Vehicle out-of-garage control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle out-of-garage control method and device, electronic equipment and a storage medium, and the method comprises the steps: optimizing any number of parameters in an actual out-of-garage queuing distance, an actual conflict vehicle number, an actual convergence road prediction probability or an actual convergence road prediction speed according to a preset optimization condition; calculating the optimal ex-warehouse time according to the ex-warehouse queuing distance, the number of conflicting vehicles, the convergence road prediction probability and the convergence road prediction speed which are obtained after optimization; and controlling the to-be-controlled vehicle to go out of the garage based on the optimal garage-out duration. According to the method, the vehicle is controlled to go out of the garage through the optimized parameters, and the risk of collision accidents of the vehicle can be reduced when the garage is close to the road.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle departure control method, device, electronic device and storage medium. Background Art

[0002] As the number of vehicles in cities continues to rise, parking demand is also increasing. Consequently, many garages are being designed close to roads. The entrances and exits of these garages are often directly connected to main arterial roads or busy streets, resulting in an extremely complex traffic environment when exiting the garage. On the one hand, the roads are characterized by heavy traffic, high speeds, and ever-changing traffic conditions. On the other hand, garage entrances and exits are often narrow and may include curves or ramps, which significantly limits the vehicle's field of view when exiting the garage.

[0003] Therefore, when the garage is closer to the road, the risk of vehicle collision is higher. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a vehicle exit control method, device, electronic device and storage medium, which can reduce the risk of vehicle collision accidents when the garage is close to the road.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling vehicle exit, the method comprising: Obtain the actual outbound queue distance, actual number of conflicting vehicles, actual predicted probability of merging into the road, and actual predicted speed of the vehicle to be controlled at the current moment; conflicting vehicles refer to vehicles on the road connected to the garage exit that prevent the vehicle to be controlled from merging into the road; the predicted probability of merging into the road refers to the probability that the vehicle to be controlled will successfully merge into the road; According to preset optimization conditions, optimizing any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road; Calculate the optimal outbound time based on the optimized outbound queue distance, number of conflicting vehicles, predicted probability of merging into the road, and predicted speed of merging into the road. The vehicle to be controlled is controlled to leave the warehouse based on the optimal leaving warehouse time.

[0006] In a possible implementation, optimizing the actual outbound queue distance according to preset optimization conditions includes: Obtaining a rate of decrease of the queue distance of the to-be-controlled vehicles at the current moment, and an actual distance between adjacent vehicles in the outbound queue in the garage; Comparing the queuing distance reduction rate with a preset rate threshold to obtain a first comparison result; Comparing the actual distance with a preset safety distance to obtain a second comparison result; According to the preset optimization conditions satisfied by the first comparison result and the second comparison result, the actual outbound queue distance is optimized based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, to obtain an optimized outbound queue distance; wherein the preset maximum distance refers to the preset maximum distance between adjacent outbound queue vehicles in the garage.

[0007] In one possible implementation, the optimizing the actual outbound queuing distance based on the preset optimization conditions satisfied by the first comparison result and the second comparison result, based on the preset safety distance and the preset maximum distance, or based on the preset safety distance and the actual distance, to obtain the optimized outbound queuing distance includes: If the first comparison result is that the queuing distance reduction rate is less than the preset rate threshold, optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance to obtain an optimized outbound queuing distance; If the second comparison result is that the actual distance is smaller than the preset safety distance, and the first comparison result is that the queuing distance reduction rate is greater than or equal to the preset rate threshold, then the actual outbound queuing distance is optimized based on the preset safety distance and the actual distance to obtain the optimized outbound queuing distance.

[0008] In a possible implementation, the actual number of conflicting vehicles is optimized according to a preset optimization condition: Obtain the length of each conflicting vehicle of the vehicle to be controlled at the current moment; The sum of the preset statistical quantities corresponding to the preset length range within which the lengths of all conflicting vehicles fall is determined as the optimized number of conflicting vehicles.

[0009] In a possible implementation, the actual predicted probability of merging into the road is optimized according to a preset optimization condition: The preset probability of merging into the road corresponding to the preset time period at the current moment is determined as the optimized predicted probability of entering the road.

