Method and device for controlling vehicle passing, server and storage medium

Abstract

The invention provides a vehicle passing control method and device, a server and a storage medium. In the scheme, for a target intersection, the passing order of a plurality of vehicles going to pass through the target intersection is determined, and a passing instruction is sent to the vehicles successively, so that the plurality of vehicles pass through the target intersection orderly. In the process of determining the passing order of the vehicles, according to the scheme, when a collision risk exists when the multiple vehicles pass through a target intersection, the passing order of the multiple vehicles is determined based on the vehicle types of the multiple vehicles, the transported cargo information and a preset passing rule. According to the scheme, when the passing order of the vehicle is determined, the vehicle type or transported cargo information of the vehicle is considered, and the cargo information can be the type and / or the cargo weight of the transported cargo. In the process of determining the passing order of the vehicle, the passing efficiency of the vehicle during cargo transportation is considered from the actual transportation scene of the vehicle. Therefore, the scheme can improve the passing efficiency and the transportation efficiency of a plurality of vehicles at the target intersection.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, apparatus, server, and storage medium for controlling vehicle passage in the field of vehicles. Background Art

[0002] With the development of vehicle technology, driverless vehicles have gradually entered people's lives. Driverless vehicles can provide people with a more convenient way of traveling. Without having to drive personally, they can reduce driving fatigue and driving pressure. Currently, driverless vehicles are used for mining area transportation and have become a type of driverless mining truck, transporting various minerals on the roads in the mining area.

[0003] There are intersections without signal control in the roads of the mining area. Existing solutions usually determine the passage order of driverless mining trucks at the intersections based on the principle of first come, first served, so as to control the passage of each driverless mining truck. However, the above solutions do not consider the actual transportation scenarios of driverless mining trucks, resulting in low passage efficiency of driverless mining trucks and ultimately affecting the transportation efficiency of the entire mining area. Summary of the Invention

[0004] The present application provides a method, apparatus, server, and storage medium for controlling vehicle passage. The method can improve the passage efficiency and transportation efficiency of multiple vehicles at a target intersection.

[0005] In a first aspect, a method for controlling vehicle passage is provided. The method includes: in response to a passage request sent by multiple vehicles entering a target intersection, determining whether there is a collision risk when the multiple vehicles pass through the target intersection, where the passage request is used to request a passage instruction when passing through the target intersection; in the case where there is a collision risk when the multiple vehicles pass through the target intersection, determining the passage order of the multiple vehicles based on the vehicle types, transportation cargo information, and a preset passage rule of the multiple vehicles, where the preset passage rule is used to indicate passage factors affecting the passage priority order, and the passage factors include vehicle types or transportation cargo information; and sequentially sending passage instructions to the corresponding vehicles according to the passage order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passage instruction.

[0006] In the above technical solution, for the target intersection, the solution determines the passing order of multiple vehicles that will pass through the target intersection, and sequentially sends passing instructions to the corresponding vehicles, so that the multiple vehicles pass through the target intersection in an orderly manner. In the process of determining the passing order of the multiple vehicles, the solution determines the passing order of the multiple vehicles based on the vehicle types, transported cargo information, and preset passing rules when there is a risk of collision when the multiple vehicles pass through the target intersection. Among them, the preset passing rules are used to indicate the passing factors that affect the passing priority order, and the passing factors include vehicle types or transported cargo information. When determining the passing order of the multiple vehicles, the solution considers the vehicle types or transported cargo information of the vehicles, and the cargo information can be the types of transported cargo and / or the weight of the transported cargo. That is to say, in the process of determining the passing order of the multiple vehicles, starting from the actual transportation scenario of the vehicles, the passing efficiency of the vehicles when transporting cargo is considered. Therefore, the solution can improve the passing efficiency and transportation efficiency of multiple vehicles at the target intersection.

[0007] Combined with the first aspect, in some possible implementation manners, the passing request includes the driving intention and the current position of the corresponding vehicle. Determining whether there is a risk of collision when the multiple vehicles pass through the target intersection includes: determining the pre-driving trajectories of the multiple vehicles based on the driving intentions and the current positions of the multiple vehicles; determining whether there is a risk of collision when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles.

[0008] In the above technical solution, the driving intention of the vehicle can determine the turning direction of the vehicle, and the current position is the starting position of the vehicle. Therefore, through the driving intentions and the current positions of the multiple vehicles, the future driving trajectories (pre-driving trajectories) of the multiple vehicles can be determined. For the target intersection, the solution can accurately determine whether there is a risk of collision when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles.

[0009] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the transported cargo information includes the weight of the cargo transported by the vehicle, and the preset passing rules are used to indicate that the passing factor affecting the passing priority order is the weight of the transported cargo. Determining the passing order of the multiple vehicles based on the vehicle types, transported cargo information, and preset passing rules of the multiple vehicles includes: determining the waiting positions of each vehicle in the target intersection based on the high-precision map and the current position included in the passing request; for multiple first vehicles with the first waiting position among the multiple vehicles, determining whether the vehicle types of the multiple first vehicles are the same; in the case where the vehicle types of the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles, and the passing order of the first vehicles is positively correlated with the weight of the transported cargo.

[0010] In the above technical solution, when the transported cargo information includes the weight of the cargo transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the weight of the transported cargo, the process of determining the passing order of the multiple vehicles is based on the vehicle types, transported cargo information, and preset passing rules of the multiple vehicles. Specifically, multiple first vehicles that are about to pass through the target intersection and are in the first place are determined; when the vehicle types of the multiple first vehicles are the same, the passing order of the multiple first vehicles is determined according to the weight of the cargo transported by the multiple first vehicles. That is to say, when the vehicle types of the vehicles are the same, the passing order of the multiple first vehicles is determined by the weight of the cargo transported by the vehicle (this passing factor) that affects the passing priority order.

[0011] Combined with the first aspect and the above implementation manner, in some possible implementation manners, the transported cargo information further includes the type of the cargo transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the type of the transported cargo. When the vehicle types of the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles includes: when the vehicle types of the multiple first vehicles are the same, determining whether the weights of the cargo transported by the multiple first vehicles are the same; when the weights of the cargo transported by the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the type of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the value of the transported cargo.

[0012] In the above technical solution, when the transported cargo information further includes the type of the cargo transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the type of the transported cargo, the process of determining the passing order of the multiple first vehicles when the vehicle types of the multiple first vehicles are the same according to the weight of the cargo transported by the multiple first vehicles. Specifically, when adding the type of the cargo transported by the vehicle (this passing factor), when the weights of the cargo transported by the multiple first vehicles are the same, the passing order of the multiple first vehicles can be determined according to the type of the cargo transported by the multiple first vehicles. That is to say, when the vehicle types of the vehicles are the same and the weights of the cargo transported by the vehicles are the same, the passing order of the multiple first vehicles is determined by the type of the cargo transported by the vehicle (this passing factor) that affects the passing priority order.

