Vehicle supervision method based on electronic fence and related equipment

Abstract

The invention relates to the field of vehicle scheduling supervision, in particular to a vehicle supervision method based on an electronic fence and related equipment. The method comprises the following steps: determining path planning information corresponding to each vehicle according to supervision requests respectively sent by a plurality of vehicles; wherein the path planning information indicates vehicle behaviors of the vehicle at all moments, and the types of the vehicle behaviors comprise a driving behavior and a parking behavior; determining a dynamic electronic fence and / or a static electronic fence corresponding to each vehicle according to the path planning information; vehicle behaviors of all vehicles at all moments are supervised according to the dynamic electronic fences and / or the static electronic fences; according to the invention, the technical problem that the supervision efficiency and accuracy of vehicles in a tax guarantee area are low in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle dispatching and supervision, and in particular to a vehicle supervision method based on electronic fences and related equipment. Background Art

[0002] In the field of import and export trade, a bonded area is an area set up by the customs or registered with the customs approval and supervised by the customs where goods can be stored for a long period of time; among them, goods transported into the bonded area by vehicles can be stored, modified, classified, mixed, exhibited, and processed and manufactured, but must be under the supervision of the customs.

[0003] In actual applications, vehicles in the bonded area undertake a variety of businesses such as cargo transportation, personnel commuting and business reception. Different businesses may involve different processes such as import, export, transit and allocation. Each process has different requirements for vehicle routes and time, resulting in complex and changeable vehicle driving trajectories, which are difficult to manage uniformly.

[0004] In actual operation, vehicles in the bonded area are usually supervised through manual supervision. However, due to factors such as the large area and large number of vehicles in the bonded area, the efficiency and accuracy of manual supervision are relatively low. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a vehicle supervision method and related equipment based on electronic fences to solve the technical problems in the existing technology of low supervision efficiency and accuracy of vehicles in bonded areas.

[0006] In a first aspect, the present application provides a vehicle monitoring method based on an electronic fence, the method being applied to a vehicle monitoring device disposed in a bonded area, the vehicle monitoring device being connected to a plurality of vehicles; the method comprising:

[0007] Determining path planning information corresponding to each vehicle based on supervision requests respectively sent by multiple vehicles; wherein the path planning information indicates the vehicle behavior of the vehicle at each moment, and the types of vehicle behavior include driving behavior and parking behavior;

[0008] Determining, based on the path planning information, a dynamic electronic fence and / or a static electronic fence corresponding to each vehicle; wherein the electronic fence is a virtual boundary box set outside the vehicle, the dynamic electronic fence is used to constrain the vehicle's driving behavior during the process of adjusting its position and / or range; and the static electronic fence is used to constrain the vehicle's parking behavior;

[0009] The vehicle behavior of each vehicle at each moment is supervised according to the dynamic electronic fence and / or the static electronic fence.

[0010] In a second aspect, the present application provides a vehicle monitoring device, which includes a processor and a memory, wherein the memory is used to store an application program, and the processor runs or executes a software program stored in the memory to enable the electronic device to implement the above-mentioned vehicle monitoring method based on an electronic fence.

[0011] In a second aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are run on an electronic device, the electronic device implements the above-mentioned vehicle supervision method based on electronic fence.

[0012] Beneficial effects:

[0013] The present application provides a vehicle supervision method based on electronic fences, which can receive supervision requests sent by multiple vehicles through vehicle supervision equipment, and formulate path planning information for each vehicle, so as to comprehensively plan and limit the vehicle behavior of each vehicle at various times within the bonded area according to its respective path planning information; in addition, the vehicle supervision equipment can also determine the dynamic electronic fence and / or static electronic fence corresponding to each vehicle based on the path planning information, so as to supervise whether each vehicle performs vehicle behavior within the bonded area in accordance with its respective path planning information.

[0014] In summary, the electronic fence-based vehicle supervision method provided in this application can realize automatic supervision of the vehicle behavior of each vehicle in the bonded area, and therefore has the advantages of high supervision accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. The following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 The vehicle monitoring method based on electronic fence provided in the embodiment of the present application;

[0017] Figure 2 A schematic diagram of a dynamic electronic fence and / or a static electronic fence displayed on an on-board display device of a vehicle provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a dynamic electronic fence and / or a static electronic fence displayed on a display screen of an on-board monitoring device provided in an embodiment of the present application;

[0019] Figure 4A schematic diagram of the interaction in the vehicle supervision method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] First, the present application provides a vehicle monitoring method based on an electronic fence, which is applied to a vehicle monitoring device set up in a bonded area, and the vehicle monitoring device is connected to multiple vehicles; Figure 1 As shown, Figure 1 The vehicle monitoring method based on electronic fence provided in the embodiment of the present application includes: S110 to S130, the details of which are as follows:

[0022] S110: Determine path planning information corresponding to each vehicle based on the supervision requests respectively sent by multiple vehicles; wherein the path planning information indicates the vehicle behavior at each moment, and the types of vehicle behavior include driving behavior and parking behavior.