[0010] In one possible implementation, calculating the optimal dispatch time based on the optimized dispatch queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road includes: Calculating the optimal queue time for the vehicle to be controlled based on the queue distance for the vehicle to be controlled and the predicted speed for merging into the road; Calculating an optimal vehicle conflict avoidance time for the vehicle to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road; The sum of the optimal outbound queuing time and the optimal vehicle conflict avoidance time is calculated to obtain the optimal outbound time.

[0011] In one possible implementation, calculating the optimal vehicle conflict avoidance time of the vehicle to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road includes: Substituting the number of conflicting vehicles and the predicted probability of merging into the road into the following formula, the optimal vehicle conflict avoidance time is obtained: ; in, is the optimal vehicle conflict avoidance time, is the number of conflicting vehicles, It is the preset safety time interval.

[0012] In a second aspect, an embodiment of the present application further provides a vehicle exit control device, the device comprising: An acquisition module is used to obtain the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, and the actual predicted speed of merging into the road of the vehicle to be controlled at the current moment; the conflicting vehicle refers to a vehicle on the road connected to the garage exit that prevents the vehicle to be controlled from merging into the road; the predicted probability of merging into the road refers to the probability that the vehicle to be controlled will successfully merge into the road; An optimization module, configured to optimize any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road according to preset optimization conditions; A calculation module is used to calculate the optimal outbound time based on the optimized outbound queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted merging speed; A control module is used to control the vehicle to be controlled to leave the warehouse based on the optimal departure time.

[0013] In one possible implementation, the optimization module is specifically configured to obtain a queue distance reduction rate of the to-be-controlled vehicle at a current moment, and an actual distance between adjacent vehicles in the outbound queue in the garage; compare the queue distance reduction rate with a preset rate threshold to obtain a first comparison result; compare the actual distance with a preset safety distance to obtain a second comparison result; and optimize the actual outbound queue distance based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, according to preset optimization conditions satisfied by the first comparison result and the second comparison result, to obtain an optimized outbound queue distance; wherein the preset maximum distance refers to the preset maximum distance between adjacent vehicles in the outbound queue in the garage.

[0014] In a possible implementation, the optimization module is further configured to: If the first comparison result is that the queuing distance reduction rate is less than the preset rate threshold, optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance to obtain an optimized outbound queuing distance; If the second comparison result is that the actual distance is smaller than the preset safety distance, and the first comparison result is that the queuing distance reduction rate is greater than or equal to the preset rate threshold, then the actual outbound queuing distance is optimized based on the preset safety distance and the actual distance to obtain the optimized outbound queuing distance.

[0015] In one possible implementation, the optimization module is specifically used to obtain the length of each conflicting vehicle of the vehicle to be controlled at the current moment; and the sum of the preset statistical quantities corresponding to the preset length range of the lengths of all conflicting vehicles is determined as the number of conflicting vehicles optimized.

[0016] In a possible implementation, the optimization module is specifically configured to determine a preset probability of merging into the road corresponding to the preset time period at the current moment as the optimized predicted probability of entering the road.

[0017] In one possible implementation, the calculation module is specifically used to calculate the optimal outbound queuing time of the vehicle to be controlled based on the outbound queuing distance and the predicted speed of the merging road; calculate the optimal vehicle conflict avoidance time of the vehicle to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road; and calculate the sum of the optimal outbound queuing time and the optimal vehicle conflict avoidance time to obtain the optimal outbound time.

[0018] In one possible implementation, the computing module is further configured to: Substituting the number of conflicting vehicles and the predicted probability of merging into the road into the following formula, the optimal vehicle conflict avoidance time is obtained: ; in, is the optimal vehicle conflict avoidance time, is the number of conflicting vehicles, It is the preset safety time interval.

[0019] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle outbound control method as described in any one of the first aspects.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle outbound control method as described in any one of the first aspects are executed.

[0021] The embodiments of the present application provide a vehicle exit control method, device, electronic device, and storage medium. The method includes: optimizing any number of parameters including the actual exit queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road based on preset optimization conditions; calculating the optimal exit duration based on the optimized exit queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road; and controlling the exit of the controlled vehicle based on the optimal exit duration. The present application controls vehicle exits using optimized parameters, thereby reducing the risk of vehicle collision accidents when the garage is close to the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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. It should be understood that 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.