[0013] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: for multiple second vehicles among the multiple vehicles whose waiting positions are the second position, determining whether the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front; in the case where the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front, determining the passing order of the vehicle in front as the passing order of each second vehicle.

[0014] In the above technical solution, the passing order of multiple second vehicles among the multiple vehicles whose waiting positions are the second position is discussed. Specifically, in the case where the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front, determining the passing order of the vehicle in front as the passing order of each second vehicle. Among them, the vehicle in front is any vehicle among the multiple first vehicles. This solution does not need to judge the vehicle types and / or the transported cargo information of the multiple second vehicles, and then judge the passing order of the multiple second vehicles. If the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front, the passing order of the multiple second vehicles can be directly determined. This solution can simplify the process of determining the passing order of the multiple second vehicles.

[0015] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type. Based on the vehicle types, the transported cargo information of the multiple vehicles, and the preset passing rule, determining the passing order of the multiple vehicles includes: determining whether the transported cargo information of multiple third vehicles is the same, where the multiple third vehicles are multiple vehicles among the multiple vehicles whose waiting positions in the target intersection are the first position; in the case where the transported cargo information of the multiple third vehicles is the same, based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, determining the passing order of the multiple third vehicles, and the passing order of the third vehicle is positively correlated with the arrangement position of the vehicle type of the third vehicle in the preset sorting.

[0016] In the above technical solution, the process of determining the passing order of the multiple vehicles based on the vehicle types, the transported cargo information of the multiple vehicles, and the preset passing rule is described in the case where the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type. Specifically, determining multiple third vehicles that will pass through the target intersection and whose waiting positions are the first position; in the case where the transported cargo information of the multiple third vehicles is the same, based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, determining the passing order of the multiple third vehicles. That is to say, in the case where the transported cargo information of the vehicles is the same, the passing order of the multiple third vehicles is determined by the vehicle type (this passing factor) of the vehicle affecting the passing priority order.

[0017] Combined with the first aspect and the above implementation manners, in some possible implementation manners, passing instructions are successively sent to corresponding vehicles according to the passing order of the multiple vehicles, including: for two vehicles that are about to pass through the target intersection and have a risk of collision among the multiple vehicles, a passing instruction is sent to the first vehicle of the two vehicles, and the passing order of the first vehicle is ahead of the passing order of the second vehicle of the two vehicles; after sending the passing instruction to the first vehicle, the real-time position of the first vehicle is determined; in the case that the real-time position indicates that the first vehicle has passed through the intersection point of the pre-travel trajectories of the two vehicles, a passing instruction is sent to the second vehicle.

[0018] In the above technical solution, taking two vehicles that are about to pass through the target intersection and have a risk of collision among the multiple vehicles as an example, the process of sending to the multiple vehicles after determining the passing order of the multiple vehicles is described. When the passing order of the first vehicle is ahead of the passing order of the second vehicle of the two vehicles, a passing instruction is directly sent to the first vehicle of the two vehicles first; when the first vehicle has passed through the intersection point of the pre-travel trajectories of the two vehicles, a passing instruction is sent to the second vehicle. This solution can avoid the two vehicles from colliding during the process of passing through the target intersection, and can also directly send passing instructions to the vehicles, so that the vehicles can pass through the target intersection in time when receiving the passing instructions. That is to say, the vehicles do not need to perform other data processing on the received passing instructions, which can further improve the passing efficiency and transportation efficiency of the multiple vehicles at the target intersection.

[0019] In a second aspect, a device for controlling vehicle passing is provided. The device includes: a determination module, configured to: in response to passing requests sent by multiple vehicles entering the target intersection, determine whether there is a risk of collision when the multiple vehicles pass through the target intersection, where the passing requests are used to request passing instructions when passing through the target intersection; in the case that there is a risk of collision when the multiple vehicles pass through the target intersection, based on the vehicle types, transported cargo information of the multiple vehicles, and a preset passing rule, determine the passing order of the multiple vehicles, where the preset passing rule is used to indicate passing factors affecting the passing priority order, and the passing factors include vehicle types or transported cargo information; a sending module, configured to successively send passing instructions to corresponding vehicles according to the passing order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passing instruction.

[0020] Combined with the second aspect, in some possible implementation manners, the passing request includes the driving intention and current position of the corresponding vehicle, and the determination module is specifically configured to: based on the driving intention and current position of the multiple vehicles, determine the pre-travel trajectories of the multiple vehicles; based on whether there is an intersection point in the pre-travel trajectories of the multiple vehicles, determine whether there is a risk of collision when the multiple vehicles pass through the target intersection.

[0021] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the transported cargo information includes the weight of the cargo transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the weight of the transported cargo. The determining module is specifically further configured to: based on the high-precision map and the current position included in the passing request, determine the waiting positions of each vehicle within the target intersection; for multiple first vehicles whose waiting positions among the multiple vehicles are the first positions, determine whether the vehicle types of the multiple first vehicles are the same; in the case where the vehicle types of the multiple first vehicles are the same, determine the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the weight of the transported cargo.

[0022] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the transported cargo information further includes the type of the cargo transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the type of the transported cargo. The determining module is specifically further configured to: in the case where the vehicle types of the multiple first vehicles are the same, determine whether the weights of the cargo transported by the multiple first vehicles are the same; in the case where the weights of the cargo transported by the multiple first vehicles are the same, determine the passing order of the multiple first vehicles according to the type of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the value of the transported cargo.

[0023] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the determining module is further configured to: for multiple second vehicles whose waiting positions among the multiple vehicles are the second positions, determine whether the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front; in the case where the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front, determine the passing order of the vehicle in front as the passing order of each second vehicle.

[0024] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type. The determining module is specifically further configured to: determine whether the transported cargo information of multiple third vehicles is the same, where the multiple third vehicles are multiple vehicles whose waiting positions within the target intersection are the first positions; in the case where the transported cargo information of the multiple third vehicles is the same, determine the passing order of the multiple third vehicles based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, and the passing order of the third vehicle is positively correlated with the arrangement position of the vehicle type of the third vehicle in the preset sorting.

[0025] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the sending module is specifically configured to: for two vehicles among the multiple vehicles that are about to pass through the target intersection and have a collision risk, send a passing instruction to the first vehicle among the two vehicles, where the passing order of the first vehicle is ahead of that of the second vehicle among the two vehicles; after sending the passing instruction to the first vehicle, determine the real-time position of the first vehicle; and when the real-time position indicates that the first vehicle has passed through the intersection point of the pre-travel trajectories of the two vehicles, send a passing instruction to the second vehicle.

