-locked vehicles whose pre-locking time is earlier than the expiration time among the multiple pre-locked vehicles, to obtain multiple valid vehicles, wherein the expiration time is earlier than the current time, and the time difference with the current time is a preset time period; determining the driving task information of each valid vehicle based on the multiple request information; and determining the waiting vehicle with the highest driving priority from the multiple valid vehicles based on the task level in each driving task information.

[0055] According to an embodiment of the present disclosure, the pre-locking time of each pre-locked vehicle for the target locking point is determined, and each pre-locking time is compared with the current time. If the pre-locking time is earlier than the expiration time, it means that the request information of the pre-locked vehicle has expired and is invalid. Therefore, the pre-locked vehicles with pre-locking times earlier than the current information are eliminated to obtain multiple valid vehicles. Among them, the expiration time is earlier than the current time, and the time difference with the current time is a preset time period. Specifically, the preset time period can be configured by itself, for example: the preset time period is configured to 5 minutes.

[0056] According to an embodiment of the present disclosure, the driving task information of each valid vehicle is determined, wherein the driving task information includes a task level. Specifically, the task level is carried by the target vehicle when receiving the task, and can be any level from 1 to 100. According to the task level of each valid vehicle, the waiting vehicle with the highest driving priority is determined, that is, the vehicle with the highest task level and the highest priority to travel at the target lock point. The waiting vehicle with the highest driving priority is determined by the task level, so that the waiting vehicle is determined more reasonably.

[0057] According to an embodiment of the present disclosure, a driving strategy of the target vehicle is determined based on the pre-locking information of the target vehicle and the waiting vehicle, respectively, including: when it is determined that the waiting vehicle is not the target vehicle, the target key type and the target lock point distance number in the pre-locking information of the target vehicle are respectively compared with the waiting key type and the waiting lock point distance number in the pre-locking information of the waiting vehicle to generate a comparison result; when the comparison result indicates that the waiting key type and the target key type are inconsistent, and the target lock point distance number is less than the waiting lock point distance number, a driving strategy is generated based on the target road sign in the pre-locking information of the target vehicle and the waiting road sign in the pre-locking information of the waiting vehicle.

[0058] According to an embodiment of the present disclosure, when it is determined that the waiting vehicle is not the target vehicle, that is, the target vehicle is not the vehicle with the highest driving priority at the target locking point. The waiting key type, waiting locking point distance number and waiting road sign in the pre-locking information of the waiting vehicle are respectively compared with the target key type, target locking point distance number and target road sign in the pre-locking information of the target vehicle to obtain a comparison result. Among them, the key type can represent the driving direction of the vehicle, the locking point distance number can represent the distance between the vehicle and the target locking point, and the road sign can represent the type of road that the vehicle passes through during driving.

[0059] According to an embodiment of the present disclosure, it is determined whether the waiting key type and the target key type are consistent. If they are inconsistent, it means that the target vehicle and the waiting vehicle may conflict in the process of driving to the target lock point. It is determined whether the target lock point distance number is less than the waiting lock point distance number. If it is less than, it means that the target vehicle is closer to the target lock point than the waiting vehicle. Therefore, when the waiting key type and the target key type are inconsistent, and the target lock point distance number is less than the waiting lock point distance number, a driving strategy is generated according to the target road sign and the waiting road sign, so that the target vehicle has priority to drive to the position of the target lock point when there is no conflict with the waiting vehicle.

[0060] According to the embodiment of the present disclosure, when it is determined that the waiting key type and the target key type are consistent, it means that there is no conflict between the target vehicle and the waiting vehicle in the process of driving to the target locking point, and both can drive to the target locking point at the same time. Therefore, the target vehicle can lock the target locking point.

[0061] According to an embodiment of the present disclosure, the pre-lock information of the target vehicle includes information of each pre-lock point in the pre-lock point set, and the target key type, target lock point distance number and target road identification of the target vehicle are determined in the following manner: based on the position of the target lock point and the current position of the target vehicle, and the position of the historical lock point of the target vehicle, the target key type is determined, wherein the historical lock point is the last lock point that the target vehicle has passed; based on the current position and the position of the target lock point, and the unit distance, the target lock point distance number is determined; based on the road type corresponding to the position of the target lock point, the road type corresponding to the current position, and the road type corresponding to the position of the historical lock point, the road identification of the target lock point is determined.

