A vehicle delivery control method and device, electronic equipment and storage medium
By optimizing the vehicle exit queue distance, the number of conflicting vehicles, and the predicted probability of merging into the road, the optimal exit time is calculated, which solves the risk of collision accidents when the garage is close to the road and achieves safe exit control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 国汽智端(成都)科技有限公司
- Filing Date
- 2025-06-18
- Publication Date
- 2026-07-24
AI Technical Summary
When a garage is close to the road, the traffic environment when a vehicle leaves the garage is complex, leading to a high risk of collisions.
By acquiring the actual queuing distance of vehicles leaving the depot, the number of conflicting vehicles, the predicted probability of merging into the road, and the speed, these parameters are optimized to calculate the optimal departure time, and vehicle departure is controlled based on this time.
This reduces the risk of collisions when vehicles are close to the road in a garage.
Smart Images
Figure CN120748246B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of autonomous driving technology, and more specifically, to a vehicle exit control method, device, electronic device, and storage medium. Background Technology
[0002] As the number of vehicles in cities continues to rise, parking demand is also increasing, leading many parking garages to be designed near roads. The entrances and exits of these garages are often directly connected to main urban roads or busy streets, resulting in extremely complex traffic conditions when exiting. On the one hand, traffic flow on roads is heavy and fast, with traffic conditions changing rapidly; on the other hand, garage entrances and exits are usually narrow and may include curves or ramps, which greatly limits the visibility of vehicles exiting the garage.
[0003] Therefore, when a garage is close to the road, the risk of a 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 that can reduce the risk of vehicle collision when the distance between the garage and the road is close.
[0005] In a first aspect, embodiments of this application provide a method for controlling vehicle exit from a parking garage, the method comprising: The system obtains the actual queuing distance of the vehicle to be controlled at the current moment, 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. The conflicting vehicles refer to vehicles that prevent the vehicle to be controlled from merging into the road on the road connected to the exit of the garage. The predicted probability of merging into the road is the probability that the vehicle to be controlled will successfully merge into the road. Based on preset optimization conditions, optimize any number of parameters among the actual outbound queuing 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. The optimal outbound time is calculated based on the optimized outbound queuing 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 departure time.
[0006] In one possible implementation, optimizing the actual outbound queuing distance according to preset optimization conditions includes: The rate at which the queue distance of the vehicle to be controlled decreases at the current moment, and the actual distance between adjacent vehicles queuing to exit the garage are obtained. The queuing distance reduction rate is compared with a preset rate threshold to obtain a first comparison result; The actual distance is compared with the preset safety distance to obtain a second comparison result; Based on the preset optimization conditions satisfied by the first comparison result and the second comparison result, the actual outbound queuing 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 queuing distance; wherein, the preset maximum distance refers to the preset maximum distance between adjacent outbound queuing vehicles in the garage.
[0007] In one possible implementation, the step of optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, according to the preset optimization conditions satisfied by the first comparison result and the second comparison result, 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, then the actual outbound queuing distance is optimized based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queuing distance; 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 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 one possible implementation, the actual number of conflicting vehicles is optimized according to preset optimization conditions: 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 ranges of all conflicting vehicles is determined as the number of conflicting vehicles that have been optimized.
[0009] In one possible implementation, the predicted probability of the actual merging road is optimized according to preset optimization conditions: The preset probability of merging into the road corresponding to the preset time period in which the current time is located is determined as the optimized predicted probability of entering the road.
[0010] In one possible implementation, calculating the optimal outbound time based on the optimized outbound queuing distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road includes: The optimal queuing time for the vehicle to be controlled is calculated based on the queuing distance for leaving the depot and the predicted speed for merging into the road. Based on the number of conflicting vehicles and the predicted probability of merging into the road, calculate the optimal vehicle conflict avoidance time for the vehicle to be controlled. The optimal outbound queuing time and the optimal vehicle conflict avoidance time are calculated to obtain the optimal outbound time.
[0011] In one possible implementation, calculating 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 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, To determine the optimal vehicle conflict avoidance time. The number of vehicles involved in the conflict. This is a preset safety time interval.