[0026] In a third aspect, a server is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the server executes the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0027] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0028] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any one of the possible implementation manners of the first aspect. Description of the Drawings

[0029] Figure 1 is a schematic diagram of a scenario where multiple vehicles pass through a target intersection provided by an embodiment of the present application;

[0030] Figure 2 is a schematic flowchart of a method for controlling vehicle passing provided by an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of multiple vehicles entering a target intersection provided by an embodiment of the present application;

[0032] Figure 4 is a schematic diagram of determining the passing order of multiple first vehicles and multiple second vehicles provided by an embodiment of the present application;

[0033] Figure 5 is a schematic structural diagram of a device for controlling vehicle passing provided by an embodiment of the present application;

[0034] Figure 6 is a schematic structural diagram of a server provided by an embodiment of the present application. Detailed implementation manners

[0035] The technical solutions in the present application will be clearly and thoroughly described below with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0036] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0037] Figure 1 It is a schematic diagram of a scenario where multiple vehicles pass through a target intersection provided by an embodiment of the present application.

[0038] In some embodiments, for driverless vehicles, existing solutions usually determine the passing order of multiple vehicles about to pass through the intersection based on the principle of "first come, first served". For manned vehicles, existing solutions usually determine the passing order of multiple vehicles about to pass through the intersection based on the principle that a left turn yields to a straight-ahead vehicle and a right turn yields to a left turn.

[0039] Exemplarily, taking the target intersection as an intersection without signal control and the vehicles entering the intersection as Figure 1 the shown Vehicle A, Vehicle B, and Vehicle C as an example, the scenario where multiple vehicles pass through the intersection is described. In some embodiments, for the driverless vehicle and the intersection, Vehicle A arrives at the intersection first and is about to turn right and drive on the westward road of the intersection; Vehicle C then arrives at the intersection and is about to turn left and drive on the westward road of the intersection; Vehicle B finally arrives at the intersection and is about to drive straight on the westward road of the intersection. Based on the principle of "first come, first served", the passing order of Vehicle A, Vehicle B, and Vehicle C is: Vehicle A, Vehicle C, and Vehicle B. For manned vehicles and the intersection, based on the principle that a left turn yields to a straight-ahead vehicle and a right turn yields to a left turn, the passing order of Vehicle A, Vehicle B, and Vehicle C is: Vehicle B, Vehicle C, and Vehicle A. In addition, as can be seen from Figure 1 it, there is a possibility of collision when these three vehicles (Vehicle A, Vehicle B, and Vehicle C) pass through the intersection.

[0040] For both driverless vehicles and manned vehicles, existing traffic rules do not consider the actual transportation scenarios of transport vehicles. This will result in low traffic efficiency of transport vehicles and affect the transportation efficiency of transport vehicles.

[0041] To solve the above problems, this application starts from the actual transportation scenarios of vehicles and considers the traffic efficiency of vehicles when transporting goods. The specific implementation process is as follows Figure 2 as shown in the method.

[0042] Figure 2 is a schematic flowchart of a method for controlling vehicle traffic provided by an embodiment of this application.

[0043] It should be understood that the method for controlling vehicle traffic provided by an embodiment of this application is applied to a server. The server is specifically a control device for managing vehicle traffic.

[0044] Exemplarily, as Figure 2 shown, the method 200 includes:

[0045] It should be understood that this application only discusses the traffic order of multiple vehicles entering a target intersection and when there is a collision risk when these multiple vehicles pass through the target intersection. For vehicles without a collision risk, they can directly pass through the target intersection.

[0046] Step 201, the server determines whether there is a collision risk when the multiple vehicles pass through the target intersection in response to the traffic requests sent by the multiple vehicles entering the target intersection, and the traffic request is used to request a traffic instruction when passing through the target intersection.

[0047] It should be understood that traffic lights are installed at most intersections, and vehicles or drivers can pass through the intersection orderly based on the instructions of the traffic lights. However, the traffic lights at these most intersections may malfunction, and there are also intersections without traffic lights. For intersections where the traffic lights malfunction or intersections without traffic lights in the above situations, in the prior art, the traffic order of multiple vehicles about to pass through the intersection is usually determined by the principle of first come, first served or the principle that vehicles turning left yield to those going straight and vehicles turning right yield to those turning left. However, this process does not consider the actual transportation scenarios of transport vehicles and will, to a certain extent, affect the traffic efficiency and transportation efficiency of multiple vehicles.

[0048] It should also be understood that the "target intersection" in step 201 above is an intersection where the traffic lights malfunction or an intersection without traffic lights. In some embodiments, the intersection is an intersection within a mining area. The "vehicle" in step 201 above is a manned vehicle or a driverless vehicle.

[0049] It should also be understood that the "vehicle entering the target intersection" in step 201 above can be understood as a vehicle that has passed the target marking line on the current driving road within the target intersection but has not reached the first stop line on the current driving road. The distance between the target marking line and the first stop line is a preset distance. In some embodiments, the preset distance is 100 m. It should be understood that the size of the preset distance can be dynamically adjusted according to actual needs. In addition, the target marking line can be regarded as a traffic application line. Specifically, reference can be made to Figure 3 , such as Figure 3 shown, line l is the target marking line and line g is the first stop line. In the target intersection as shown in Figure 3 , vehicle A has passed the target marking line l on the current driving road within the target intersection but has not reached the first stop line g on the current driving road. At this time, it can be determined that vehicle A has entered the target intersection. Similarly, vehicle B and vehicle C have also entered the target intersection. After the vehicle enters the target intersection, it sends a traffic request to the server. Before receiving the traffic instruction sent by the server, the vehicle will wait in front of the first stop line.

[0050] In some embodiments, after the server receives the traffic requests sent by multiple vehicles, it writes the traffic requests of the multiple vehicles and the vehicle information included in the traffic requests into the traffic right application form. Subsequently, the server determines the traffic order of the multiple vehicles in response to the traffic requests of the multiple vehicles. The server sequentially sends traffic instructions to the corresponding vehicles according to the traffic order of the multiple vehicles. After the corresponding vehicle receives the traffic instruction, it can delete the traffic request of the vehicle and the vehicle information included in the traffic request from the traffic right application form. The vehicle information includes the current position (longitude and latitude) of the vehicle, the road number currently traveled, the identification number of the in-vehicle terminal device, the driving intention, the vehicle type, the heading angle, the mass of the vehicle, the total weight of the vehicle, and the vehicle speed, etc. The identification number of the in-vehicle terminal device is used for the server to send the traffic request to the corresponding vehicle. Optionally, the in-vehicle terminal device is an in-vehicle display screen.