[0062] According to an embodiment of the present disclosure, for a target vehicle, the position of a target lock point and the current position of the target vehicle, as well as the position of a previous lock point that the target vehicle has passed through, are determined. Based on the position and current position of the target lock point, the exit direction of the target vehicle is determined. Based on the current position and the position of the previous lock point that the target vehicle has passed through, the entrance direction of the target vehicle is determined. The target key type is determined based on the entrance direction and the exit direction. According to an embodiment of the present disclosure, based on the position and current position of the target lock point, the distance between the target lock point and the target vehicle is determined. The distance between the target lock point and the target vehicle is divided by the unit distance to determine the target distance number.

[0063] According to an embodiment of the present disclosure, based on the road type corresponding to the position of the target lock point and the road type corresponding to the current position, and the road type corresponding to the position of the last lock point that the target vehicle has passed, the change of the road type when the target vehicle travels from the position of the last lock point to the current position and then to the position of the target lock point is determined. The road identification of the target lock point is determined based on the change of the road type. Among them, the road type includes a lane type and a main road type.

[0064] According to an embodiment of the present disclosure, in the process of determining the road type, the lane type in the road type can be defined as identification 1, and the main road type can be defined as identification 2. In the process of defining the road identification by the road type, the following rules can be used to define it:

[0065] Walking in the lane (both the front and back points are 1): Mark 1;

[0066] Walking on the road (both the front and back points are 2): sign 2;

[0067] The lane exits to the main road (front point 1; rear point 2): sign 3;

[0068] Main road enters laneway (front point 2; rear point 1): sign 4;

[0069] End point or interference point (no back point): mark 5;

[0070] According to an embodiment of the present disclosure, in the process of determining the road sign, if the target locking point is an end point or an interference point in the pre-locking point set, the road sign is determined to be sign 5. The end point is determined in the pre-locking point set according to the driving path of the target vehicle. The interference point can be a locking point around the end point, which is used to ensure the validity of the end point so that the target vehicle can be parked smoothly at the end point. The analysis of the pre-locking information of the waiting vehicle is the same as the analysis steps of the target vehicle, which will not be repeated here. By analyzing the pre-locking information, it is convenient to determine the form strategy of the target vehicle.

[0071] Figure 3A map direction diagram of a vehicle request response method according to an embodiment of the present disclosure is schematically shown.

[0072] Figure 4 A schematic diagram of locking point directions of a vehicle request response method according to an embodiment of the present disclosure is schematically shown.

[0073] According to an embodiment of the present disclosure, a target key type is determined based on the position of a target lock point and a current position of a target vehicle, including: determining a driving direction of the target vehicle based on the position of a target lock point and a current position of a target vehicle, as well as positions of historical lock points; and matching the driving direction with a preset direction rule to determine the target key type.

[0074] According to an embodiment of the present disclosure, the driving direction of the target vehicle is determined based on the position of the target locking point and the current position of the target vehicle. Figure 3 As shown in , the map direction is defined as four driving directions, namely X+, X-, Y+ and Y-. Figure 4 As shown, when a vehicle enters or exits a locking point, each driving direction includes an entry direction and an exit direction.

[0075] According to an embodiment of the present disclosure, after determining the driving direction of the target vehicle entering and exiting the target locking point, the driving direction is matched with a preset direction rule. Wherein, the key type can be expressed as (entry direction: exit direction).

[0076]

[0077] According to an embodiment of the present disclosure, the driving direction is matched with a preset direction rule, wherein the preset direction rule is as follows:

[0078] Go straight: 1, 2, 3, 4;

[0079] X+outgoing direction: 1, 10, 11;

[0080] X-out direction: 2, 9, 12;

[0081] Y+out direction: 3, 5, 8;

[0082] Y-out direction: 4, 6, 7;

[0083] Interference points: 13;

[0084] According to an embodiment of the present disclosure, the key type is determined based on the driving direction, and then the key type is matched with the preset direction rule to determine the target key type. The waiting key type is determined in the same way as the target key type, which is not repeated here. By determining the target key type according to the driving direction, when determining whether the target vehicle can directly drive to the position of the target lock point, the determination result is more accurate, effectively reducing conflicts between vehicles.