[0012] Secondly, embodiments of this application also provide a vehicle exit control device, the device comprising: The acquisition module is used to acquire the actual queuing distance of the vehicle to be controlled at the current moment, 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; the conflicting vehicles refer to vehicles that prevent the vehicle to be controlled from merging into the road on the road connected to the exit of the garage; the predicted probability of merging into the road is the probability that the vehicle to be controlled will successfully merge into the road. The optimization module is used to optimize any number of parameters among the actual outbound queuing 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. The calculation module is used to calculate the optimal outbound time based on the optimized outbound queuing distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road. The 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 the queuing distance reduction rate of the vehicle to be controlled at the current moment, and the actual distance between adjacent vehicles queuing to exit the garage; compare the queuing 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 exit 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 the preset safety distance and the actual distance, to obtain the optimized exit queuing distance; wherein, the preset maximum distance refers to the preset maximum distance between adjacent vehicles queuing to exit the garage.
[0014] In one 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, then the actual outbound queuing distance is optimized based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queuing distance; 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 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 to determine the sum of the preset statistical quantities corresponding to the preset length range of all conflicting vehicle lengths as the number of conflicting vehicles that have been optimized.
[0016] In one possible implementation, the optimization module is specifically used to determine the preset probability of merging into the road corresponding to the preset time period in which the current time is located 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 merging into the 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, To determine the optimal vehicle conflict avoidance time. The number of vehicles involved in the conflict. This is a preset safety time interval.
[0019] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium 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 of the first aspects.
[0020] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the vehicle outbound control method as described in any of the first aspects.
[0021] This application provides a vehicle exit control method, device, electronic device, and storage medium. The method includes: optimizing any number of parameters among the actual exit queuing 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; calculating an optimal exit time based on the optimized exit queuing 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 vehicle to be controlled to exit the garage based on the optimal exit time. This application controls vehicle exit by using optimized parameters, which can reduce the risk of vehicle collisions when the garage is close to the road. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This illustration shows a schematic diagram of a sensor deployment scenario provided in an embodiment of this application; Figure 2 A flowchart of a vehicle exit control method provided in an embodiment of this application is shown; Figure 3 A schematic diagram of the structure of a vehicle exit control device provided in an embodiment of this application is shown; Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation
[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.
[0025] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0026] To enable those skilled in the art to utilize the content of this application, and in conjunction with the specific application scenario of "autonomous driving technology," the following implementation methods are provided. For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is primarily described within the "autonomous driving technology field," 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 this application to indicate the presence 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 the embodiments of this application.
[0029] In this embodiment, a three-tiered perception-decision system is constructed, specifically divided into a garage layer, a roadside layer, and a cloud layer. The garage layer deploys millimeter-wave radar (detection range 0-30m), a panoramic camera (180° field of view), and a geomagnetic sensor array (for detecting vehicle passage). The roadside layer deploys RSU integrated LiDAR (an intelligent transportation system device combining LiDAR technology with Roadside Units, with a scanning range of 50-200m), a V2X (Vehicle to Everything) communication module, and an edge computing unit (collectively referred to as the central processing system). The cloud layer receives real-time traffic light phase data, surrounding vehicle trajectory predictions, and weather warning data.
[0030] Here, "vehicle" refers to a vehicle equipped with autonomous driving capabilities or Level 2 or higher, and featuring V2X and LiDAR modules, etc. The autonomous driving equipment of vehicles will not be discussed in detail here. Simply put, vehicles with autonomous driving capabilities are generally equipped with LiDAR or vision systems and support V2X and obstacle avoidance functions.
[0031] The overall concept of this application is to install a geomagnetic sensor array inside the garage near the exit to detect information about vehicles about to exit, such as vehicle type, size, and whether the driver is ready. A designated area at the garage exit is used to monitor the distance, speed, and angle changes of vehicles on the road using various sensors. After data fusion, RSU-V2X (Road Side Unit - Vehicle to Everything) is used to synchronize road information with vehicle information inside the garage. This guides the autonomous vehicle from startup to exiting the garage and merging into the road. The "garage-road" collaborative perception system constructs a three-dimensional perception network composed of onboard sensors, roadside RSUs, and road monitoring, achieving full coverage of dynamic targets within a 200-meter range inside and outside the garage.