[0051] In a possible implementation, the traffic request includes the driving intention and the current position of the corresponding vehicle. The server in step 201 determines whether there is a collision risk when the multiple vehicles pass through the target intersection, including: the server determines the pre-driving trajectories of the multiple vehicles based on the driving intentions and the current positions of the multiple vehicles; the server determines whether there is a collision risk when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles.

[0052] It should be understood that the "driving intention" in the above solution is used to determine multiple positions other than the initial position in the future driving trajectory (pre-driving trajectory) of the vehicle. The "current position" in the above solution refers to the position where the vehicle sends the traffic request.

[0053] In the above technical solution, the driving intention of the vehicle can determine the turning direction of the vehicle, and the current position is the starting position of the vehicle. Therefore, based on the driving intentions and current positions of the multiple vehicles, the future driving trajectories (pre-driving trajectories) of the multiple vehicles can be determined. For the target intersection, this solution can accurately determine whether there is a collision risk when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles.

[0054] In some embodiments, the driving intention of the vehicle can be indicated by the turning direction of the steering wheel or the turned-on turn signal in the vehicle. The turning direction includes the clockwise direction, the counterclockwise direction, or maintaining the current turning direction, corresponding to the driving intention of the vehicle being to turn right, turn left, or maintain the original driving direction; the turned-on turn signal includes the right turn signal, the left turn signal, or no turned-on turn signal, corresponding to the driving intention of the vehicle being to turn right, turn left, or maintain the original driving direction.

[0055] In some embodiments, the server determines the pre-driving trajectories of the multiple vehicles based on the driving intentions and current positions of the multiple vehicles, including: for any one of the multiple vehicles, if the turning direction of the steering wheel in the vehicle is the clockwise direction and the current position is the position of the first stop line, determining that the pre-driving trajectory of the vehicle is to turn right and reach the trajectory on the east side road of the vehicle; if the turning direction of the steering wheel in the vehicle is the counterclockwise direction and the current position is the position of the first stop line, determining that the pre-driving trajectory of the vehicle is to turn left and reach the trajectory on the west side road of the vehicle; if the turning direction of the steering wheel in the vehicle is to maintain the current turning direction unchanged and the current position is the position of the first stop line, determining that the pre-driving trajectory of the vehicle is a straight-ahead trajectory.

[0056] In some embodiments, the server determines whether there is a collision risk when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles, including: in the case where there are intersection points in the pre-driving trajectories of the multiple vehicles, the server determines that there is a collision risk when the multiple vehicles pass through the target intersection; in the case where there are no intersection points in the pre-driving trajectories of the multiple vehicles, the server determines that there is no collision risk when the multiple vehicles pass through the target intersection.

[0057] Step 202, in the case where there is a collision risk when the multiple vehicles pass through the target intersection, the server determines the passing order of the multiple vehicles based on the vehicle types, transportation cargo information, and preset passing rules of the multiple vehicles. The preset passing rules are used to indicate the passing factors that affect the passing priority order, and the passing factors include vehicle types or transportation cargo information.

[0058] It should be understood that the "vehicle type of the vehicle" in step 202 above refers to a type of vehicle, which can be distinguished by the general characteristics, usage purposes, functions, etc. of the vehicle. The vehicle type corresponding to the vehicle can be carried in the passing request. In some embodiments, the vehicle type includes sedans, trucks, buses, trailers, and motorcycles. The "transportation cargo information" in step 202 above can be specifically understood as the information of the cargo transported by the vehicle. The transportation cargo information can include the type of the transported cargo and the weight of the transported cargo. The transportation cargo information can also include the shipping address of the cargo, the shipping time of the cargo, the shipping unit of the cargo, the receiving address of the cargo, the estimated receiving time of the cargo, and the receiving unit of the cargo. Among them, the type of the cargo transported by the corresponding vehicle, the mass of the vehicle, and the total weight of the vehicle can be carried in the passing request.

[0059] It should also be understood that the "preset passing rules" in step 202 above are used to indicate the decisive passing factors that affect the passing priority order. The passing factors include vehicle type or transportation cargo information. Specifically, when the vehicle types of the vehicles are the same, the transportation cargo information of the vehicle is used as the decisive passing factor that affects the passing priority order. When the transportation cargo information of the vehicles is the same, the vehicle type of the vehicle is used as the decisive passing factor that affects the passing priority order.

[0060] The first case: Using the transportation cargo information of the vehicle as the passing factor that affects the passing priority order

[0061] A possible implementation manner is that the transportation cargo information includes the weight of the cargo transported by the vehicle. The preset passing rules are used to indicate that the passing factor that affects the passing priority order is the weight of the transported cargo. The server in step 202 determines the passing order of the multiple vehicles based on the vehicle types, transportation cargo information, and preset passing rules of the multiple vehicles, including: The server determines the waiting positions of each vehicle in the target intersection based on the high-precision map and the current position included in the passing request; for the multiple first vehicles with the first waiting position among the multiple vehicles, the server determines whether the vehicle types of the multiple first vehicles are the same; in the case where the vehicle types of the multiple first vehicles are the same, the server determines the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the weight of the transported cargo.

[0062] It should be understood that the "high-precision map" in the above solution can be understood as an image with high precision, high dynamics, and multi-dimensions that contains road information. Among them, the high precision of this high-precision map can reach the centimeter level. High dynamics refers to the real-time nature of this high-precision map. For example, the high-precision map can reflect the changes of vehicles on different roads in real time. Multi-dimensions means that this high-precision map contains information in multiple dimensions. For example, this high-precision map contains various road marking lines, guardrails, roadside buildings, various road signs, speed bumps, no-parking areas, and curbs, etc.

[0063] It should also be understood that the statement "the passing order of the first vehicle is positively correlated with the weight of the transported goods" in the above solution can be understood as: the heavier the weight of the goods transported by the first vehicle, the more forward the passing order of the first vehicle; the lighter the weight of the goods transported by the first vehicle, the more backward the passing order of the first vehicle.

[0064] In the above technical solution, it describes the process of determining the passing order of multiple vehicles based on the vehicle types, transported goods information, and preset passing rules of the multiple vehicles when the transported goods information includes the weight of the goods transported by the vehicle and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the weight of the transported goods. Specifically, determine multiple first vehicles that will pass through the target intersection and are in the first place; when the vehicle types of the multiple first vehicles are the same, determine the passing order of the multiple first vehicles according to the weight of the goods transported by the multiple first vehicles. That is to say, when the vehicle types of the vehicles are the same, use the weight of the goods transported by the vehicle (this passing factor) that affects the passing priority order to determine the passing order of the multiple first vehicles.