[0023] Figure 1 A schematic diagram of a sensor deployment scenario provided by an embodiment of the present application is shown; Figure 2 A flow chart of a vehicle exit control method provided by an embodiment of the present application is shown; Figure 3 A schematic structural diagram of a vehicle exit control device provided in an embodiment of the present application is shown; Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0025] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0026] To enable those skilled in the art to utilize the contents of this application, the following embodiments are provided in conjunction with a specific application scenario, "the field of autonomous driving technology." Those skilled in the art will appreciate that the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. While this application is primarily described in the context of "autonomous driving technology," it should be understood that this is merely an exemplary embodiment.

[0027] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0028] The following is a detailed description of a vehicle exit control method provided in an embodiment of the present application.

[0029] In the implementation mode of the present application, a three-level perception-decision-making system is constructed, which is specifically divided into the garage layer, the roadside layer, and the cloud layer. Millimeter-wave radar (detection distance 0-30m), panoramic camera (180° field of view), and geomagnetic sensor array (for detecting vehicle passing) are deployed at the garage layer. RSU integrated lidar (intelligent transportation system equipment that combines lidar (LiDAR) technology with roadside unit (RSU). 50-200m scanning range), V2X (Vehicle to Everything) communication module, and edge computing unit (collectively referred to as central processing system) are deployed at the roadside layer. Traffic light phase, surrounding vehicle trajectory prediction, weather warning data, etc. are accessed in real time at the cloud layer.

[0030] The term "vehicle" refers to vehicles with autonomous driving capabilities or L2 or higher, equipped with V2X and LiDAR modules. We won't delve into the specific autonomous driving features of a vehicle here. Simply put, autonomous vehicles are typically equipped with LiDAR or vision systems, and support V2X and obstacle avoidance.

[0031] The overall idea of ​​the embodiment of the present application is to install a geomagnetic sensor array inside the garage near the exit to detect information about vehicles about to leave, such as vehicle type, size, and whether the driver is ready. An area is demarcated at the garage exit, and various sensors are used to monitor the distance, speed, and angle changes of vehicles on the road. After fusing the data, the road surface information and the vehicle information in the garage are synchronized through RSU-V2X (Road Side Unit - Vehicle to Everything). In this way, the self-driving car is guided from starting to exiting the garage and then merging into the road. The "garage-road" collaborative perception system constructs a three-dimensional perception network composed of vehicle-mounted sensors, roadbed RSU (Road Side Unit), and road monitoring to achieve full coverage of dynamic targets within a range of 200 meters inside and outside the garage.

[0032] The geomagnetic sensor array is used to detect the position of the queued vehicles, with an update frequency of 10HZ and a detection accuracy of Millimeter wave radar is used to detect vehicle speed and acceleration, with an update frequency of 20HZ and a detection accuracy of The RSU+ panoramic camera is used to detect the distance and speed of conflicting vehicles. The update frequency is 10HZ and its detection accuracy is The V2X communication module is used to detect the braking status of conflicting vehicles, with an update frequency of 5 Hz, and is activated when a preset event is triggered.

[0033] Reference Figure 1The figure shows a schematic diagram of the sensor deployment scenario provided by the embodiment of the present application. Figure 1 The sensor layout shown is only an example and can be adjusted according to actual conditions.

[0034] Specifically, refer to Figure 2 FIG. 1 is a flow chart of a method for controlling vehicle exit from a warehouse provided by an embodiment of the present application. The exemplary steps of the embodiment of the present application are described below: S201: Obtain the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, and the actual predicted speed of merging into the road of the vehicle to be controlled at the current moment.

[0035] In this embodiment, a geomagnetic sensor array is pre-placed along the main road in the garage. The array is primarily embedded in the garage ramp, spaced 0.5 meters apart, resulting in a low-cost deployment. Data from the geomagnetic sensor array is used to determine the actual distance a vehicle needs to wait before exiting the garage. The distance represents the physical distance between vehicles in the queue ahead of the vehicle to be controlled at the exit, directly impacting the time it takes for the vehicle to reach the exit.