[0032] The geomagnetic sensor array is used to detect the position of queued vehicles, with an update frequency of 10 Hz and a detection accuracy of [missing information]. Millimeter-wave radar is used to detect vehicle speed and acceleration, with an update frequency of 20 Hz and a detection accuracy of [missing information]. The RSU+ panoramic camera is used to detect the distance and speed of conflicting vehicles, with an update frequency of 10Hz and a detection accuracy of [missing information]. The V2X communication module is used to detect the braking status of conflicting vehicles, with an update frequency of 5Hz, and is activated when a preset event is triggered.
[0033] Reference Figure 1The diagram shown is a schematic representation of a sensor deployment scenario provided in an embodiment of this application. It should be noted that... Figure 1 The sensor deployment shown is merely an example and can be adjusted according to actual circumstances.
[0034] Specifically, refer to Figure 2 The diagram shown is a flowchart illustrating a vehicle exit control method according to an embodiment of this application. The exemplary steps of this embodiment are described below: S201. Obtain the actual queuing distance of the vehicle to be controlled at the current moment, the actual number of vehicles in conflict, the actual predicted probability of merging into the road, and the actual predicted speed of merging into the road.
[0035] In this embodiment, a geomagnetic sensor array is pre-deployed on the main road of the garage. The array is primarily installed by burying it in the garage ramp at 0.5-meter intervals, resulting in low cost. The actual queuing distance for vehicles exiting the garage is obtained through data from the geomagnetic sensor array. The queuing distance refers to the physical length occupied by the vehicles in front of the vehicle to be controlled at the exit, and this distance directly affects the time it takes for the vehicle to be controlled to move to the exit.
[0036] Here, the geomagnetic sensor array triggers sensors by detecting the metal parts of the vehicle chassis, thus sensing the vehicle's passage. When a vehicle drives out of a parking space, the geomagnetic sensor closest to the space detects the movement. Specifically, a binary method is used to determine whether a vehicle has passed: if the sensor hasn't been run over, it outputs 0; if it has, it outputs 1. Each sensor has a fixed location. By detecting the specific location a vehicle has passed, the vehicle's trajectory within 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 detecting changes in sequence, resulting in a sequence of 0 and 1 changes, it can be determined that the vehicle moved from sensor 1 towards sensor 20. This detection method helps the parking garage control system initially determine the vehicle's position and direction of movement.
[0037] In this embodiment, enhanced panoramic cameras are pre-positioned within a predetermined range (e.g., within 200 meters) on both sides of the garage gate exit. These cameras can scan a 200-meter range to detect vehicles within a predetermined distance from the exit with a relative speed greater than 0. By receiving the operating status (speed, position, and brake light status, etc.) of conflicting vehicles through the road RSU unit and V2X communication, the actual number of conflicting vehicles can be determined.
[0038] Among them, conflict vehicles refer to vehicles that obstruct the merging of vehicles to be controlled on the road connecting to the garage exit, and are used to reflect the degree of collision risk when vehicles merge into the road.
[0039] In addition, this application can determine the final actual number of conflicting vehicles by using the actual number of conflicting vehicles reported by LiDAR and V2X respectively. When the difference between the reported numbers is greater than a preset difference, the maximum value reported by both can be used as the final actual number of conflicting vehicles.
[0040] In this embodiment, the total number of times a vehicle can merge onto the road and the number of times it successfully merges are stored in a historical database for each time period (morning peak, evening peak, and off-peak) within a preset duration (30 days, one month, etc.). For each time period, the historical merging probability is obtained by dividing the number of successful mergings by the total number of times a vehicle can merge. The average of the historical merging probabilities across all time periods is then used as the actual merging probability. The merging probability refers to the probability that a vehicle to be controlled will successfully merge onto the road.
[0041] The data in the historical database is based on RSU observations. Table 1 shows one month of data obtained through RSU observations, as provided in this embodiment of the application.
[0042] Table 1
[0043] The data in Table 1 above shows that the actual probability of merging into the road is predicted to be 0.6.
[0044] In this embodiment, inclinometers and infrared road surface sensors are pre-installed on the garage ramp. Millimeter-wave radar is deployed on the main road of the garage. When the vehicle to be controlled is traveling on a non-ramp road in the garage, the speed detected by the millimeter-wave radar is determined as the predicted speed at which the vehicle will merge onto the road at the current moment. When the vehicle to be controlled is traveling on the garage ramp, the inclinometer detects the ramp's inclination angle at the vehicle's location. (generally) The coefficient of road friction at the location of the vehicle to be controlled is measured using an infrared road surface sensor. (Here, the coefficient of friction for dry roads is assumed to be 0.7, and for wet roads, it is 0.4.) The speed of the vehicle to be controlled is detected by millimeter-wave radar. Substituting the slope angle, road surface friction coefficient, and driving speed into the following formula, calculate the predicted actual merging speed of the vehicle to be controlled at the current moment. : .