[0023] Specifically, in the embodiment of the present application, the vehicle supervision device can be a server installed in the bonded area, or it can be a cloud server installed in the cloud; the vehicle supervision device has functions such as data reception, processing and storage; the vehicle supervision device is communicatively connected with multiple vehicles.

[0024] In actual operation, enterprises and institutions that need to store, modify, classify and perform other cargo operations in the bonded area, vehicles that transport goods to the bonded area and vehicle drivers need to register in advance; in this embodiment of the application, it is necessary to establish a communication connection between the vehicle supervision equipment and the registered vehicles to facilitate communication between the vehicle supervision equipment and the vehicles.

[0025] In actual applications, when a vehicle transporting goods (hereinafter referred to as a vehicle) needs to transport the goods to a bonded area, the vehicle needs to send a supervision request to the vehicle supervision equipment to request the vehicle supervision equipment in the bonded area to plan the vehicle's driving route within the bonded area; according to background technology, there are a large number of vehicles in the bonded area, so it is easy to cause traffic jams and other phenomena, affecting the work efficiency of the bonded area. Therefore, before the vehicle needs to undergo entry inspection in the bonded area (including customs inspection and entry procedures, etc.), a supervision request will be sent to the vehicle supervision equipment.

[0026] In an embodiment of the present application, when the vehicle supervision device receives supervision requests sent by multiple vehicles respectively, it determines the path planning information corresponding to each vehicle based on the supervision requests sent by the multiple vehicles respectively; wherein, the supervision request needs to indicate the purpose of the vehicle entering the bonded area, such as whether the goods need to be transported to a loading and unloading location such as a warehouse, a dock or a loading and unloading platform, or whether the goods need to be transported to a transfer location such as a transit warehouse or a temporary storage site. Only when the purpose of the vehicle entering the bonded area is clear can the path planning information of the vehicle be determined accordingly.

[0027] In an embodiment of the present application, the path planning information is used to indicate the vehicle behavior at each moment, and the vehicle behavior includes driving behavior and parking behavior; in actual operation, the path planning information is a sequence arranged in time sequence, and each data in the sequence indicates the current position and vehicle behavior of the vehicle at the corresponding time point, and the types of vehicle behavior include driving behavior and parking behavior.

[0028] In actual operation, the vehicle monitoring equipment has a visual display screen, which is used to display the electronic map of the bonded area at various times, showing the vehicle behaviors of multiple vehicles in the bonded area. Different vehicles in the electronic map of the bonded area may have different models, and different vehicles are marked with their own license plates. It should be noted that the vehicle monitoring equipment uses the image information of the vehicle collected by the camera installed in the bonded area, the registered vehicle model and the positioning data sent by the vehicle to display the model and behavior of each vehicle on the display screen.

[0029] In one implementation, the supervision request includes a first supervision request, which is sent by a vehicle outside the bonded area at a target time and is used to request cargo operation within the bonded area on a target working day, and the target time is a time that is separated from the opening time of the target working day by a time not less than a first preset time; the path planning information includes driving planning information of the vehicle to different cargo operation locations within the bonded area and operation planning information at each cargo operation location; S110 includes: steps (1) to (3), the details of which are as follows:

[0030] Step (1): In response to receiving first supervision requests respectively sent by multiple vehicles, the multiple first supervision requests are parsed to obtain vehicle information, cargo information, cargo operation request and supervision time request respectively corresponding to the multiple first supervision requests.

[0031] Among them, the cargo operation request is used to request the vehicle to perform cargo operations in the bonded area; the supervision time request is used to request the time when the vehicle enters the bonded area and the length of time it stays in the bonded area.

[0032] Specifically, in an embodiment of the present application, the driving planning information at least includes information for indicating the position of the vehicle at different times during driving in the bonded area; the cargo operation location is the location such as the docks and warehouses in the bonded area used for cargo operations such as loading and unloading, storage, and sorting; the operation planning information at least includes the cargo operation duration, which is the time required to complete the cargo operation.

[0033] In actual operation, bonded areas are usually only open on weekdays, and there are also specified working hours on weekdays, such as 9:00-17:00, with 9:00 being the opening time of the working hours; during the working hours of the bonded area, the number of vehicles in the bonded area is usually dynamic. At a certain moment, vehicle A enters the bonded area, and at a certain moment, vehicle B leaves the bonded area. Different vehicles need to perform different cargo operations in the bonded area, so the supervision of vehicles in the bonded area is very difficult.

[0034] In order to solve the above-mentioned application difficulties, the embodiment of the present application enables the vehicle supervision device to establish a communication connection with the vehicle, so that the vehicle can send a first supervision request for performing cargo operations in the bonded area on a target working day at the target time; wherein, the target working day is not a specific working day, but indicates the working day requested by the first supervision request to enter the bonded area to perform cargo operations; the target time is not a specific time, but refers to a time when the target time is not less than the opening time of the target working day, and the time interval is not less than the first preset time; wherein, the first preset time can be determined according to actual needs.