[0036] Here, the geomagnetic sensor array detects the metal parts of the vehicle's chassis to trigger the sensors, thereby detecting the vehicle's passage. When a vehicle exits a parking space, the geomagnetic sensor closest to the space senses the vehicle's movement. Specifically, a binary method is used to determine whether a vehicle has passed. If the geomagnetic sensor has not been run over by a vehicle, the corresponding sensor output is 0; if it has been run over, the output is 1. Each sensor has a fixed position. By detecting the specific location of the vehicle's passage, the vehicle's movement trajectory in the parking lot can be determined. Furthermore, by analyzing the sequence of signal changes detected by multiple sensors, the vehicle's direction of movement can be determined. For example, if sensor 1 detects a vehicle passing first, followed by sensors 2, 3, ..., 20, a sequence of 0s and 1s is generated. Therefore, it can be determined that the vehicle is moving from sensor 1 to sensor 20. This detection method can help the garage control system initially determine the vehicle's position and direction.

[0037] In this embodiment, an enhanced panoramic camera is pre-placed within a preset range (e.g., within 200 meters) on both sides of the garage gate exit. This enhanced panoramic camera can scan a 200-meter range to detect vehicles within the preset distance from the exit with a relative speed greater than 0. The enhanced panoramic camera receives the operating status (speed, location, brake light status, etc.) of conflicting vehicles via roadside RSU units and V2X communication, thereby determining the actual number of conflicting vehicles.

[0038] Among them, conflicting vehicles refer to vehicles that hinder the vehicles to be controlled from merging into the road on the road connected to the garage exit, and are used to reflect the degree of collision risk of vehicles merging into the road.

[0039] In addition, the present application can use the actual number of conflicting vehicles reported by the lidar and V2X respectively. When the difference between the reported numbers is greater than a preset difference, the maximum value reported by the two is determined as the final actual number of conflicting vehicles.

[0040] In this embodiment of the present application, the total number of possible merging attempts and the number of successful merging attempts for each time period (morning rush hour, evening rush hour, and off-peak) within a preset duration (e.g., 30 days, one month, etc.) stored in a historical database are used to calculate the historical merging probability for each time period by dividing the number of successful merging attempts by the total number of possible merging attempts. The actual merging probability is then determined by taking the average of the historical merging probability across all time periods. The merging probability is the probability that the vehicle to be controlled will successfully merge into the road.

[0041] The data in the historical database is obtained based on RSU observations. As shown in Table 1, this is data obtained through RSU observations for one month provided in the embodiment of the present application.

[0042] Table 1

[0043] From the data in Table 1 above, we can see that the actual predicted probability of merging into the road is 0.6.

[0044] In the embodiment of the present application, a slope meter and an infrared road surface sensor are pre-installed on the ramp of the garage. A millimeter wave radar is installed on the main road of the garage. When the vehicle to be controlled is traveling on the non-slope of the garage, the speed of the vehicle to be controlled detected by the millimeter wave radar is determined as the actual predicted speed of the vehicle to be controlled at the current moment when it merges into the road. When the vehicle to be controlled is traveling on the ramp of the garage, the slope meter is used to detect the slope angle of the ramp where the vehicle to be controlled is located. (Generally ), using infrared road sensors to measure the friction coefficient of the road surface where the vehicle to be controlled is located (Here, the default friction coefficient for dry roads is 0.7, and the friction coefficient for wet roads is 0.4), and the speed of the vehicle to be controlled is detected by millimeter-wave radar. Substitute the slope angle, road friction coefficient, and driving speed into the following formula to calculate the actual predicted speed of the vehicle entering the road at the current moment: : .

[0045] Where h is the vertical height between the location of the vehicle to be controlled and the garage exit, is the acceleration due to gravity.

[0046] The method further includes determining whether a preset abnormal event (e.g., heavy rain, fire, etc.) has occurred; if so, notifying a management personnel to trigger an emergency warning; and, in response to the emergency warning triggered by the management personnel (e.g., an alarm), sending an emergency avoidance message to all autonomous vehicles to stop and wait for management personnel to take over. If no preset abnormal event has occurred, the process continues with S202.