[0045] Where h is the vertical height between the location of the vehicle to be controlled and the garage exit. This is the acceleration due to gravity.
[0046] The method further includes: determining whether a preset abnormal event (such as heavy rain, fire, etc.) has occurred; if a preset abnormal event has occurred, notifying the management personnel to trigger an emergency warning; in response to the emergency warning triggered by the management personnel (such as an alarm device), sending an emergency avoidance message to the vehicles to cause all autonomous vehicles to stop and wait for the management personnel to take over. If no preset abnormal event has occurred, then proceeding to step S202.
[0047] Among them, alarm devices are set up in advance at preset intervals on the main road of the garage for alarm warning, and the alarm mechanism is connected to the garage management personnel.
[0048] Here, because the garage is located in a dark area, a panoramic camera is used to capture real-time vehicle movement information, allowing the garage to operate normally under normal conditions. However, in special circumstances, such as accidents or abnormal weather, the garage needs to intelligently adjust. Therefore, in this embodiment, to avoid vehicle congestion or collisions, pre-set lower-level triggering and preset optimization conditions for each parameter, optimizing parameters that meet the corresponding preset optimization conditions. For parameters that do not meet the corresponding preset optimization conditions, the optimal exit time is directly calculated based on the actual parameter values obtained above; that is, the actual parameter values obtained above are used as the optimized parameter values.
[0049] In addition, this application embodiment 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; based on the abnormal entrances and exits, the exits for vehicles to exit the garage are dynamically adjusted, thereby allowing vehicles to avoid congested entrances and exits.
[0050] S202. Based on preset optimization conditions, optimize any number of parameters among the actual outbound queuing distance, the actual number of conflicting vehicles, the actual probability of merging into the road, or the actual speed of merging into the road.
[0051] In this embodiment, a car from a garage travels onto the main road. Because the vehicles in the garage and on the road are dynamic in real time, and the infrastructure cannot predict the movement of every dynamic object, complex algorithms that require extremely high computing power are not used here. Instead, logical judgments are employed to optimize the parameters. Specifically: Specifically, based on preset optimization conditions, the actual outbound queuing distance is optimized, including: Step 1: Obtain the rate at which the queue distance of the vehicle to be controlled decreases at the current moment, as well as the actual distance between adjacent vehicles queuing to exit the garage.
[0052] In this embodiment, the queuing distance reduction rate refers to the rate at which the queuing distance decreases, which can be characterized by the number of vehicles exiting the garage per unit time. Based on cameras and traffic flow sensors outside the garage, the vehicle flow speed at the garage exit (i.e., the number of vehicles exiting the garage per unit time) is monitored in real time, and the average value of the vehicle flow speed over a preset time period is determined as the queuing distance reduction rate.
[0053] Step 2: Compare the queuing distance reduction rate with the preset rate threshold to obtain the first comparison result.
[0054] Step 3: Compare the actual distance with the preset safety distance to obtain the second comparison result.
[0055] Step 4: Based on the preset optimization conditions satisfied by the first comparison result and the second comparison result, optimize the actual outbound queuing distance 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 queuing distance.
[0056] The preset safety distance refers to the pre-defined distance between vehicles to avoid collisions. The preset maximum distance refers to the maximum distance between adjacent vehicles queuing to exit the garage. The actual distance is the average of the distances between all currently adjacent vehicles in the garage.
[0057] i. If the first comparison result is that the queuing distance reduction rate is less than the preset rate threshold, or the current weather is rainy or snowy, then the actual outbound queuing distance is optimized based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queuing distance.
[0058] In this embodiment, a pre-installed temperature and humidity sensor is used to detect outdoor temperature and humidity, thereby determining whether it is rainy or snowy weather. A preset safety distance is set. Preset maximum spacing Distance from actual outbound queue Substituting into the following formula, we obtain the optimized outbound queuing distance. : ; in, This refers to the actual queuing distance for outbound shipments. To optimize the outbound queuing distance, a preset safety distance is established. The standard spacing is 1.5m, with a preset maximum spacing. It is typically 2.2 meters.