[0065] In some embodiments, the server determines the waiting positions of each vehicle within the target intersection based on the high-precision map and the current position included in the passing request, including: for the multiple vehicles, the server determines the positions of the multiple vehicles in the high-precision map based on the current positions of the multiple vehicles and the high-precision map; the server determines the waiting positions of each vehicle within the target intersection among the multiple vehicles based on the positions of the multiple vehicles in the high-precision map.

[0066] In the above technical solution, this solution determines the positions of multiple vehicles in the high-precision map based on the high-precision characteristics, high-dynamic characteristics, and multi-dimensional characteristics of the high-precision map, so as to determine the waiting positions of each vehicle within the target intersection among the multiple vehicles. This can accurately determine the waiting positions of each vehicle within the target intersection.

[0067] It should be understood that the "waiting position of the vehicle" in the above solution can be determined by other means. In some embodiments, the method further includes roadside infrastructure, which refers to an environmental perception device capable of real-time acquiring information about vehicles on the road and information about the road. The roadside infrastructure senses the waiting positions of multiple vehicles and sends the waiting positions of the multiple vehicles to the server.

[0068] In some embodiments, the method for determining the weight of the goods transported by the multiple first vehicles includes: for the multiple first vehicles among the multiple vehicles, the server determines the difference between the total weight of the first vehicle included in the passing request of the multiple first vehicles and the mass of the first vehicle included in the corresponding passing request as the weight of the goods transported by the multiple first vehicles.

[0069] In a possible implementation, the transported goods information further includes the type of goods transported by the vehicle. The preset passing rule is used to indicate that the passing factor affecting the passing priority order is the type of goods transported. When the vehicle types of the multiple first vehicles are the same, the server determines the passing order of the multiple first vehicles according to the weight of the goods transported by the multiple first vehicles, including: when the vehicle types of the multiple first vehicles are the same, the server determines whether the weights of the goods transported by the multiple first vehicles are the same; when the weights of the goods transported by the multiple first vehicles are the same, the server determines the passing order of the multiple first vehicles according to the type of the goods transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the value of the goods transported.

[0070] It should be understood that the "value of the goods" in the above solution can be understood as the difficulty of regeneration of the goods. The less easily the goods can be regenerated, the more valuable the goods are; the more easily the goods can be regenerated, the less valuable the goods are. It should also be understood that "the passing order of the first vehicle is positively correlated with the value of the goods transported" can be understood as: the greater the value of the goods transported by the first vehicle, the more forward the passing order of the first vehicle; the smaller the value of the goods transported by the first vehicle, the more backward the passing order of the first vehicle.

[0071] In the above technical solution, when the transported cargo information further includes the types of goods transported by the vehicle, and the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the type of goods transported, when the vehicle types of the multiple first vehicles are the same, the process of determining the passing order of the multiple first vehicles according to the weights of the goods transported by the multiple first vehicles. Specifically, when adding the type of goods transported by the vehicle (this passing factor), when the weights of the goods transported by the multiple first vehicles are the same, the passing order of the multiple first vehicles can be determined according to the types of the goods transported by the multiple first vehicles. That is to say, when the vehicle types of the vehicles are the same and the weights of the goods transported by the vehicles are the same, the type of goods transported by the vehicle (this passing factor) affecting the passing priority order is used to determine the passing order of the multiple first vehicles.

[0072] A possible implementation, the method 200 further includes: for multiple second vehicles whose waiting positions among the multiple vehicles are the second position, the server determines whether the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front; when the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front, the server determines the passing order of the vehicle in front as the passing order of each second vehicle.

[0073] It should be understood that the "vehicle in front" in the above solution can be regarded as multiple first vehicles. The above solution describes that after determining the passing order of the multiple first vehicles, it is determined whether the driving intentions of the second vehicles after the first vehicle when entering the target intersection are the same as those of the first vehicle; when the driving intentions of the second vehicles when entering the target intersection are the same as those of the first vehicle, the passing order of the first vehicle is directly determined as the passing order of the second vehicle. Of course, the second vehicle has to pass through the target vehicle after the first vehicle.

[0074] It should also be understood that the present application can also determine whether the driving intentions of multiple fourth vehicles whose waiting positions among the multiple vehicles are the third position are the same as those of the vehicle in front, and if they are the same, the passing order of the vehicle in front can be determined as the passing order of each fourth vehicle. Of course, the above solution cannot be continued to be applied to vehicles in the fourth position or more rear positions. This can avoid increasing the queuing waiting time of other vehicles on other roads within the target intersection.

[0075] In the above technical solution, the passing order of multiple second vehicles with the waiting position being the second position among the multiple vehicles is discussed. Specifically, when the driving intention of the multiple second vehicles when entering the target intersection is the same as that of the vehicle ahead, the passing order of the vehicle ahead is determined as the passing order of each second vehicle. Among them, the vehicle ahead is any one of the multiple first vehicles. This solution does not require judging the vehicle types and / or the information of the transported goods of the multiple second vehicles to further judge the passing order of the multiple second vehicles. If the driving intention of the multiple second vehicles when entering the target intersection is the same as that of the vehicle ahead, the passing order of the multiple second vehicles can be directly determined. This solution can simplify the process of determining the passing order of the multiple second vehicles.

[0076] In some embodiments, the server determines whether the driving intention of the multiple second vehicles when entering the target intersection is the same as that of the vehicle ahead, including: for any second vehicle among the multiple second vehicles, when the left turn signal of the second vehicle is turned on and the left turn signal of the vehicle ahead is turned on or the rotation direction of the steering wheel is counterclockwise, the server determines that the driving intention of the second vehicle is the same as that of the vehicle ahead; or, when the right turn signal of the second vehicle is turned on and the right turn signal of the vehicle ahead is turned on or the rotation direction of the steering wheel is clockwise, the server determines that the driving intention of the second vehicle is the same as that of the vehicle ahead; when the left turn signal of the second vehicle is turned on and the left turn signal of the vehicle ahead is not turned on or the rotation direction of the steering wheel is not counterclockwise, the server determines that the driving intention of the second vehicle is different from that of the vehicle ahead; or, when the right turn signal of the second vehicle is turned on and the right turn signal of the vehicle ahead is not turned on or the rotation direction of the steering wheel is not clockwise, the server determines that the driving intention of the second vehicle is different from that of the vehicle ahead.

[0077] It should also be understood that the above solution only discusses the process of determining the passing order of multiple second vehicles when the driving intention of the multiple second vehicles is the same as that of the vehicle ahead. When the driving intention of the multiple second vehicles is different from that of the vehicle ahead, the passing order of all other second vehicles can be determined based on the vehicle type, the information of the transported goods of the vehicle, and the preset passing rules. The specific implementation process can refer to the description of step 202 and will not be elaborated here. Of course, the waiting time of the multiple second vehicles can also be added, and the passing factor is the waiting time of the vehicle to determine the passing order of the multiple second vehicles. Specifically, the passing order of the second vehicle is negatively correlated with the waiting time of the second vehicle. That is to say, the longer the waiting time of the second vehicle, the more forward the passing order of the second vehicle.