[0047] Among them, on the main road of the garage, alarm devices are arranged in advance at preset intervals for alarm warning, and the alarm mechanism is connected to the garage management staff.

[0048] Here, because the basement is located in a dark area, the panoramic camera is used to capture the real-time movement information of the vehicle, and under normal conditions, the garage can operate normally. However, in special circumstances, such as when an accident occurs in the garage or when the weather is abnormal, the garage needs to implement intelligent adjustment. Therefore, in order to avoid causing vehicle congestion or collisions, the embodiment of the present application sets the lower-level triggering and preset optimization conditions for each parameter in advance, and optimizes the parameters that meet the corresponding preset optimization conditions. For parameters that do not meet the corresponding preset optimization conditions, the subsequent optimal outbound time is calculated directly based on the actual parameter values ​​obtained above, that is, the actual parameter values ​​obtained above are used as the parameter values ​​obtained after optimization.

[0049] In addition, the embodiment of the present application uses a camera to determine whether traffic flow is abnormal, such as traffic congestion or traffic accidents. The camera visually identifies abnormal entrances and exits in the garage and dynamically adjusts the exit of the garage based on the abnormal entrances and exits, thereby avoiding congested entrances and exits.

[0050] S202: Optimize any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road according to preset optimization conditions.

[0051] In the implementation of this application, a car in a garage drives onto a main road. Because the vehicles in the garage and on the road are dynamic in real time, the infrastructure cannot predict the movement of every dynamic object. Therefore, instead of using complex algorithms that require a lot of computing power, logical judgment is used to optimize various parameters. The details are as follows: Specifically, based on the preset optimization conditions, the actual outbound queue distance is optimized, including: Step 1: Obtain the queuing distance reduction rate of the vehicle to be controlled at the current moment, and the actual distance between adjacent outbound queuing vehicles in the garage.

[0052] In this embodiment of the present application, the queue distance reduction rate refers to the rate at which the queue distance decreases, which can be characterized by the number of vehicles leaving the garage per unit time. Using cameras and traffic flow sensors outside the garage, the vehicle flow rate at the garage exit (i.e., the number of vehicles leaving the garage per unit time) is monitored in real time. The average vehicle flow rate over a preset time period is determined as the queue distance reduction rate.

[0053] Step 2: Compare the queuing distance reduction rate with a preset rate threshold to obtain a first comparison result.

[0054] Step 3: Compare the actual distance with the preset safety distance to obtain a second comparison result.

[0055] Step 4: According to the preset optimization conditions satisfied by the first comparison result and the second comparison result, the actual outbound queue distance is optimized based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, to obtain the optimized outbound queue distance.

[0056] The preset safe distance refers to the distance between vehicles that is set in advance to avoid collisions. The preset maximum distance refers to the maximum distance between adjacent vehicles in the outbound queue in the garage. The actual distance is the average distance between all adjacent vehicles currently in the garage.

[0057] i. If the first comparison result shows that the queue distance reduction rate is less than the preset rate threshold, or the current weather is rainy or snowy, the actual outbound queue distance is optimized based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queue distance.

[0058] In the embodiment of the present application, the outdoor temperature and humidity are detected by pre-installed temperature and humidity sensors to determine whether it is rainy or snowy. , preset maximum spacing and the actual outbound queue distance Substitute into the following formula to get the optimized outbound queue distance : ; in, is the actual outbound queue distance, To optimize the queue distance for outbound delivery. Preset safety distance Generally 1.5m, preset maximum spacing Generally it is 2.2 meters.

[0059] Here, due to the weather or the possible congestion of outgoing vehicles caused by slow vehicle flow, maintaining the actual vehicle distance may cause a collision, so the vehicle distance is indirectly increased by increasing the queuing distance.

[0060] ii. If the second comparison result is that the actual distance is less than the preset safety distance, and the first comparison result is that the queue distance reduction rate is greater than or equal to the preset rate threshold, the actual outbound queue distance is optimized based on the preset safety distance and the actual distance to obtain the optimized outbound queue distance.

[0061] In the embodiment of the present application, in order to avoid congestion caused by vehicles leaving the warehouse too slowly, the distance between vehicles is indirectly reduced by reducing the queue distance, thereby increasing the vehicle flow rate. Specifically, the preset safety distance is set to , actual spacing and the actual outbound queue distance Substitute it into the following formula to obtain the optimized outbound queue distance.