[0059] Here, due to weather conditions or the potential congestion of vehicles leaving the warehouse caused by slow traffic flow, maintaining actual vehicle spacing could lead to collisions. Therefore, increasing the queuing distance indirectly increases the vehicle spacing.
[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 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.
[0061] In this embodiment, to avoid congestion caused by slow vehicle exits, the vehicle spacing is indirectly reduced by decreasing the exit queuing distance, thereby increasing vehicle flow speed. Specifically, a preset safety spacing is used. Actual spacing Distance from actual outbound queue Substituting into the following formula, we obtain the optimized outbound queuing distance.
[0062] .
[0063] Specifically, based on preset optimization conditions, the number of actual 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 ranges of all conflicting vehicles is determined as the number of conflicting vehicles after optimization.
[0065] For example, when the length of the conflicting vehicle X is greater than 8 meters, the preset statistical count for the conflicting vehicle X can be 2. When the length of the conflicting vehicle X is less than or equal to 8 meters, the preset statistical count for the conflicting vehicle X can be 1.
[0066] Specifically, optimizing the actual number of conflicting vehicles based on preset optimization conditions also includes: i. Obtain the type of each conflicting vehicle for the vehicle to be controlled at the current moment.
[0067] ii. The sum of the preset statistical quantities corresponding to all conflict vehicle types is determined as the number of conflict vehicles after optimization.
[0068] In this embodiment, the types of vehicles involved in the conflict include cars, buses, and trucks. The preset statistical count for cars can be 1, the preset statistical count for buses can be 3, and the preset statistical count for trucks can be 2.
[0069] Specifically, based on preset optimization conditions, the predicted probability of actual merging into the road is optimized, including: determining the preset probability of merging into the road corresponding to the preset time period in which the current time is located as the optimized predicted probability of entering the road.
[0070] In this embodiment, if the current weather is a preset severe weather condition (such as rain or snow), the preset probability of merging onto the road for all preset time periods is the preset probability of the first road; if the current weather is not a preset severe weather condition (such as rain or snow), the preset probability of merging onto the road for each preset time period is the preset probability of the second road for 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 can include morning peak hours, evening peak hours, and off-peak hours. The preset probability of merging roads corresponding to the morning and evening peak hours is lower than that of off-peak hours. The preset probability of merging roads corresponding to off-peak hours is the predicted probability of actual merging roads.
[0072] For example, the preset probability of a second merging road for the morning and evening rush hours can be 0.5. For time periods other than the morning and evening rush hours (i.e., off-peak hours), the preset probability of a second merging road can be 0.6.
[0073] Here, the probability of merging into the road is dynamically adjusted based on weather and time of day, improving the driving experience and safety.
[0074] Specifically, based on preset optimization conditions, the predicted speed of the actual merging into the road is optimized, including: if the vehicle to be controlled is in a state of emergency braking (the vehicle acceleration is less than the preset acceleration, and the preset acceleration is less than 0), then the product of the predicted speed of the actual merging into the road and the preset multiple (less than 1) is determined as the optimized predicted speed of merging into the road.
[0075] Here, the sudden braking of the vehicle indicates a possible emergency (such as an accident ahead, too many vehicles colliding, etc.), so the predicted speed for merging into the road is reduced to improve driving safety.
[0076] S203. Calculate the optimal outbound time based on the optimized outbound queuing distance, number of conflicting vehicles, predicted probability of merging into the road, and predicted speed of merging into the road.
[0077] Step 1: Calculate the optimal queuing time for the vehicles to be controlled based on the queuing distance for leaving the depot and the predicted speed of merging into the road.
[0078] In this embodiment, the optimal exit queuing time refers to the optimal time taken for the vehicle to exit the garage. The ratio between the exit queuing distance and the predicted speed of merging into the road is taken as the optimal exit queuing time for the vehicle to exit (i.e., the time taken for the vehicle to travel from its current position to the garage exit).
[0079] Step 2: Calculate the optimal vehicle conflict avoidance time for the vehicles to be controlled based on the number of conflicting vehicles and the predicted probability of merging into the road.
[0080] In the embodiments of this application, the optimal vehicle conflict avoidance time of the vehicle to be controlled refers to the time taken for the vehicle to be controlled to avoid a collision with a vehicle on the road (i.e., the time taken for the vehicle to be controlled to travel from the garage exit to the road).