[0085] According to an embodiment of the present disclosure, the pre-lock information also includes the number of attempts of the target vehicle to lock the target lock point, and if multiple servers control the target vehicle at the same time, the service time of two servers, and no time difference is allowed between the two. For example, the pre-lock information is {k: 1; d: 1; c: 3; t: 3000; n: 4}, where k represents the key type, d represents the road representation, c represents the distance number, t represents the service time, and n represents the number of attempts.

[0086] According to an embodiment of the present disclosure, a driving strategy is generated based on a target road sign and a waiting road sign, including: performing direction detection on a waiting vehicle's driving direction and a target vehicle's driving direction to generate a detection result; when the detection result indicates that the target vehicle's driving direction is straight ahead, and an exit direction in the target vehicle's driving direction is inconsistent with an exit direction in the waiting vehicle's driving direction, a driving strategy is generated based on an entry direction and an exit direction in the target vehicle's driving direction.

[0087] According to an embodiment of the present disclosure, during the process of detecting the driving direction, it is determined whether the driving direction of the target vehicle is straight. If it is straight, it is further determined whether the exit direction of the target vehicle is consistent with the exit direction of the waiting vehicle. If they are inconsistent, a driving strategy is generated according to the entry direction and exit direction of the target vehicle.

[0088] According to the embodiment of the present disclosure, if the target vehicle is not traveling straight, or the exit direction of the target vehicle is consistent with the exit direction of the waiting vehicle, it means that the target vehicle cannot drive to the target locking point before the waiting vehicle, and will conflict with the waiting vehicle during the process of driving to the target locking point. Therefore, the target vehicle can continue to wait, update the number of attempts to lock the target locking point, update the time, and return the information of the locking point failure.

[0089] According to an embodiment of the present disclosure, before determining the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively, it also includes: determining the pre-locking range of the target vehicle based on the pre-locking point set; pre-processing the pre-locking information of the target vehicle based on the pre-locking range to obtain new pre-locking information of the target vehicle to eliminate the information of the pre-locking points outside the pre-locking range, and determining the driving strategy of the target vehicle based on the new pre-locking information of the target vehicle.

[0090] According to an embodiment of the present disclosure, based on the currently requested driving path of the target vehicle, the pre-locking range of the target vehicle is determined in the pre-locking point set. Specifically, multiple pre-locking points in the pre-locking point set can be connected in sequence to determine the pre-locking range. Since the driving path requested by the target vehicle each time may be different, it is necessary to adjust the pre-locking point set in a timely manner so that the driving strategy of the determined target vehicle is determined more accurately.

[0091] Figure 5 A flowchart of a vehicle request response method according to another embodiment of the present disclosure is schematically shown.

[0092] According to the embodiments of the present disclosure, Figure 5 As shown, after receiving the lock point request, the console starts to process the lock point. Specifically, it includes normal lock points and associated lock points, where the normal lock point can be the target lock point and the associated lock point can be the interference point. Process each lock point in turn. For the target lock point, first check whether the target lock point is locked by other vehicles. If it is determined that it is not locked, obtain all pre-lock information on the target lock point. Traverse all pre-lock information, remove expired pre-lock information, and calculate the waiting vehicle with the highest driving priority.

[0093] According to an embodiment of the present disclosure, it is determined whether the target vehicle exists in the pre-lock information on the target lock point. If not, it is returned to the next lock point for processing the target lock point. If it exists, it is further determined whether the target vehicle is a waiting vehicle with the highest driving priority. If it is a waiting vehicle with the highest driving priority, the target vehicle locks the target lock point, monitors the target lock point, and deletes the pre-lock information of the target vehicle on the target lock point. After deleting the pre-lock information, it is determined whether the target lock point is the last lock point. If it is the last lock point, a success result is returned, indicating that the target vehicle has completed driving. If it is not the last lock point, it is returned to the next lock point for continuing to process the target lock point. If the target lock point fails to be locked, it returns failure and modifies the number of attempts of the target vehicle to lock the target lock point.

[0094] According to an embodiment of the present disclosure, if the target vehicle is not the waiting vehicle with the highest driving priority, it is further determined whether the key type of the target vehicle is consistent with the key type of the waiting vehicle. If they are consistent, the above process of locking the target lock point is executed.