[0062] .

[0063] Specifically, according to the preset optimization conditions, the actual number of conflicting vehicles is optimized, including: i. Obtain the length of each conflicting vehicle of the vehicle to be controlled at the current moment.

[0064] ii. The sum of the preset statistical quantities corresponding to the preset length range of all conflicting vehicles is determined as the optimized number of conflicting vehicles.

[0065] For example, when the length of the conflicting vehicle X is greater than 8 meters, the preset statistical number corresponding to the conflicting vehicle X may be 2. When the length of the conflicting vehicle X is less than or equal to 8 meters, the preset statistical number corresponding to the conflicting vehicle X may be 1.

[0066] Specifically, according to the preset optimization conditions, the actual number of conflicting vehicles is optimized, which also includes: i. Obtain the type of each conflicting vehicle at the current moment.

[0067] ii. The sum of the preset statistical quantities corresponding to the types of all conflicting vehicles is determined as the optimized number of conflicting vehicles.

[0068] In the embodiment of the present application, the types of conflicting vehicles include cars, buses, trucks, etc. The preset statistical number corresponding to cars can be 1, the preset statistical number corresponding to buses can be 3, and the preset statistical number corresponding to trucks can be 2.

[0069] Specifically, according to the preset optimization conditions, the actual predicted probability of merging into the road is optimized, including: determining the preset probability of merging into the road corresponding to the preset time period at the current moment as the optimized predicted probability of entering the road.

[0070] In the embodiment of the present application, if the current weather is preset inclement weather (such as rain or snow), the preset probability of merging into the road corresponding to all preset time periods is the preset probability of the first road. If the current weather is not preset inclement weather (such as rain or snow), the preset probability of merging into the road corresponding to each preset time period is the preset probability of the second road corresponding to each preset time period. The predicted probability of the first road is less than the predicted probability of the second road.

[0071] The preset time periods may include morning peak, evening peak, and off-peak periods. The preset probabilities of merging into the road during the morning and evening peak periods are both lower than those during the off-peak period. The preset probabilities of merging into the road during the off-peak period are the actual predicted probabilities of merging into the road.

[0072] For example, the preset probability of the second merging road corresponding to the morning and evening peaks may be 0.5. During time periods other than the morning and evening peaks (i.e., off-peak hours), the corresponding preset probability of the second merging road may be 0.6.

[0073] Here, the probability of merging into the road is dynamically adjusted based on the weather and time period to improve vehicle driving experience and safety.

[0074] Specifically, the actual predicted merging speed is optimized according to preset optimization conditions, including: if the vehicle to be controlled is in an emergency braking state (the vehicle acceleration is less than the preset acceleration, and the preset acceleration is less than 0), then the product of the actual predicted merging speed and the preset multiple (less than 1) is determined as the optimized predicted merging speed.

[0075] Here, if the vehicle brakes suddenly, it means that an emergency may have occurred (such as an accident with the vehicle ahead, too many conflicting vehicles, etc.), so the predicted merging speed into the road is reduced to improve vehicle driving safety.

[0076] S203. Calculate the optimal dispatch time based on the dispatch queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road obtained after optimization.

[0077] Step 1: Calculate the optimal queue time for the vehicle to be controlled based on the queue distance and the predicted merging speed.

[0078] In this embodiment, the optimal exit queue time refers to the optimal exit queue time for a vehicle to be controlled. The ratio of the exit queue distance to the predicted merging speed is used as the optimal exit queue time for the vehicle to be controlled (i.e., the time it takes for the vehicle to travel from its current location to the garage exit).

[0079] Step 2: Calculate the optimal vehicle conflict avoidance time for the vehicle to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road.

[0080] In the embodiment of the present application, the optimal vehicle conflict avoidance time of the vehicle to be controlled refers to the time it takes for the vehicle to be controlled to avoid a collision with a vehicle on the road (i.e., the time it takes for the vehicle to be controlled to travel from the garage exit to the road).

