Navigation method for driving out of vehicle door buffer area

Abstract

The invention provides a navigation method for an intelligent car driving out of a car door buffer area. When the pause duration of the target intelligent trolley exceeds the predicted pause duration, obtaining current state information of the target intelligent trolley and current state information of the previous intelligent trolley on the two driving channels; determining a callout navigation channel of the target intelligent car according to the current state information of the target intelligent car, the current state information of the previous intelligent car and a preset dual-channel driving rule; determining departure waiting duration of the target intelligent trolley relative to the high-position intelligent trolley based on ranking information in the calling-out sequence queue; and generating a callout navigation instruction of the target intelligent car based on the callout navigation channel of the target intelligent car and the departure waiting duration. The intelligent trolley is controlled to run orderly in the two driving channels by calling out the sequence queue, the utilization rate of the two driving channels is improved, the time sequence of the intelligent trolley driving out of the buffer position is controlled through the departure waiting duration, and the conflict of the intelligent trolley driving in and out of the vehicle door buffer area is avoided.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and more specifically, to a navigation method for a smart car to exit a door buffer zone. Background Technology

[0002] Intelligent Guided Vehicles (IGVs) are unmanned transport devices used in automated terminals and smart factories. They achieve autonomous navigation and obstacle avoidance through technologies such as the BeiDou Navigation Satellite System, LiDAR, and visual SLAM. They possess high flexibility, intelligent navigation, and superior performance.

[0003] In the final assembly workshop, door IGVs carry multiple doors from the same vehicle and travel along pre-planned guide paths to deliver the doors to various assembly islands for assembly. Before assembly, the door IGVs need to enter the buffer zone of the door buffer area and wait until they receive a scheduling instruction from the group control system before they can proceed to the assembly island.

[0004] The door buffer zone includes multiple buffer positions and two driving channels. The multiple buffer positions are arranged longitudinally side by side. Each buffer position is equipped with two limiting guide rods. The two limiting guide rods are respectively set on the lateral sides of the buffer position. The two limiting guide rods form a flared opening at the longitudinal ends of the buffer position. An automatic guiding device can be paused between the two limiting guide rods of each buffer position. The two openings of each buffer position are connected to the two driving channels for the entry and exit of the door IGV.

[0005] Currently, the IGVs (Incoming Vehicles) are randomly parked in any available buffer position. To ensure orderly entry and exit of the IGVs in the buffer zone and avoid traffic conflicts, a single-lane entry principle is followed, with the two driving lanes allocated as one entry lane and one exit lane. However, this reduces the efficiency of the IGVs exiting the buffer zone. For example, when the first IGV, parked in the first buffer position, receives a navigation command, and the first buffer position is farther from the buffer zone exit than the second buffer position, the second IGV, parked in the second buffer position, also receives a navigation command as the first IGV moves towards the buffer zone exit through the exit lane. According to the navigation command, the first IGV should exit before the second IGV. If the second IGV immediately enters the exit lane, it will block the first IGV, disrupting the navigation command sequence. Therefore, the second IGV can only leave the second buffer position after the first IGV has passed the exit of the second buffer position.

[0006] Therefore, this application provides a navigation method for a smart car to exit the door buffer zone to solve the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of this application is to provide a navigation method for a smart car to exit a door buffer zone, which can solve at least one of the technical problems mentioned above. The specific solution is as follows: According to a specific embodiment of this application, in a first aspect, this application provides a navigation method for a smart car to exit a door buffer zone, comprising: Step S101: Obtain the pause duration of the target intelligent vehicle in the call-out order queue, wherein the target intelligent vehicle is paused at the target buffer position in the door buffer, and the call-out order queue includes the ranking information of each intelligent vehicle paused at the buffer position and its call-out order in the door buffer. Step S102: When the pause duration of the target intelligent vehicle exceeds the predicted pause duration, obtain the current status information of the target intelligent vehicle and the current status information of the intelligent vehicles in the two driving lanes. The intelligent vehicles in the two lanes include the intelligent vehicle that has entered the door buffer zone and the intelligent vehicle that is preparing to leave the door buffer zone in the driving lane. Step S103: Determine the navigation channel to be called up for the target intelligent vehicle based on the current status information of the target intelligent vehicle, the current status information of the prior intelligent vehicle, and the preset dual-channel driving rules. Step S104: Determine the waiting time for the target smart car relative to the higher-ranking smart car based on the ranking information in the call-out order queue, wherein the higher-ranking smart car refers to the smart car ranked one position ahead of the target smart car in the call-out order queue. Step S105: Generate a navigation command for the target intelligent vehicle based on the navigation channel and departure waiting time of the target intelligent vehicle.