[0035] In actual operation, different bonded areas may have different working hours, different opening times, and may also correspond to different first preset time lengths. The first preset time length can be set to 8 hours or 1 working day. This application does not make specific restrictions on this.

[0036] In an embodiment of the present application, when the vehicle supervision device receives a supervision request, if the supervision request carries a first supervision request identifier, the received supervision request is confirmed as a first supervision request based on the first supervision request identifier, and the first supervision request is subsequently parsed. The purpose of the parsing is to extract key information including vehicle information, cargo information, cargo operation request, supervision time request and target working day from each first supervision request; wherein, the vehicle information includes at least the vehicle model and license plate, and the cargo information includes at least the type and quantity of the cargo; the cargo operation request is used to clarify the cargo operation behavior planned by the vehicle in the bonded area, such as loading and unloading, storage, sorting, etc.; the supervision time request includes at least the time when the vehicle expects to enter the bonded area and the planned stay time in the bonded area; different vehicle information, cargo information, cargo operation request, supervision time request and target working day will affect the vehicle's driving planning information and operation planning information in the bonded area.

[0037] Step (2): Determine the comprehensive planning information through the first vehicle supervision model based on the working hours of the target working day, weather forecast information, bonded area warehousing forecast information, the number of first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the multiple first supervision requests.

[0038] Among them, the comprehensive planning information is the information obtained by comprehensive planning of the driving planning information and operation planning information of multiple vehicles based on time sequence; the first vehicle supervision model is obtained by training the AI large model.

[0039] Specifically, in an embodiment of the present application, the vehicle information, cargo information, cargo operation requests, and supervision time requests corresponding to multiple first supervision requests corresponding to the same target working day are integrated to obtain a first data set. The data in the first data set includes the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to each first supervision request.

[0040] In an embodiment of the present application, after determining the first data set, it is also necessary to determine the working hours, weather forecast information and bonded warehousing information of the target working day; among them, the weather forecast information is the information obtained by predicting the weather on the target working day, and the bonded warehousing information is information such as the storage balance in the bonded area; in actual operation, when the weather in the bonded area on the target working day is relatively bad, such as heavy rain or snow, it is necessary to shorten the distance between the positions corresponding to the two adjacent moments of the vehicle, that is, the vehicle's driving speed should be slower; the remaining capacity of each warehouse in the bonded area will also affect the vehicle's cargo operations such as loading and unloading, storage and sorting.

[0041] Once the above information is determined, the working hours of the target working day, weather forecast information, bonded area warehousing forecast information, as well as the number of first supervision requests and the first data set are input into the first vehicle supervision model. The first vehicle supervision model will output comprehensive planning information; the number of first supervision requests is the number of vehicles that issued the first supervision request.

[0042] In an embodiment of the present application, the comprehensive planning information is the information obtained by comprehensively planning the driving planning information and operation planning information of multiple vehicles based on time sequence, that is, the comprehensive planning information is a sequence arranged in time sequence, and each data in the sequence indicates the current position, vehicle behavior and cargo operation behavior corresponding to all vehicles in the bonded area at the corresponding time point. The types of vehicle behavior include driving behavior and parking behavior; for example, the sequence form of the comprehensive planning information can be {(09:15; vehicle A; area B1, position B2; driving behavior; no cargo operation behavior)...(09:15; vehicle C; area D1, position D2; parking behavior; handling cargo)...(17:15; vehicle E; area F1, position F2; driving behavior; no cargo operation behavior)...}. In actual operation, the sequence form and specific content of the comprehensive planning information can also be determined according to actual needs, and this application does not make specific limitations on this.

[0043] In this embodiment of the present application, the first vehicle supervision model is trained on a large AI model. In practice, the historical samples used to train the large AI model are relatively few. If a small number of historical samples is used to train the large AI model, the resulting first vehicle supervision model will be inaccurate. In this embodiment of the present application, a digital twin model of the bonded area is established to simulate the vehicle behavior and cargo handling behavior of multiple vehicles within the bonded area, thereby obtaining a large number of training samples.

[0044] Step (3): Determine the path planning information corresponding to each vehicle based on the comprehensive planning information.

[0045] Specifically, in an embodiment of the present application, since the comprehensive planning information is a sequence arranged in time sequence, each data in the sequence indicates the current position and vehicle behavior of all vehicles in the bonded area at the corresponding time point. Therefore, after determining the comprehensive planning information, the vehicle behavior and cargo operation behavior of each vehicle at each moment can be extracted to obtain the path planning information corresponding to each vehicle. For example, the sequence form of the path planning information can be {(09:15; area B1, position B2; driving behavior; no cargo operation behavior)...(09:15; area D1, position D2; parking behavior; display of goods)}. In actual operation, the sequence form and specific content of the path planning information can also be determined according to actual needs, and this application does not make specific limitations on this.