[0095] According to an embodiment of the present disclosure, if the key types are inconsistent, it is determined whether the distance number of the waiting vehicle is consistent with the target vehicle. If they are consistent, it is determined whether the driving direction of the target vehicle is straight. If it is straight, it is determined whether the exit direction in the driving direction of the target vehicle is consistent with the exit direction in the driving direction of the waiting vehicle. If they are consistent, it means that the vehicle can take precedence over the waiting vehicle, but it is still necessary to determine whether the target vehicle is the scheduled vehicle with the highest driving priority at the next locking point of the target locking point. If so, it means that after the target vehicle passes the target locking point, it will not cause congestion at the next locking point. Therefore, the above-mentioned process of locking the target locking point can be executed.

[0096] According to the embodiment of the present disclosure, if the distance number of the waiting vehicle is inconsistent with that of the target vehicle, or the driving direction of the target vehicle is not straight, or the exit direction in the driving direction of the target vehicle is inconsistent with the exit direction in the driving direction of the waiting vehicle, or the next locking point of the target vehicle at the target locking point is not the reserved vehicle with the highest driving priority, it means that the target vehicle cannot drive through the target locking point in priority. Therefore, the above process of locking the target locking point failure can be executed.

[0097] According to the embodiments of the present disclosure, by comparing the pre-locking information of the target locking point with the waiting locking point, a driving strategy can be determined based on the pre-locking information of the target vehicle and the waiting vehicle, in which the target vehicle has priority in driving without interfering with the driving of the waiting vehicle. Further, in the case where the reserved vehicle is determined to be the target vehicle, since the reserved vehicle is the vehicle with the highest driving priority corresponding to the next locking point of the target locking point, it can be confirmed that after the target vehicle passes the target locking point based on the driving strategy, the target vehicle can still pass the next locking point smoothly, and no congestion will occur during driving.

[0098] Figure 6 A block diagram of a vehicle request response device according to an embodiment of the present disclosure is schematically shown.

[0099] like Figure 6 As shown, the vehicle request response device 600 includes a lock point determination module 610 , a waiting determination module 620 , a strategy determination module 630 , a reservation determination module 640 and a lock point locking module 650 .

[0100] The locking point determination module 610 is configured to determine a target locking point from a set of pre-locking points of the target vehicle in response to a locking point request of the target vehicle.

[0101] The waiting determination module 620 is used to determine the waiting vehicle with the highest driving priority from among the multiple pre-locked vehicles according to the request information of the multiple pre-locked vehicles that reserve the target locking point when the locking state of the target locking point is determined to be unlocked.

[0102] The strategy determination module 630 is used to determine the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively.

[0103] The reservation determination module 640 is used to determine the reserved vehicle with the highest driving priority corresponding to the next locking point of the target locking point in the pre-locking point set.

[0104] The locking point locking module 650 is used to lock the target locking point when it is determined that the reserved vehicle is the target vehicle, so that the target vehicle travels from the current position to the position of the target locking point based on the driving strategy.

[0105] According to an embodiment of the present disclosure, the waiting determination module 620 includes a time determination submodule, a vehicle elimination submodule, an information determination submodule and a waiting determination submodule.

[0106] The time determination submodule is used to determine the pre-locking time of each pre-locked vehicle according to the multiple request information.

[0107] The vehicle elimination submodule is used to eliminate the pre-locked vehicles whose pre-locking time is earlier than the expiration time among multiple pre-locked vehicles, so as to obtain multiple valid vehicles, wherein the expiration time is earlier than the current time, and the time difference between the expiration time and the current time is a preset time period.

[0108] The information determination submodule is used to determine the driving task information of each valid vehicle based on multiple request information.

[0109] The waiting determination submodule is used to determine the waiting vehicle with the highest driving priority from multiple valid vehicles according to the task level in each driving task information.

[0110] According to an embodiment of the present disclosure, the policy determination module 630 includes an information comparison submodule and a policy determination submodule.

[0111] The information comparison submodule is used to compare the target key type and target lock point distance number in the pre-lock information of the target vehicle with the waiting key type and waiting lock point distance number in the pre-lock information of the waiting vehicle, respectively, when it is determined that the waiting vehicle is not the target vehicle, and generate a comparison result.

[0112] The strategy determination submodule is used to generate a driving strategy according to the target road sign in the pre-locking information of the target vehicle and the waiting road sign in the pre-locking information of the waiting vehicle when the comparison result indicates that the waiting key type and the target key type are inconsistent and the target lock point distance number is less than the waiting lock point distance number.

[0113] According to an embodiment of the present disclosure, the vehicle request response device 600 further includes a key type determination module, a distance number determination module and an identification determination module.