[0081] Number of vehicles involved in the conflict and the probability of merging into the road Substituting into the following formula, we obtain the optimal vehicle conflict avoidance time for the vehicle to be controlled. : ; in, A preset safety time interval is established, which is the minimum safe time interval required for a vehicle to merge from the garage exit into the road to avoid collisions. Based on human reaction time, a value of 2 seconds is typically used, which aligns with braking distance. This is dynamically adjusted and extended by 2 seconds in rainy or foggy conditions.
[0082] Step 3: Calculate the sum of the optimal outbound queuing time and the optimal vehicle conflict avoidance time to obtain the optimal outbound time.
[0083] S204. Control the departure of vehicles to be controlled based on the optimal departure time.
[0084] In addition, the electronic display screen in the vehicle guidance and control system shows real-time road traffic conditions and suggested departure times, the voice prompt device makes voice announcements when the system determines that there is a safety risk or that the driver needs to be reminded, and the intelligent barrier gate system only opens automatically when the system determines that the vehicle can safely drive out.
[0085] Furthermore, this embodiment of the application also includes an electronic display screen and a voice prompt device at the garage exit. The electronic display screen, based on instructions from the data analysis and decision-making system, shows the driver real-time traffic information and suggested exit times and routes. The voice prompt device, when necessary, such as when a vehicle is about to exit but traffic conditions are poor, issues a clear voice warning to ensure the driver receives timely information. An intelligent barrier gate system is also installed, which is linked to the data analysis and decision-making system. The barrier gate will only open automatically when the system determines that the vehicle can safely exit, preventing vehicles from exiting the garage at inappropriate times and causing traffic chaos.
[0086] In addition, the parking garage management system establishes a real-time data connection with the local traffic management department's command center. If special vehicles pass through the main road or an accident occurs, the system dynamically adjusts the merging speed and waiting time of vehicles.
[0087] This application provides a vehicle exit control method, which includes: optimizing any number of parameters among the actual exit queuing 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; calculating an optimal exit time based on the optimized exit queuing 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 vehicle to be controlled to exit the garage based on the optimal exit time. This method controls vehicle exit by using optimized parameters, which can reduce the risk of vehicle collisions when the garage is close to the road.
[0088] Based on the same inventive concept, this application also provides a vehicle outbound control device corresponding to the vehicle outbound control method. Since the principle of the device in this application is similar to the above-mentioned vehicle outbound control method in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.
[0089] Reference Figure 3 The diagram shown is a schematic of a vehicle exit control device provided in an embodiment of this application. The vehicle exit control device includes: The acquisition module 301 is used to acquire the actual queuing distance of the vehicle to be controlled at the current moment, 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; the conflicting vehicles refer to vehicles that prevent the vehicle to be controlled from merging into the road on the road connected to the exit of the garage; the predicted probability of merging into the road refers to the probability that the vehicle to be controlled will successfully merge into the road. The optimization module 302 is used to optimize any number of parameters among the actual outbound queuing 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. Calculation module 303 is used to calculate the optimal outbound time based on the optimized outbound queuing distance, number of conflicting vehicles, predicted probability of merging into the road, and predicted speed of merging into the road. The control module 304 is used to control the vehicle to be controlled to leave the warehouse based on the optimal departure time.
[0090] The device provided in this application embodiment can control vehicle exit from the garage using optimized parameters, reducing the risk of vehicle collisions when the garage is close to the road.
[0091] like Figure 4As shown in the embodiment of this application, an electronic device 400 includes a processor 401, a memory 402, and a bus. The memory 402 stores machine-readable instructions that can be executed by the processor 401. When the electronic device is running, the processor 401 communicates with the memory 402 via the bus. The processor 401 executes the machine-readable instructions to perform the steps of the vehicle outbound control method described above.
[0092] Specifically, the aforementioned memory 402 and processor 401 can be general-purpose memory and processor, without any specific limitations. When the processor 401 runs the computer program stored in the memory 402, it can execute the aforementioned vehicle outbound control method.
[0093] Corresponding to the above-described vehicle outbound control method, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described vehicle outbound control method.
[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.
[0095] The modules described as separate components may or may not be physically separate. 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0096] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0097] If the aforementioned 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, in essence, or the part that contributes to the prior art, or a 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the information processing methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.