[0008] Optionally, the door buffer zone includes: a buffer zone entrance, a buffer zone exit, multiple buffer positions, and two driving channels. The multiple buffer positions are divided into multiple buffer partitions, each buffer partition corresponding to a call-out level. The multiple buffer partitions are arranged sequentially from near the buffer zone exit to near the buffer zone entrance according to the call-out level, from high to low. Each buffer position includes two openings, each opening being directly connected to a driving channel. The target intelligent vehicle pauses in the buffer position of the corresponding buffer partition according to the call-out level.

[0009] Optionally, the plurality of buffer partitions includes two buffer partitions, and the call-out level includes a high priority level and a normal level; The status information of the buffer position includes at least: the lock counter value of each of the two openings, the exit channel of the corresponding opening, the preset exit channel length of the corresponding exit channel, and the preset number of exit turns, wherein the exit channel refers to the channel on the driving channel from the opening of the buffer position to the exit of the buffer zone, and the preset number of exit turns refers to the number of turns on the exit channel. The status information of the prior intelligent vehicle includes at least: call-out level, entry / exit status information, and location information; The entry / exit status information includes exit status information and entry status information.

[0010] Optionally, step S103 specifically includes: Step S103-1: When the lock counter values ​​of the two openings of the target buffer position are simultaneously reduced to zero, determine the two target exit channels directly connected to the two openings respectively, wherein the target exit channel refers to the channel on the driving channel from the opening of the target buffer position to the exit of the buffer zone; Step S103-2: Based on the prior intelligent vehicle's entry status information on each target exit channel and the prior intelligent vehicle's exit level, the preset exit channel length and preset number of exit turns corresponding to the target exit channel, and the target intelligent vehicle's exit level, obtain the path cost percentage of each of the two target exit channels, wherein the sum of the path cost percentages of the two target exit channels is equal to 1. Step S103-3: Determine the navigation channel for the target intelligent vehicle based at least on the path cost percentage of each of the two target exit channels.

[0011] Optionally, step S103-3 specifically includes: Step S103-3a: When the absolute value of the difference between the path cost percentages of the two target exit channels is greater than the preset minimum percentage difference threshold, the target exit channel corresponding to the minimum path cost percentage is determined as the navigation channel for the target intelligent vehicle.

[0012] Optionally, step S103-3 specifically includes: Step S103-3b: When the absolute value of the difference between the path cost percentages of the two target exit channels is less than or equal to a preset minimum percentage difference threshold, the other exit channel outside the exit navigation channel of the high-position intelligent vehicle is determined as the exit navigation channel of the target intelligent vehicle.

[0013] Optionally, step S104 specifically includes: Step S104a: Increment the lock counter value of each opening directly connected to the navigation channel of the target intelligent vehicle by one, and When the navigation channel of the target intelligent vehicle is completely within the navigation channel of the high-position intelligent vehicle, the waiting time for the target intelligent vehicle to depart is determined to be a preset safe waiting time when the lock counter value of the opening directly connected to the navigation channel of the target buffer position is zero.

[0014] Optionally, step S104 specifically includes: Step S104b: Increment the lock counter value of each opening directly connected to the first navigation channel of the target intelligent vehicle by one, and When the target intelligent vehicle's first navigation channel is not entirely within or entirely outside the high-position intelligent vehicle's second navigation channel, the waiting time for departure of the target intelligent vehicle relative to the high-position intelligent vehicle is obtained based on the prior intelligent vehicles' entry status information on the target intelligent vehicle's first navigation channel, the preset exit channel length and preset exit turn number of the first navigation channel, the prior intelligent vehicles' entry status information on the high-position intelligent vehicle's second navigation channel, and the high-position intelligent vehicle's third location information.