[0046] S120: Determine the dynamic electronic fence and / or static electronic fence corresponding to each vehicle according to the path planning information.

[0047] Among them, the electronic fence is a virtual boundary box set outside the vehicle. The dynamic electronic fence is used to constrain the vehicle's driving behavior during the process of adjusting the position and / or range; the static electronic fence is used to constrain the vehicle's parking behavior.

[0048] Specifically, in an embodiment of the present application, after the path planning information is determined for the vehicle, the vehicle can be made to perform corresponding vehicle behaviors and vehicle operations within the bonded area according to the path planning information.

[0049] In actual operation, if the path planning information is sent directly to the vehicle's on-board terminal, even if the vehicle's on-board terminal can clearly know the operations that the vehicle needs to perform at different times based on the path planning information, the operations need to be specifically performed by the driver. The vehicle's on-board terminal can only provide prompts to the driver through the on-board display device, so that the driver can perform corresponding vehicle and cargo operations according to the path planning information. However, according to the existing technology, the method that can be used to indicate the vehicle's driving route in the existing technology is usually to display a linear driving route on the vehicle's on-board display device. Although the linear driving route can make the driver clear about the driving direction, the driver cannot know whether the position he is driving is appropriate. If the driver is constantly reminded that "the current position is to the left and does not comply with the path planning information" and "the driving speed is slightly faster and does not comply with the path planning information", it will obviously affect the driver's driving behavior.

[0050] In order to solve the above problems, the embodiment of the present application sets a corresponding dynamic electronic fence and / or static electronic fence for each vehicle, so that the vehicle's on-board display device displays the corresponding dynamic electronic fence and / or static electronic fence. As long as the vehicle does not cross the dynamic electronic fence and / or static electronic fence during driving, it is considered that the vehicle is performing vehicle behavior and / or cargo operation behavior in accordance with the planned path planning information; it should be noted that when the vehicle's on-board display device displays the dynamic electronic fence and / or static electronic fence, it must also display the vehicle in the dynamic electronic fence and / or static electronic fence so that the driver can clearly understand the relative position between the vehicle and the dynamic electronic fence and / or static electronic fence, such as Figure 2 As shown, Figure 2 A schematic diagram of a dynamic electronic fence and / or a static electronic fence displayed on the on-board display device of a vehicle provided in an embodiment of the present application.

[0051] It should be noted that, in the vehicle supervision device, the data content of the dynamic electronic fence or the static electronic fence determined by the vehicle supervision device is the fence boundary coordinates of the dynamic electronic fence or the static electronic fence, and the fence boundary coordinates are the fence boundary of the dynamic electronic fence or the static electronic fence, including the coordinate set of multiple spatial points; when the fence boundary coordinates corresponding to the dynamic electronic fence or the static electronic fence are determined, the actual position of the dynamic electronic fence or the static electronic fence in the natural space is also determined; for the dynamic electronic fence, each moment corresponds to a fence boundary coordinate, which is used to constrain the driving position of the vehicle at different moments.

[0052] S130: Supervise the vehicle behavior of each vehicle at each moment according to the dynamic electronic fence and / or the static electronic fence.

[0053] Specifically, in the embodiment of the present application, the vehicle monitoring device will display the vehicle behaviors of multiple vehicles in the bonded area at various times through the display screen, and will also display the dynamic electronic fences and / or static electronic fences corresponding to each vehicle, such as Figure 3 As shown, Figure 3 A schematic diagram of a dynamic electronic fence and / or a static electronic fence displayed on the display screen of the vehicle-mounted monitoring device provided in an embodiment of the present application, Figure 3 The square frame displayed below the vehicle and the dynamic electronic fence and / or the static electronic fence is used to display the vehicle's license plate and other data that can uniquely identify the vehicle; when the display screen of the vehicle monitoring device displays the thumbnail of each vehicle and the thumbnail of the dynamic electronic fence and / or the static electronic fence corresponding to each vehicle, it can be judged whether the vehicle behavior is "out of bounds", that is, whether it exceeds the dynamic electronic fence and / or the static electronic fence.

[0054] In one implementation, the vehicle monitoring device is connected to the video acquisition device set in the bonded area and the positioning device set in the vehicle; S130 includes: steps (4) to (7), the details of which are as follows:

[0055] Step (4): In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, the vehicle image data sent by the video acquisition device and the vehicle positioning information sent by the positioning device are received.

[0056] Specifically, in the embodiments of the present application, Figure 4 As shown, Figure 4 This is an interactive diagram of the vehicle supervision method provided in an embodiment of the present application. In the process of supervising each vehicle based on a dynamic electronic fence and / or a static electronic fence, the vehicle supervision device receives vehicle image data sent by a video acquisition device and vehicle positioning information sent by a positioning device.