[0081] The number of conflicting vehicles and predicted probability of merging into the road Substitute into the following formula to obtain the optimal vehicle conflict avoidance time of the vehicle to be controlled: : ; in, The preset safety time interval is the minimum safe time interval required for vehicles to merge onto the road from the garage exit to avoid collisions. Based on human reaction time, a typical setting of 2 seconds is consistent with braking distances. This time interval can be dynamically extended by 2 seconds in rainy or foggy conditions.

[0082] Step 3: Calculate the sum of the optimal outbound queue time and the optimal vehicle conflict avoidance time to obtain the optimal outbound time.

[0083] S204: Control the vehicle to be controlled to leave the warehouse based on the optimal departure time.

[0084] In addition, the electronic display screen in the vehicle guidance and control system displays the road traffic conditions and recommended exit time in real time. The voice prompt device broadcasts when the system determines that there is a safety risk or the driver needs to be reminded. The intelligent barrier system will only automatically open when the system determines that the vehicle can exit safely.

[0085] Moreover, the embodiment of the present application also provides an electronic display screen and a voice prompt device at the garage exit. The electronic display screen displays real-time traffic information and recommended exit time and route to the driver according to the instructions of the data analysis and decision-making system. The voice prompt device will issue a clear voice warning when necessary, such as when the vehicle is about to exit but the traffic conditions on the road are poor, to ensure that the driver obtains information in a timely manner. An intelligent gate system is installed, which is linked to the data analysis and decision-making system. The gate will only open automatically when the system determines that the vehicle can exit safely, preventing the vehicle from leaving the garage at an inappropriate time and causing traffic chaos.

[0086] In addition, the garage management system establishes a real-time data connection with the command center of the local traffic management department. If a special vehicle passes through the main road or an accident occurs, the vehicle's merging speed and waiting time will be dynamically adjusted.

[0087] An embodiment of the present application provides a method for controlling vehicle exits, comprising: optimizing any number of parameters, including the actual exit queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road, based on preset optimization conditions; calculating an optimal exit duration based on the optimized exit queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road; and controlling the exit of a vehicle to be controlled based on the optimal exit duration. This method controls vehicle exits using the optimized parameters, reducing the risk of collision accidents when the garage is close to the road.

[0088] Based on the same inventive concept, the embodiment of the present application also provides a vehicle outbound control device corresponding to the vehicle outbound control method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned vehicle outbound control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0089] Reference Figure 3 FIG. 1 is a schematic diagram of a vehicle outbound control device provided in an embodiment of the present application, wherein the vehicle outbound control device includes: The acquisition module 301 is used to obtain the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, and the actual predicted speed of merging into the road of the vehicle to be controlled at the current moment; the conflicting vehicles are vehicles on the road connected to the garage exit that prevent the vehicle to be controlled from merging into the road; the predicted probability of merging into the road is the probability that the vehicle to be controlled will successfully merge into the road; An optimization module 302 is configured to optimize any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road according to preset optimization conditions; A calculation module 303 is used to calculate the optimal outbound time based on the optimized outbound queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted merging speed; The control module 304 is configured to control the vehicle to be controlled to leave the warehouse based on the optimal leaving time.

[0090] Through the device provided in the embodiment of the present application, the vehicle can be controlled to leave the garage through optimized parameters, thereby reducing the risk of vehicle collision accidents when the garage is close to the road.

[0091] like Figure 4As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, wherein the memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device is running, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the vehicle outbound control method as described above.

[0092] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memory and processor, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, it can execute the above-mentioned vehicle outbound control method.

[0093] Corresponding to the above-mentioned vehicle outbound control method, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the above-mentioned vehicle outbound control method are executed.

[0094] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules 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 interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0095] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0096] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0097] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the information processing method described in each embodiment of this application. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0098] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A vehicle outbound control method, characterized in that: The method comprises: Obtain the actual outbound queue distance, actual number of conflicting vehicles, actual predicted probability of merging into the road, and actual predicted speed of the vehicle to be controlled at the current moment; conflicting vehicles refer to vehicles on the road connected to the garage exit that prevent the vehicle to be controlled from merging into the road; the predicted probability of merging into the road refers to the probability that the vehicle to be controlled will successfully merge into the road; According to preset optimization conditions, optimizing any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road; Calculate the optimal outbound time based on the optimized outbound queue distance, number of conflicting vehicles, predicted probability of merging into the road, and predicted speed of merging into the road. The vehicle to be controlled is controlled to leave the warehouse based on the optimal leaving warehouse time.