[0078] In some embodiments, the method for determining the waiting duration of any second vehicle includes: the server divides the distance of the first path traveled by the first vehicle by the speed of the first vehicle to obtain the travel duration of the first vehicle, where the first path is the path for the first vehicle to reach the second stop line on another road after passing through the target intersection from the current position; the server determines the sum of the travel duration of the first vehicle and the waiting duration of the first vehicle as the waiting duration of the second vehicle.

[0079] Figure 4 FIG. is a schematic diagram for determining the passing order of a plurality of first vehicles and a plurality of second vehicles provided by an embodiment of the present application.

[0080] Exemplarily, taking Figure 4 the shown target intersection as an example, vehicle A is about to turn right and drive on the westward road of the intersection; vehicle B is about to go straight on the westward road of the intersection; vehicle C is about to turn left and drive on the westward road of the intersection, the process of determining the passing order of a plurality of first vehicles and a plurality of second vehicles is described. In addition, the vehicle types of vehicle A, vehicle B, and vehicle C are all truck, the weights of the goods transported by vehicle A, vehicle B, and vehicle C are all 4 tons, the type of goods transported by vehicle A is coal, the type of goods transported by vehicle B is yellow sand, and the type of goods transported by vehicle C is crushed stones.

[0081] The server determines the plurality of vehicles (vehicle A, vehicle B, and vehicle C, i.e., a plurality of first vehicles) with the first waiting position; determines whether the vehicle types of vehicle A, vehicle B, and vehicle C are the same, determines whether the weights of the goods transported by vehicle A, vehicle B, and vehicle C are the same, and determines whether the types of goods transported by vehicle A, vehicle B, and vehicle C are the same. In the case where the vehicle types of vehicle A, vehicle B, and vehicle C are the same, the weights of the goods transported by vehicle A, vehicle B, and vehicle C are the same, and it is determined that the types of goods transported by vehicle A, vehicle B, and vehicle C are different, the server determines the passing order of vehicle A, vehicle B, and vehicle C based on the weight of the goods transported. Based on the fact that the type of goods transported by vehicle A is coal, the type of goods transported by vehicle B is yellow sand, and the type of goods transported by vehicle C is crushed stones, and the sorting of the value of the goods is coal, yellow sand, and crushed stones. Therefore, the passing order of vehicle A, vehicle B, and vehicle C is: vehicle A, vehicle B, and vehicle C.

[0082] The server determines the plurality of vehicles (vehicle D and vehicle E, i.e., a plurality of second vehicles) with the second waiting position; determines that the driving intention of vehicle D is the same as that of vehicle C, and determines that the driving intention of vehicle E is the same as that of vehicle B; determines that the passing order of vehicle D is the same as that of vehicle C, and determines that the passing order of vehicle E is the same as that of vehicle B. Therefore, the passing order of vehicle A, vehicle B, vehicle C, vehicle D, and vehicle E is: vehicle A, vehicle B, vehicle E, vehicle C, and vehicle D.

[0083] It should be understood that in this application, the waiting time of the vehicle can also be used as a traffic factor.

[0084] In some embodiments, the traffic factor is the waiting time of the vehicle. The server in step 202 determines the traffic order of the multiple vehicles based on the vehicle types, transported cargo information of the multiple vehicles, and the preset traffic rules, including: for multiple first vehicles with the top waiting positions among the multiple vehicles, when the vehicle types and the transported cargo information of the multiple first vehicles are the same, the server determines the traffic order of the multiple first vehicles according to the waiting time of the vehicles. The traffic order of the first vehicle is negatively correlated with the waiting time of the first vehicle.

[0085] It should be understood that "the traffic order of the first vehicle is negatively correlated with the waiting time of the first vehicle" in the above solution can be understood as: the longer the waiting time of the vehicle, the more forward the traffic order of the vehicle; the shorter the waiting time of the vehicle, the more backward the traffic order of the vehicle.

[0086] In some embodiments, the method for determining the waiting time of each first vehicle among the multiple first vehicles includes, for any first vehicle, the server determines the time difference between the time when the first vehicle sends a traffic request and the time when the speed of the first vehicle is switched to the preset speed as the waiting time of the first vehicle.

[0087] It should be understood that the preset speed in the above solution is relatively small. In some embodiments, the preset speed is 0.

[0088] The second case: using the vehicle type of the vehicle as a traffic factor affecting the traffic priority order

[0089] A possible implementation, the preset traffic rule is used to indicate that the traffic factor affecting the traffic priority order is the vehicle type. The server in step 202 determines the traffic order of the multiple vehicles based on the vehicle types, transported cargo information of the multiple vehicles, and the preset traffic rules, including: the server determines whether the transported cargo information of multiple third vehicles is the same. The multiple third vehicles are multiple vehicles with the top waiting positions within the target intersection among the multiple vehicles; when the transported cargo information of the multiple third vehicles is the same, the server determines the traffic order of the multiple third vehicles based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types. The traffic order of the third vehicle is positively correlated with the arrangement position of the vehicle type of the third vehicle in the preset sorting.

[0090] It should be understood that the statement "the passing order of the third vehicle is positively correlated with the ranking position of the vehicle type of the third vehicle in the preset sorting" in the above solution can be understood as follows: the higher the ranking position of the vehicle type of the third vehicle in the preset sorting, the higher the passing order of the third vehicle; the lower the ranking position of the vehicle type of the third vehicle in the preset sorting, the lower the passing order of the third vehicle.

[0091] In the above technical solution, when it is described that the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type, based on the vehicle types, transported goods information of the multiple vehicles and the preset passing rule, the process of determining the passing order of the multiple vehicles is described. Specifically, multiple third vehicles that are about to pass through the target intersection and are in the first place are determined; when the transported goods information of the multiple third vehicles is the same, based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, the passing order of the multiple third vehicles is determined. That is to say, when the transported goods information of the vehicles is the same, the vehicle type (this passing factor) of the vehicle affecting the passing priority order is used to determine the passing order of the multiple third vehicles.

[0092] In some embodiments, the server determines the passing order of the multiple third vehicles based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, including: the server determines the target vehicle type corresponding to the vehicle types of the multiple third vehicles among the multiple candidate vehicle types; the server determines the passing order of the multiple third vehicles according to the preset sorting corresponding to the target vehicle type in the preset sorting corresponding to the multiple candidate vehicle types.

[0093] Step 203, the server sequentially sends passing instructions to the corresponding vehicles according to the passing order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passing instruction.