[0114] The key type determination module is used to determine the target key type based on the position of the target lock point and the current position of the target vehicle, as well as the position of the historical lock point of the target vehicle, wherein the historical lock point is the last lock point that the target vehicle has traveled through.

[0115] The distance number determination module is used to determine the target lock point distance number according to the current position and the position of the target lock point, as well as the unit distance.

[0116] The identification determination module is used to determine the road identification of the target locking point according to the road type corresponding to the position of the target locking point, the road type corresponding to the current position, and the road type corresponding to the position of the historical locking point.

[0117] According to an embodiment of the present disclosure, the key type determination module includes a direction determination submodule and a key type determination submodule.

[0118] The direction determination submodule is used to determine the driving direction of the target vehicle based on the position of the target locking point and the current position of the target vehicle, as well as the positions of the historical locking points.

[0119] The key type determination submodule is used to match the driving direction with the preset direction rule to determine the target key type.

[0120] According to an embodiment of the present disclosure, the strategy determination submodule includes a direction determination unit, a direction detection unit and a strategy generation unit.

[0121] The direction detection unit is used to detect the driving direction of the waiting vehicle and the driving direction of the target vehicle and generate a detection result.

[0122] The strategy generating unit is used to generate a driving strategy according to the entry direction and the exit direction in the driving direction of the target vehicle when the detection result indicates that the driving direction of the target vehicle is straight and the exit direction in the driving direction of the target vehicle is inconsistent with the exit direction in the driving direction of the waiting vehicle.

[0123] According to an embodiment of the present disclosure, the vehicle request response device 600 further includes a range determination module and an information pre-processing module.

[0124] The range determination module is used to determine the pre-locking range of the target vehicle based on the pre-locking point set.

[0125] The information preprocessing module is used to preprocess the pre-locking information of the target vehicle based on the pre-locking range to obtain new pre-locking information of the target vehicle, so as to eliminate the information of the pre-locking point outside the pre-locking range, and determine the driving strategy of the target vehicle based on the new pre-locking information of the target vehicle.

[0126] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0127] For example, any of the lock point determination module 610, the waiting determination module 620, the policy determination module 630, the reservation determination module 640, and the lock point locking module 650 can be combined into one module / unit / sub-unit for implementation, or any of the modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of the modules / units / sub-units can be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the lock point determination module 610, the waiting determination module 620, the policy determination module 630, the reservation determination module 640, and the lock point locking module 650 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, at least one of the lock point determination module 610, the waiting determination module 620, the policy determination module 630, the reservation determination module 640, and the lock point locking module 650 can be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function can be executed.

[0128] It should be noted that the data processing system part in the embodiments of the present disclosure corresponds to the data processing method part in the embodiments of the present disclosure. The description of the data processing system part specifically refers to the data processing method part, which will not be repeated here.

[0129] Figure 7 A block diagram of an electronic device suitable for implementing a vehicle request response method according to an embodiment of the present disclosure is schematically shown. Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0130] like Figure 7 As shown, the electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 to a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include an onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0131] In RAM 703, various programs and data required for the operation of electronic device 700 are stored. Processor 701, ROM 702 and RAM 703 are connected to each other via bus 704. Processor 701 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 702 and / or RAM 703. It should be noted that the program can also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0132] According to an embodiment of the present disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to the bus 704. The system 700 may further include one or more of the following components connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage section 708 as needed.

[0133] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0134] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0135] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0136] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 702 and / or the RAM 703 described above and / or one or more memories other than the ROM 702 and the RAM 703 .

[0137] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, which contains program code for executing the method provided by the embodiment of the present disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the vehicle request response method provided by the embodiment of the present disclosure.

[0138] When the computer program is executed by the processor 701, the above functions defined in the system / device of the embodiment of the present disclosure are executed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0139] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 709, and / or installed from the removable medium 711. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0140] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0141] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments and / or claims of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0142] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A vehicle request response method, comprising: In response to a locking point request of a target vehicle, determining a target locking point from a set of pre-locking points of the target vehicle; When it is determined that the locking state of the target locking point is unlocked, according to the request information of multiple pre-locked vehicles that reserve the locking of the target locking point, determining a waiting vehicle with the highest driving priority from the multiple pre-locked vehicles; Determining a driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively; Determine the reserved vehicle with the highest travel priority corresponding to the next locking point of the target locking point in the pre-locking point set; When it is determined that the reserved vehicle is the target vehicle, the target locking point is locked so that the target vehicle travels from a current position to a position of the target locking point based on the driving strategy.