[0098] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for controlling vehicle departure from a warehouse, characterized in that, The method includes: The system obtains the actual queuing distance of the vehicle to be controlled at the current moment, 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. The conflicting vehicles refer to vehicles that prevent the vehicle to be controlled from merging into the road on the road connecting to the garage exit. The predicted probability of merging into the road is the probability that the vehicle to be controlled will successfully merge into the road. Based on preset optimization conditions, optimize any number of parameters among the actual outbound queuing 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. The optimal outbound time is calculated based on the optimized outbound queuing 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 departure time.
2. The vehicle exit control method according to claim 1, characterized in that, Optimize the actual outbound queuing distance according to preset optimization conditions, including: The rate at which the queue distance of the vehicle to be controlled decreases at the current moment, and the actual distance between adjacent vehicles queuing to exit the garage are obtained. The queuing distance reduction rate is compared with a preset rate threshold to obtain a first comparison result; The actual distance is compared with the preset safety distance to obtain a second comparison result; Based on the preset optimization conditions satisfied by the first comparison result and the second comparison result, the actual outbound queuing 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 queuing distance; wherein, the preset maximum distance refers to the preset maximum distance between adjacent outbound queuing vehicles in the garage; The step of optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance, or the preset safety distance and the actual distance, according to the preset optimization conditions satisfied by the first comparison result and the second comparison result, 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, then the actual outbound queuing distance is optimized based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queuing distance; 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 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. The step of optimizing the actual outbound queuing distance based on the preset safety distance and the preset maximum distance to obtain the optimized outbound queuing distance includes: adjusting the preset safety distance... Preset maximum spacing Distance from actual outbound queue Substituting into the following formula, we obtain the optimized outbound queuing distance. ; ； The step of optimizing the actual outbound queuing distance based on the preset safety distance and the actual distance to obtain the optimized outbound queuing distance includes: adjusting the preset safety distance... Actual spacing Distance from actual outbound queue Substituting into the following formula, we obtain the optimized outbound queuing distance; 。 3. The vehicle exit control method according to claim 1, characterized in that, Optimize the actual number of conflicting vehicles based on preset optimization conditions: 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 ranges of all conflicting vehicles is determined as the number of conflicting vehicles that have been optimized.
4. The vehicle exit control method according to claim 1, characterized in that, Based on preset optimization conditions, optimize the predicted probability of actual merging into the road: The preset probability of merging into the road corresponding to the preset time period in which the current time is located is determined as the optimized predicted probability of entering the road.
5. The vehicle exit control method according to any one of claims 1 to 4, characterized in that, The optimal outbound time is calculated based on the optimized outbound queuing distance, number of conflicting vehicles, predicted probability of merging into the road, and predicted speed of merging into the road, including: The optimal queuing time for the vehicle to be controlled is calculated based on the queuing distance for leaving the depot and the predicted speed for merging into the road. Based on the number of conflicting vehicles and the predicted probability of merging into the road, calculate the optimal vehicle conflict avoidance time for the vehicle to be controlled. The optimal outbound queuing time and the optimal vehicle conflict avoidance time are calculated to obtain the optimal outbound time.
6. The vehicle exit control method according to claim 5, characterized in that, The step of calculating 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 includes: The number of conflicting vehicles and the predicted probability of merging into the road are combined. Substituting into the following formula, we obtain the optimal vehicle conflict avoidance time: ； in, To optimize vehicle conflict avoidance time, The number of vehicles involved in the conflict. This is a preset safety time interval.
7. A vehicle exit control device, characterized in that, The device includes: The acquisition module is used to acquire the actual queuing distance of the vehicle to be controlled at the current moment, 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; the conflicting vehicles refer to vehicles that prevent the vehicle to be controlled from merging into the road on the road connected to the garage exit; the predicted probability of merging into the road is the probability that the vehicle to be controlled will successfully merge into the road. The optimization module is used to optimize any number of parameters among the actual outbound queuing 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. The calculation module is used to calculate the optimal outbound time based on the optimized outbound queuing distance, the number of conflicting vehicles, the predicted probability of merging into the road, and the predicted speed of merging into the road. The control module is used to control the vehicle to be controlled to leave the warehouse based on the optimal departure time.
8. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium 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 6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the vehicle outbound control method as described in any one of claims 1 to 6.