[0094] It should be understood that the statement "each vehicle passes through the target intersection when receiving the passing instruction" in the above step 203 means that each vehicle passes through the target intersection immediately when receiving the passing instruction.

[0095] In a possible implementation manner, step 203 includes: for two vehicles that are about to pass through the target intersection and have a collision risk among the multiple vehicles, the server sends a passing instruction to the first vehicle among the two vehicles, and the passing order of the first vehicle is higher than that of the second vehicle among the two vehicles; after sending the passing instruction to the first vehicle, the server determines the real-time position of the first vehicle; when the real-time position indicates that the first vehicle has passed through the intersection point of the pre-travel trajectories of the two vehicles, the server sends a passing instruction to the second vehicle.

[0096] In the above technical solution, taking two vehicles that will pass through the target intersection and have a collision risk among the multiple vehicles as an example, the process of sending the determined passing order of the multiple vehicles to the multiple vehicles is described. When the passing order of the first vehicle is ahead of that of the second vehicle among the two vehicles, a passing instruction is directly sent to the first vehicle among the two vehicles first; when the first vehicle passes through the intersection point of the pre-travel trajectories of the two vehicles, a passing instruction is sent to the second vehicle. This solution can avoid collisions between the two vehicles during the process of passing through the target intersection, and can also directly send a passing instruction to the vehicle, enabling the vehicle to pass through the target intersection in a timely manner when receiving the passing instruction. That is to say, the vehicle does not need to perform other data processing on the received passing instruction, which can further improve the passing efficiency and transportation efficiency of the multiple vehicles at the target intersection.

[0097] In some embodiments, after the server sends a passing instruction to the corresponding vehicle, the corresponding vehicle controls the in-vehicle display screen to display a reminder message, or the corresponding vehicle controls the in-vehicle voice output device to broadcast the reminder message, and the reminder message is used to remind the vehicle that it can pass through the target intersection.

[0098] In some embodiments, after the server responds to the passing requests of the multiple vehicles and determines the passing order of the multiple vehicles, the determined passing order of the multiple vehicles can be written into the passing right-of-way allocation status table. After step 203, the method 200 further includes: the server determines the real-time position of the vehicle; when the real-time position indicates that the vehicle has passed through the driving-out line, the server deletes the passing order of the corresponding vehicle from the passing right-of-way allocation status table, where the driving-out line is a position on the road where the vehicle travels after passing through the target intersection and is far from the second stop line. In some embodiments, the distance between the driving-out line and the second stop line is 4m. Among them, the right-of-way refers to the power of a certain vehicle to travel in the road area that can pass through the target intersection, which is generated in real time and dynamically in combination with road safety constraints and the global road network allocation topology relationship, and other vehicles are not allowed to occupy this road area within a certain period of time.

[0099] Figure 5 It is a schematic structural diagram of a device for controlling vehicle passing provided by an embodiment of the present application.

[0100] Exemplarily, as Figure 5 shown, the device 500 includes:

[0101] Determination module 501: used for:

[0102] In response to passing requests sent by multiple vehicles entering a target intersection, determine whether there is a collision risk when the multiple vehicles pass through the target intersection. The passing request is used to request a passing instruction when passing through the target intersection; in the case where there is a collision risk when the multiple vehicles pass through the target intersection, based on the vehicle types, transported cargo information, and preset passing rules of the multiple vehicles, determine the passing order of the multiple vehicles. The preset passing rules are used to indicate passing factors that affect the passing priority order, and the passing factors include vehicle types or transported cargo information.

[0103] Sending module 502: is used to sequentially send passing instructions to the corresponding vehicles according to the passing order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passing instruction.

[0104] Optionally, the passing request includes the driving intention and current position of the corresponding vehicle. The determining module 501 is specifically configured to: based on the driving intention and current position of the multiple vehicles, determine the pre-driving trajectories of the multiple vehicles; based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles, determine whether there is a collision risk when the multiple vehicles pass through the target intersection.

[0105] Optionally, the transported cargo information includes the weight of the cargo transported by the vehicle. The preset passing rules are used to indicate that the passing factor affecting the passing priority order is the weight of the transported cargo. The determining module 501 is specifically further configured to: based on the high-precision map and the current position included in the passing request, determine the waiting positions of each vehicle within the target intersection; for multiple first vehicles whose waiting positions among the multiple vehicles are the first, determine whether the vehicle types of the multiple first vehicles are the same; in the case where the vehicle types of the multiple first vehicles are the same, determine the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles. The passing order of the first vehicle is positively correlated with the weight of the transported cargo.

[0106] Optionally, the transported cargo information further includes the type of the cargo transported by the vehicle. The preset passing rules are used to indicate that the passing factor affecting the passing priority order is the type of the transported cargo. The determining module 501 is specifically further configured to: in the case where the vehicle types of the multiple first vehicles are the same, determine whether the weights of the cargo transported by the multiple first vehicles are the same; in the case where the weights of the cargo transported by the multiple first vehicles are the same, determine the passing order of the multiple first vehicles according to the type of the cargo transported by the multiple first vehicles. The passing order of the first vehicle is positively correlated with the value of the transported cargo.

[0107] Optionally, the determining module 501 is further configured to: for multiple second vehicles whose waiting positions among the multiple vehicles are in the second position, determine whether the driving intentions of the multiple second vehicles are the same as those of the vehicle ahead when the multiple second vehicles enter the target intersection; and in the case where the driving intentions of the multiple second vehicles are the same as those of the vehicle ahead when the multiple second vehicles enter the target intersection, determine the passing order of the vehicle ahead as the passing order of each second vehicle.

[0108] Optionally, the preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type. Specifically, the determining module 501 is further configured to: determine whether the transportation cargo information of multiple third vehicles is the same, where the multiple third vehicles are multiple vehicles whose waiting positions in the target intersection are in the first position; and in the case where the transportation cargo information of the multiple third vehicles is the same, determine the passing order of the multiple third vehicles based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, and the passing order of the third vehicle is positively correlated with the arrangement position of the vehicle type of the third vehicle in the preset sorting.

[0109] Optionally, the sending module 502 is specifically configured to: for two vehicles among the multiple vehicles that are about to pass through the target intersection and have a collision risk, send a passing instruction to the first vehicle among the two vehicles, where the passing order of the first vehicle is ahead of that of the second vehicle among the two vehicles; after sending the passing instruction to the first vehicle, determine the real-time position of the first vehicle; and in the case where the real-time position indicates that the first vehicle has passed through the intersection point of the pre-travel trajectories of the two vehicles, send a passing instruction to the second vehicle.

[0110] Figure 6 It is a schematic structural diagram of a server provided by an embodiment of the present application.