2. The method according to claim 1, wherein: The method of determining a waiting vehicle with the highest driving priority from among the plurality of pre-locked vehicles according to the request information of the plurality of pre-locked vehicles for booking to lock the target locking point comprises: Determining a pre-locking time for each of the pre-locked vehicles according to the plurality of request information; Eliminate the pre-locked vehicles whose pre-locking time is earlier than the expiration time from the plurality of pre-locked vehicles, to obtain a plurality of valid vehicles, wherein the expiration time is earlier than the current time, and the time difference between the expiration time and the current time is a preset time period; Determining the driving task information of each of the valid vehicles based on the plurality of request information; According to the task level in each of the driving task information, a waiting vehicle with the highest driving priority is determined from the plurality of valid vehicles.

3. The method according to claim 1, wherein: The step of determining the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively includes: When it is determined that the waiting vehicle is not the target vehicle, the target key type and the target lock point distance number in the pre-lock information of the target vehicle are respectively compared with the waiting key type and the waiting lock point distance number in the pre-lock information of the waiting vehicle to generate a comparison result; When the comparison result indicates that the waiting key type and the target key type are inconsistent, and the target lock point distance number is less than the waiting lock point distance number, the driving strategy is generated according to the target road sign in the pre-lock information of the target vehicle and the waiting road sign in the pre-lock information of the waiting vehicle.

4. The method according to claim 3, wherein: The pre-locking information of the target vehicle includes information of each pre-locking point in the pre-locking point set, and the target key type, target locking point distance number and target road sign of the target vehicle are determined in the following manner: Determining the target key type based on the position of the target locking point and the current position of the target vehicle, and the position of the historical locking point of the target vehicle, wherein the historical locking point is the last locking point that the target vehicle has traveled through; Determine the target lock point distance number according to the current position and the position of the target lock point, and the unit distance; The road identification of the target locking point is determined according to the road type corresponding to the position of the target locking point, the road type corresponding to the current position, and the road type corresponding to the position of the historical locking point.

5. The method according to claim 4, wherein: The determining the target key type based on the position of the target lock point and the current position of the target vehicle includes: Determining the travel direction of the target vehicle based on the position of the target locking point and the current position of the target vehicle, as well as the positions of the historical locking points; The driving direction is matched with a preset direction rule to determine the target key type.

6. The method according to claim 5, wherein: The generating the driving strategy according to the target road sign and the waiting road sign comprises: Performing direction detection on the traveling direction of the waiting vehicle and the traveling direction of the target vehicle to generate a detection result; When the detection result indicates that the target vehicle's driving direction is straight, and the exit direction in the target vehicle's driving direction is inconsistent with the exit direction in the waiting vehicle's driving direction, the driving strategy is generated according to the entry direction and the exit direction in the target vehicle's driving direction.

7. The method according to claim 1, wherein: Before determining the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively, the method further includes: Determining a pre-locking range of the target vehicle based on the pre-locking point set; The pre-locking information of the target vehicle is preprocessed based on the pre-locking range to obtain new pre-locking information of the target vehicle, so as to eliminate information of pre-locking points outside the pre-locking range, and determine the driving strategy of the target vehicle based on the new pre-locking information of the target vehicle.

8. A vehicle request response device, comprising: A locking point determination module, configured to determine a target locking point from a set of pre-locking points of the target vehicle in response to a locking point request of the target vehicle; A waiting determination module, configured to determine a waiting vehicle with the highest driving priority from among a plurality of pre-locked vehicles according to request information of a plurality of pre-locked vehicles that reserve locking of the target locking point when determining that the locking state of the target locking point is unlocked; A strategy determination module, used to determine the driving strategy of the target vehicle according to the pre-locking information of the target vehicle and the waiting vehicle respectively; A reservation determination module, used to determine a reserved vehicle with the highest travel priority corresponding to a locking point next to the target locking point in the pre-locking point set; The locking point locking module is used to lock the target locking point when it is determined that the reserved vehicle is the target vehicle, so that the target vehicle travels from the current position to the position of the target locking point based on the driving strategy.

9. An electronic device, comprising: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the method according to any one of claims 1 to 7.

11. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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