2. The vehicle outbound control method according to claim 1, characterized in that: According to the preset optimization conditions, the actual outbound queue distance is optimized, including: Obtaining a rate of decrease of the queue distance of the to-be-controlled vehicles at the current moment, and an actual distance between adjacent vehicles in the outbound queue in the garage; Comparing the queuing distance reduction rate with a preset rate threshold to obtain a first comparison result; Comparing the actual distance with a preset safety distance to obtain a second comparison result; According to the preset optimization conditions satisfied by the first comparison result and the second comparison result, the actual outbound queue distance is optimized based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, to obtain an optimized outbound queue distance; wherein the preset maximum distance refers to the preset maximum distance between adjacent outbound queue vehicles in the garage.

3. The vehicle outbound control method according to claim 2, characterized in that: The step of optimizing the actual outbound queuing distance based on the preset optimization conditions satisfied by the first comparison result and the second comparison result, based on the preset safety distance and the preset maximum distance, or based on the preset safety distance and the actual distance, to obtain an optimized outbound queuing distance includes: If the first comparison result is that the queuing distance reduction rate is less than the preset rate threshold, optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance to obtain an optimized outbound queuing distance; If the second comparison result is that the actual distance is smaller than the preset safety distance, and the first comparison result is that the queuing distance reduction rate is greater than or equal to the preset rate threshold, then the actual outbound queuing distance is optimized based on the preset safety distance and the actual distance to obtain the optimized outbound queuing distance.

4. The vehicle outbound control method according to claim 1, characterized in that: According to the preset optimization conditions, the actual number of conflicting vehicles is optimized: Obtain the length of each conflicting vehicle of the vehicle to be controlled at the current moment; The sum of the preset statistical quantities corresponding to the preset length range within which the lengths of all conflicting vehicles fall is determined as the optimized number of conflicting vehicles.

5. The vehicle outbound control method according to claim 1, characterized in that: According to the preset optimization conditions, the predicted probability of actually merging into the road is optimized: The preset probability of merging into the road corresponding to the preset time period at the current moment is determined as the optimized predicted probability of entering the road.

6. The vehicle exit control method according to any one of claims 1 to 5, characterized in that: The optimal outbound time is calculated based on the optimized outbound queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road, including: Calculating the optimal queue time for the vehicle to be controlled based on the queue distance for the vehicle to be controlled and the predicted speed for merging into the road; Calculating an optimal vehicle conflict avoidance time for the vehicle to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road; The sum of the optimal outbound queuing time and the optimal vehicle conflict avoidance time is calculated to obtain the optimal outbound time.

7. The vehicle exit control method according to claim 6, characterized in that: The calculating, based on the number of conflicting vehicles and the predicted probability of merging into the road, the optimal vehicle conflict avoidance time of the vehicle to be controlled includes: Substituting the number of conflicting vehicles and the predicted probability of merging into the road into the following formula, the optimal vehicle conflict avoidance time is obtained: ； in, is the optimal vehicle conflict avoidance time, is the number of conflicting vehicles, It is the preset safety time interval.

8. A vehicle outbound control device, characterized in that: The device comprises: An acquisition module is used to obtain the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, and the actual predicted speed of merging into the road of the vehicle to be controlled at the current moment; the conflicting vehicle refers to a vehicle on the road connected to the garage exit that prevents the vehicle to be controlled from merging into the road; the predicted probability of merging into the road refers to the probability that the vehicle to be controlled will successfully merge into the road; An optimization module, configured to optimize any number of parameters including the actual outbound queue distance, the actual number of conflicting vehicles, the actual predicted probability of merging into the road, or the actual predicted speed of merging into the road according to preset optimization conditions; A calculation module is used to calculate the optimal outbound time based on the optimized outbound queue distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted merging speed; A control module is used to control the vehicle to be controlled to leave the warehouse based on the optimal departure time.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle outbound control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle departure control method according to any one of claims 1 to 7 are executed.

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