[0057] In actual operation, multiple video acquisition devices are installed in the bonded area. The above-mentioned video acquisition devices may be originally installed in the bonded area, or may be newly installed according to the requirements of the vehicle supervision method provided in the embodiment of this application. As long as multiple video acquisition devices can cover the scope of the bonded area, this application does not make any requirements on the installation location and installation quantity of the video acquisition devices.

[0058] In practical applications, the frequency at which the video acquisition device collects vehicle image data and the frequency at which the positioning device collects vehicle positioning information should be the same.

[0059] Step (5): Determine the vehicle boundary coordinates corresponding to each vehicle based on the vehicle image data and vehicle positioning information.

[0060] Specifically, if Figure 4 As shown, in an embodiment of the present application, after the vehicle supervision device receives the vehicle image data and the vehicle positioning information, the vehicle boundary coordinates corresponding to each vehicle are collaboratively determined based on the actual position of the vehicle in the natural space relative to the bonded area shown by the vehicle image data and the geographical location of the vehicle (positioning device) represented by the vehicle positioning information; it should be emphasized that the number of vehicle positioning information and the number of vehicles are one-to-one corresponding, but the number of vehicle image data and the number of vehicles are usually not corresponding, because each vehicle should be equipped with a positioning device, but one image can display multiple vehicles.

[0061] In the embodiment of the present application, the vehicle boundary coordinates refer to the outermost boundary of the vehicle when viewed from above, which includes a set of coordinates of multiple spatial points. In actual operation, if the operation of determining the vehicle boundary coordinates corresponding to each vehicle based on vehicle image data and vehicle positioning information is more computationally intensive, the vehicle boundary coordinates can be determined in combination with the size of each vehicle. This saves time and effort. As long as no unexpected situation occurs, it is not necessary to extract the actual position of the vehicle in natural space relative to the bonded area from the vehicle image data every time. It is only necessary to correct the vehicle boundary coordinates through the vehicle image data within a preset time period.

[0062] It should be emphasized that the actual shape of the outermost boundary of the vehicle is usually an irregular shape. Therefore, the outermost boundary of the vehicle described above is the side length of a quadrilateral or other polygon that can surround the vehicle and has the smallest area.

[0063] Step (6): For each vehicle, if the distance between any boundary of the vehicle in the dynamic electronic fence or the static electronic fence and any boundary of the dynamic electronic fence or the static electronic fence is less than or equal to the distance threshold, the first warning about the vehicle is determined based on the fence boundary coordinates and vehicle boundary coordinates of the dynamic electronic fence or the static electronic fence corresponding to the vehicle.

[0064] Specifically, if Figure 4 As shown, in an embodiment of the present application, after the vehicle supervision device determines the vehicle boundary coordinates, the relative position of the vehicle and the dynamic electronic fence or the static electronic fence can be determined based on the fence boundary coordinates of the dynamic electronic fence or the static electronic fence corresponding to the vehicle at the current moment and the vehicle boundary coordinates.

[0065] In addition, the vehicle monitoring device also sends the fence boundary coordinates and vehicle boundary coordinates to the vehicle's on-board control device, and instructs the vehicle's on-board control device to send the fence boundary coordinates and vehicle boundary coordinates to the on-board display device, so that the on-board display device can visually display the relative position between the electronic fence and the vehicle, which is used to remind the driver not to let the vehicle cross the dynamic electronic fence or the static electronic fence.

[0066] According to the above discussion, in the embodiment of the present application, the actual position of the boundary of a dynamic electronic fence or a static electronic fence in the natural space can be clearly determined based on the fence boundary coordinates, and the actual position of the boundary of the vehicle in the natural space can also be clearly determined based on the vehicle boundary coordinates. Therefore, the relative position between the vehicle and the electronic fence can be determined based on the fence boundary coordinates and the vehicle boundary coordinates.

[0067] In an embodiment of the present application, if it is determined that the distance between any boundary of the vehicle in the dynamic electronic fence or the static electronic fence and any boundary of the dynamic electronic fence or the static electronic fence is less than or equal to a distance threshold, a first warning about the vehicle is determined and the first warning is sent to the on-board display device. The on-board display device can remind the driver through voice broadcast or other means that "the vehicle is about to cross the boundary and needs to drive carefully."

[0068] Step (7): If it is determined that any boundary of the vehicle has crossed any boundary of the dynamic electronic fence or the static electronic fence according to the fence boundary coordinates and the vehicle boundary coordinates of the dynamic electronic fence or the static electronic fence corresponding to the vehicle, a second warning about the vehicle is determined.

[0069] Specifically, in an embodiment of the present application, if it is determined that any boundary of the vehicle has crossed any boundary of the dynamic electronic fence or the static electronic fence corresponding to the vehicle based on the fence boundary coordinates and the vehicle boundary coordinates of the dynamic electronic fence or the static electronic fence, a second warning about the vehicle is determined and the first warning is sent to the on-board display device, the on-board display device can remind the driver through voice broadcast or other means that "the vehicle has crossed the boundary, please adjust your driving."