[0111] Exemplarily, as Figure 6 shown, the server 600 includes: a memory 601 and a processor 602. Among them, an executable program code 603 is stored in the memory 601, and the processor 602 is configured to call and execute the executable program code 603 to execute a method for controlling vehicle passing.

[0112] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor. Among them, an executable program code is stored in the memory, and the processor is configured to call and execute the executable program code to execute a method for controlling vehicle passing provided by an embodiment of the present application.

[0113] In this embodiment, the device can be divided into functional modules according to the above method examples. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0114] In the case of dividing each functional module according to each function, the device may further include a determination module, a sending module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be elaborated here.

[0115] It should be understood that the device provided in this embodiment is used to execute the above method for controlling vehicle passage, so the same effect as the above implementation method can be achieved.

[0116] In the case of adopting an integrated unit, the device may include a processing module and a storage module. Among them, when the device is applied to a server, the processing module can be used to control and manage the actions of the server. The storage module can be used to support the server to execute mutual program codes, etc.

[0117] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits described in combination with the disclosure of this application. The processor can also be a combination that realizes computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0118] In addition, the device provided in the embodiment of the present application can specifically be a chip, a component, or a module. The chip can include a connected processor and a memory; among them, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the method for controlling vehicle passage provided in the above embodiment.

[0119] This embodiment also provides a computer-readable storage medium, in which executable program code is stored. When the executable program code runs on a computer, the computer is caused to execute the above relevant method steps to implement the method for controlling vehicle passage provided in the above embodiment.

[0120] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above relevant steps to implement the method for controlling vehicle passage provided in the above embodiment.

[0121] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0122] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0123] In the embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0124] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for controlling vehicle passage, characterized in that, The method includes: In response to passing requests sent by multiple vehicles entering a target intersection, determining whether there is a collision risk when the multiple vehicles pass through the target intersection, where the passing request is used to request a passing instruction when passing through the target intersection; In the case where there is a collision risk when the multiple vehicles pass through the target intersection, determining the passing order of the multiple vehicles based on the vehicle types, transported cargo information, and preset passing rules of the multiple vehicles, where the preset passing rules are used to indicate passing factors that affect the passing priority order, and the passing factors include vehicle types or transported cargo information; Sending passing instructions to the corresponding vehicles one by one according to the passing order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passing instruction.

2. The method according to claim 1, characterized in that The passing request includes the driving intention and current position of the corresponding vehicle, and determining whether there is a collision risk when the multiple vehicles pass through the target intersection includes: Determining the pre-driving trajectories of the multiple vehicles based on the driving intentions and current positions of the multiple vehicles; Determining whether there is a collision risk when the multiple vehicles pass through the target intersection based on whether there are intersection points in the pre-driving trajectories of the multiple vehicles.

3. The method according to claim 1, wherein The transported cargo information includes the weight of the cargo transported by the vehicle, and the preset passing rules are used to indicate that the passing factor affecting the passing priority order is the weight of the transported cargo. Determining the passing order of the multiple vehicles based on the vehicle types, transported cargo information, and preset passing rules of the multiple vehicles includes: Determining the waiting positions of each vehicle within the target intersection based on the high-precision map and the current position included in the passing request; For multiple first vehicles with the first waiting position among the multiple vehicles, determining whether the vehicle types of the multiple first vehicles are the same; In the case where the vehicle types of the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the weight of the transported cargo.

4. The method according to claim 3, wherein The transported cargo information further includes the type of the cargo transported by the vehicle, and the preset passing rules are used to indicate that the passing factor affecting the passing priority order is the type of the transported cargo. In the case where the vehicle types of the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the weight of the cargo transported by the multiple first vehicles includes: In the case where the vehicle types of the multiple first vehicles are the same, determining whether the weights of the cargo transported by the multiple first vehicles are the same; In the case where the weights of the cargo transported by the multiple first vehicles are the same, determining the passing order of the multiple first vehicles according to the type of the cargo transported by the multiple first vehicles, and the passing order of the first vehicle is positively correlated with the value of the transported cargo.

5. The method according to claim 3, wherein The method further includes: For multiple second vehicles with the second waiting position among the multiple vehicles, determining whether the driving intentions of the multiple second vehicles when entering the target intersection are the same as those of the vehicle in front. When the driving intentions of the multiple second vehicles entering the target intersection are the same as those of the vehicle ahead, determine the passing order of the vehicle ahead as the passing order of each of the second vehicles.

6. The method according to claim 1, wherein The preset passing rule is used to indicate that the passing factor affecting the passing priority order is the vehicle type. Based on the vehicle types, transported cargo information of the multiple vehicles, and the preset passing rule, determining the passing order of the multiple vehicles includes: Determine whether the transported cargo information of multiple third vehicles is the same, where the multiple third vehicles are the multiple vehicles with the first waiting position within the target intersection among the multiple vehicles; When the transported cargo information of the multiple third vehicles is the same, based on the vehicle types of the multiple third vehicles and the preset sorting corresponding to multiple candidate vehicle types, determine the passing order of the multiple third vehicles. The passing order of the third vehicle is positively correlated with the arrangement position of the vehicle type of the third vehicle in the preset sorting.

7. The method according to any one of claims 1 to 6, characterized in that, The sending the passing instruction to the corresponding vehicle successively according to the passing order of the multiple vehicles includes: For two vehicles among the multiple vehicles that are about to pass through the target intersection and have a collision risk, send a passing instruction to the first vehicle of the two vehicles, and the passing order of the first vehicle is ahead of that of the second vehicle among the two vehicles; After sending the passing instruction to the first vehicle, determine the real-time position of the first vehicle; When the real-time position indicates that the first vehicle has passed through the intersection point of the pre-driving trajectories of the two vehicles, send a passing instruction to the second vehicle.

8. A device for controlling vehicle passage, characterized in that, The device includes: A determining module, configured to: In response to passing requests sent by multiple vehicles entering the target intersection, determine whether there is a collision risk when the multiple vehicles pass through the target intersection. The passing request is used to request a passing instruction when passing through the target intersection; When there is a collision risk when the multiple vehicles pass through the target intersection, based on the vehicle types, transported cargo information of the multiple vehicles, and the preset passing rule, determine the passing order of the multiple vehicles. The preset passing rule is used to indicate the passing factor affecting the passing priority order, and the passing factor includes the vehicle type or the transported cargo information; A sending module, configured to send passing instructions to the corresponding vehicles successively according to the passing order of the multiple vehicles, so that each vehicle passes through the target intersection when receiving the passing instruction.

9. A server, characterized in that, The server includes: A memory, configured to store executable program code; A processor, configured to call and run the executable program code from the memory, so that the server executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable program code, which when executed, implements the method according to any one of claims 1 to 7.

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