[0070] In one implementation, step (3) includes: step (3.1), details of which are as follows:

[0071] Step (3.1): Based on the comprehensive planning information, the path planning information corresponding to each vehicle is determined through the second vehicle supervision model.

[0072] The path planning information includes a distance threshold.

[0073] Specifically, in the embodiment of the present application, the values of the distance thresholds for different vehicles may be different. This is because when there are more vehicles on the road, the distance threshold value should be larger to remind the driver to drive carefully as early as possible to prevent scratching other vehicles. When there are fewer vehicles on the road, the distance threshold value should be smaller. This is because when there are fewer vehicles, even if a vehicle crosses a dynamic electronic fence or a static electronic fence, the possibility of it scratching other vehicles is relatively small, so there is less need to remind the driver to drive carefully.

[0074] In an embodiment of the present application, the second vehicle supervision model is also obtained by training the AI large model; the second vehicle supervision model can accurately determine the traffic flow in the bonded area based on the data capacity of the comprehensive planning information, etc., and is used to determine the accurate distance threshold.

[0075] In one implementation, the supervision request includes a second supervision request, which is sent by a vehicle in the bonded area at a target time; the working hours of a working day in the bonded area are divided into multiple planning update periods; S130 includes: steps (8) to (9), the details of which are as follows:

[0076] Step (8): At the start time of the remaining planning update segments excluding the first planning update period, determine the real-time weather information, the real-time bonded area warehousing information, the number of the remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the plurality of remaining unexecuted first supervision requests.

[0077] Specifically, in the embodiment of the present application, although the comprehensive planning information of the bonded area can be determined in advance based on the first vehicle supervision model, the actual implementation situation may not be completely consistent with the comprehensive planning information. Various unexpected situations may occur during the process, resulting in the need to update the comprehensive planning information so that the updated comprehensive planning information meets the current actual needs.

[0078] In actual operation, the number of vehicles in the bonded area is relatively large, and it is not suitable to update the comprehensive planning information at a high frequency. Therefore, the working hours of the bonded area on weekdays are divided into multiple planning update periods, and the update of the comprehensive planning information will only be started at the starting time of the planning update period; in actual operation, the working hours of weekdays can be divided into two planning update periods according to 12:00 noon. The specific situation can be determined according to actual needs, and this application does not make specific restrictions on this.

[0079] In actual applications, at the starting time of the remaining planning update segments excluding the first planning update period, it is necessary to determine the real-time weather information, the real-time bonded area warehousing information, the number of the remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the multiple remaining unexecuted first supervision requests; among them, the unexecuted first supervision request may be a completely unexecuted first supervision request or a partially executed first supervision request. For example, the cargo handling process of a certain vehicle lasts from morning to afternoon, which is equivalent to that only a part of the first supervision request corresponding to the vehicle has been executed, and the remaining first supervision request needs to be continued in the afternoon.

[0080] In actual operation, the remaining unfulfilled first supervision requests can be clearly identified based on the data recorded in real time by the video acquisition equipment installed in the bonded area and the bonded area staff during the execution of the supervision of cargo operations.

[0081] Step (9): Based on the real-time weather information, the real-time bonded area warehousing information, the number of remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the plurality of remaining unexecuted first supervision requests, the comprehensive planning information is updated through the first vehicle supervision model.

[0082] Specifically, after determining the real-time weather information, the real-time information on bonded area warehousing, and the remaining unexecuted first supervision requests, the updated comprehensive planning information can be determined according to the first vehicle supervision model; in actual operation, when using the first vehicle supervision model to determine the comprehensive planning information predetermined before the working hours of the bonded area on working days and the comprehensive planning information that needs to be updated in real time during the planning update period within the working day, different prompt words need to be input to prompt the content of the comprehensive planning information that needs to be determined by the first vehicle supervision model, such as "advance planning", "real-time update", and other prompt words that can clearly indicate the comprehensive planning information at different stages.

[0083] In one implementation, S130 includes steps (10) to (11), the details of which are as follows:

[0084] Step (10): In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, in response to receiving a second supervision request sent by the target vehicle, a plurality of second supervision requests are parsed to obtain a planning modification request.

[0085] The planning change request is used to request modification of the vehicle's route planning information within the bonded area.

[0086] Specifically, after the vehicle supervision device receives the supervision request, if the supervision request carries a second supervision request identifier, the received supervision request is confirmed as a second supervision request based on the second supervision request identifier, and the second supervision request is subsequently parsed. The purpose of the parsing is to extract key information including the planning modification request from the second supervision request; wherein, the planning modification request is a request to modify the vehicle behavior and cargo operation behavior of the vehicle in the bonded area. For example, a vehicle breaks down, making it impossible to complete the vehicle behavior and cargo operation behavior in the bonded area according to the supervision time request in the first supervision request. For example, the company notifies the driver that the current transportation does not need to be stored in the bonded area. The driver can communicate with the staff of the bonded area to submit relevant applications. In addition, it is necessary to report to the vehicle supervision device in the form of sending a second supervision request to the vehicle supervision device.

[0087] In actual operation, the purpose of the second supervision request may include multiple purposes, so the plan modification request should indicate the reason for the plan modification request, the modified supervision time request, etc.

[0088] Step (11): If the time interval between the current moment of receiving the second supervision request and the start time of the next planned update period is greater than or equal to the second preset time interval, the first supervision request of the target vehicle is updated according to the second supervision request.

[0089] Specifically, in an embodiment of the present application, if the time interval between the current moment of receiving the second supervision request and the start moment of the next planning update period is greater than or equal to the second preset time interval, it indicates that the request purpose of the second supervision request can be achieved in the comprehensive planning information process corresponding to the next planning update period, otherwise it will be pushed to the comprehensive planning information process corresponding to the next planning update period for implementation; in actual operation, step (11) is usually implemented when the number of planning update periods included in the working day is at least three, otherwise the request purpose of the second supervision request can be directly determined to be achieved in the comprehensive planning information process corresponding to the next planning update period.

[0090] In one implementation, the vehicle monitoring device is connected to a plurality of monitoring devices disposed in the bonded area and disposed in the vehicle; S130 includes: steps (12) to (13), the details of which are as follows:

[0091] Step (12): In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, based on the multiple monitoring information sent by the multiple monitoring devices received, determine whether the comprehensive planning information needs to be updated based on the multiple monitoring information.

[0092] Specifically, in an embodiment of the present application, the monitoring equipment installed in the bonded area can be used to monitor real-time weather information, such as air visibility, rainfall, snowfall, etc.; the monitoring equipment installed in the vehicle can be used to monitor the engine temperature, tire pressure, the number of sudden brakes per unit time, the number of sharp turns per unit time, the number of lane changes per unit time, the number of vehicle drifts per unit time, etc.

[0093] In actual operation, when the vehicle monitoring equipment receives the above monitoring information, it can compare the above monitoring information with the respective thresholds to determine whether the comprehensive planning information needs to be updated; for example, if there are currently 30 vehicles in the bonded area and 20 vehicles in the last 10 minutes, and the number of monitoring information whose values exceed the corresponding thresholds accounts for 1 / 3 of the total number of monitoring information, then it can be considered that the driving behavior of the vehicle is potentially dangerous, and therefore the comprehensive planning information needs to be updated.

[0094] In actual operation, the vehicle's driving behavior can also be predicted by training a neural network model to obtain a prediction result on whether the vehicle's driving behavior is potentially dangerous.

[0095] Step (13): If it is determined that the comprehensive planning information needs to be updated, the steps of determining the real-time weather information, the real-time bonded area warehousing information, the number of the remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the plurality of remaining unexecuted first supervision requests are executed.

[0096] Specifically, in the embodiment of the present application, if it is determined that the comprehensive planning information needs to be updated, step (8) is executed to "determine the real-time weather information, the real-time bonded area warehousing information, the number of the remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation request, and supervision time request corresponding to the multiple remaining unexecuted first supervision requests."

[0097] Second, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps S110 to S130 provided in the above embodiment are implemented.

[0098] Fourth, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, steps S110 to S130 of the above embodiment are executed.

[0099] Fifth, the computer program product provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to steps S110 to S130 of the method embodiment, which will not be repeated here.

[0100] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0101] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0103] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0104] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0105] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle monitoring method based on electronic fence, characterized in that: The method is applied to a vehicle monitoring device set up in a bonded area, wherein the vehicle monitoring device is connected to a plurality of vehicles; the method comprises: Determining path planning information corresponding to each vehicle based on supervision requests respectively sent by multiple vehicles; wherein the path planning information indicates the vehicle behavior of the vehicle at each moment, and the types of vehicle behavior include driving behavior and parking behavior; Determining, based on the path planning information, a dynamic electronic fence and / or a static electronic fence corresponding to each vehicle; wherein the electronic fence is a virtual boundary box set outside the vehicle, the dynamic electronic fence is used to constrain the vehicle's driving behavior during the process of adjusting its position and / or range; and the static electronic fence is used to constrain the vehicle's parking behavior; The vehicle behavior of each vehicle at each moment is supervised according to the dynamic electronic fence and / or the static electronic fence.

2. The method according to claim 1, characterized in that The supervision request includes a first supervision request, which is sent by the vehicle outside the bonded area at a target time, and is used to request cargo operation within the bonded area on a target working day. The target time is a time that is separated from the opening time of the target working day by a time length that is not less than a first preset time length; the path planning information includes driving planning information of the vehicle to different cargo operation locations within the bonded area and operation planning information at each of the cargo operation locations.

3. The method according to claim 2, characterized in that Determining path planning information corresponding to each vehicle based on the supervision requests respectively sent by the multiple vehicles includes: In response to receiving the first supervision requests respectively sent by multiple vehicles, parsing the multiple first supervision requests to obtain vehicle information, cargo information, cargo operation requests, and supervision time requests respectively corresponding to the multiple first supervision requests; The cargo operation request is used to request the vehicle to perform cargo operation in the bonded area; the supervision time request is used to request the time when the vehicle enters the bonded area and the length of time it stays in the bonded area; Determining comprehensive planning information using a first vehicle supervision model based on the working hours of the target working day, weather forecast information, bonded area warehousing forecast information, the number of first supervision requests, and the vehicle information, cargo information, cargo operation requests, and supervision time requests corresponding to each of the first supervision requests; The comprehensive planning information is information obtained by comprehensively planning the driving planning information and the operation planning information of multiple vehicles based on a time sequence; the first vehicle supervision model is obtained by training the AI large model; The path planning information corresponding to each vehicle is determined based on the comprehensive planning information.

4. The method according to claim 3, characterized in that The vehicle monitoring device is connected to a video acquisition device provided in the bonded area and a positioning device provided in the vehicle; and the vehicle behavior of each vehicle at each moment is monitored based on the dynamic electronic fence and / or the static electronic fence, including: In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, receiving the vehicle image data sent by the video acquisition device and the vehicle positioning information sent by the positioning device; Determining the vehicle boundary coordinates corresponding to each of the vehicles based on the vehicle image data and the vehicle positioning information; For each vehicle, if the distance between any boundary of the vehicle in the dynamic electronic fence or the static electronic fence and any boundary of the dynamic electronic fence or the static electronic fence is less than or equal to a distance threshold, based on the fence boundary coordinates of the dynamic electronic fence or the static electronic fence corresponding to the vehicle and the vehicle boundary coordinates, a first warning is determined for the vehicle; If, based on the fence boundary coordinates of the dynamic electronic fence or the static electronic fence corresponding to the vehicle and the vehicle boundary coordinates, it is determined that any one boundary of the vehicle crosses any one boundary of the dynamic electronic fence or the static electronic fence, a second warning about the vehicle is determined.

5. The method according to claim 4, characterized in that Determining the path planning information corresponding to each vehicle based on the comprehensive planning information includes: Determining the path planning information corresponding to each vehicle through a second vehicle supervision model according to the comprehensive planning information; The path planning information includes the distance threshold.

6. The method according to claim 3, characterized in that The supervision request includes a second supervision request, wherein the second supervision request is sent by the vehicle in the bonded area at a target time; the working hours of the bonded area on a working day are divided into a plurality of planning update periods; The supervising the vehicle behavior of each vehicle at each moment according to the dynamic electronic fence and / or the static electronic fence includes: At the start time of each of the remaining planning update periods excluding the first planning update period, determining real-time weather information, real-time bonded area warehousing information, the number of remaining unfulfilled first supervision requests, and the vehicle information, cargo information, cargo operation requests, and supervision time requests corresponding to each of the plurality of remaining unfulfilled first supervision requests; The comprehensive planning information is updated through the first vehicle supervision model based on real-time weather information, real-time bonded area warehousing information, the number of remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation requests, and supervision time requests corresponding to multiple remaining unexecuted first supervision requests.

7. The method according to claim 6, characterized in that The supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence includes: In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, in response to receiving the second supervision request sent by the target vehicle, parsing multiple second supervision requests to obtain a plan modification request; The plan change request is used to request modification of the path planning information of the vehicle within the bonded area; If the duration between the current time when the second supervision request is received and the start time of the next planned update period is greater than or equal to the second preset duration, the first supervision request of the target vehicle is updated according to the second supervision request.

8. The method according to claim 6, characterized in that The vehicle monitoring device is connected to a plurality of monitoring devices arranged in the bonded area and in the vehicle; and the monitoring of each vehicle according to the dynamic electronic fence and / or the static electronic fence includes: In the process of supervising each vehicle according to the dynamic electronic fence and / or the static electronic fence, determining whether the comprehensive planning information needs to be updated based on the multiple monitoring information received from the multiple monitoring devices; If it is determined that the comprehensive planning information needs to be updated, the steps of determining the real-time weather information, the real-time bonded area warehousing information, the number of remaining unexecuted first supervision requests, and the vehicle information, cargo information, cargo operation requests, and supervision time requests corresponding to the multiple remaining unexecuted first supervision requests are executed.

9. A vehicle monitoring device, characterized in that: The device includes a processor and a memory, the memory is used to store an application program, and the processor runs or executes the software program stored in the memory so that the device implements the vehicle supervision method based on the electronic fence as described in any one of claims 1 to 8.

10. A computer program product, characterized in that The computer program product includes computer instructions. When the computer instructions are run on an electronic device, the electronic device implements the vehicle supervision method based on electronic fence according to any one of claims 1 to 8.

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