[0015] Optionally, the waiting time for the target intelligent vehicle relative to the high-position intelligent vehicle is obtained based on the entry status information of each prior intelligent vehicle on the first navigation channel of the target intelligent vehicle, the preset exit channel length and preset exit turn number of the first navigation channel, the entry status information of each prior intelligent vehicle on the second navigation channel of the high-position intelligent vehicle, the second position information, and the third position information of the high-position intelligent vehicle. Specifically, this includes: Step S104b-1: Based on the second retrieved navigation channel and the second location information, obtain the remaining navigation channel of the high-position intelligent vehicle and the remaining channel length of the remaining navigation channel; Step S104b-2: Based on the preset exit channel length and preset average speed value of the first navigation channel, obtain the first predicted basic navigation duration for the target buffer position, and The second predicted basic navigation duration of the high-position intelligent vehicle is obtained based on the remaining channel length and the preset average speed value. Step S104b-3: Based on the first predicted basic navigation duration, the entry status information of each prior intelligent vehicle on the first retrieved navigation channel, and the preset number of exit turns of the first retrieved navigation channel, obtain the first predicted navigation duration of the target intelligent vehicle, and... Based on the second predicted basic navigation duration, the entry status information of each prior intelligent vehicle on the remaining navigation channel, and the second exit turn number of the remaining navigation channel, the second predicted navigation duration of the high-position intelligent vehicle is obtained. Step S104b-4: Calculate the sum of the second predicted navigation time and the preset safe waiting time to obtain the reference time; Step S104b-5: Determine the waiting time for the target intelligent vehicle relative to the high-position intelligent vehicle based on the first predicted navigation time and the reference time.

[0016] Optionally, step S104b-5 specifically includes: Steps S104b-5a: When the first predicted navigation duration is greater than or equal to the reference duration, determine that the waiting time for the target intelligent vehicle to depart relative to the high-position intelligent vehicle is zero.

[0017] Optionally, step S104b-5 specifically includes: Steps S104b-5b: When the current predicted navigation time of the target intelligent vehicle is less than the reference time, calculate the difference between the reference time and the first predicted navigation time to obtain the waiting departure time of the target intelligent vehicle relative to the high-position intelligent vehicle.

[0018] Optionally, step S103-2 specifically includes the following formula: P =( NrⅹWr+ NpⅹWp+ NsⅹWs +NlⅹWl+NzⅹWz ) / Ac ; in, P This represents the percentage of the path cost for any target exiting the passage. Nr This indicates the number of prior intelligent vehicles with entry status information on the target exit channel. Wr The weight value represents the number of existing intelligent vehicles. Np This indicates the number of ordinary-level pre-existing intelligent vehicles on the exit channel of the target vehicle. Wp This represents the weight value indicating the number of existing ordinary-level intelligent vehicles. Ns This indicates the retrieval level of the target intelligent vehicle. Ws This represents the weight value of the call-out level of the target intelligent vehicle. Nl This indicates the preset exit lane length of the target exit lane. Wl The weight value represents the preset exit channel length of the target exit channel. Nz This indicates the preset number of exit turns for the target exit lane. Wz This represents a weight value indicating the preset number of exit turns for the target exit lane. Ac This represents the total path cost.

[0019] Optionally, the preset dual-channel driving rule includes at least the following: both driving channels are capable of allowing intelligent vehicles to enter and exit the door buffer zone, and the intelligent vehicles driving in the driving channels all travel in one direction, that is, from the buffer zone entrance of the door buffer zone to the buffer zone exit of the door buffer zone.

[0020] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: This application provides a navigation method for an intelligent vehicle to exit a door buffer zone. When the pause duration of the target intelligent vehicle exceeds the predicted pause duration, the current state information of the target intelligent vehicle and the current state information of the preceding intelligent vehicles in the two driving lanes are obtained. The navigation channel for the target intelligent vehicle is determined based on the current state information of the target intelligent vehicle, the current state information of the preceding intelligent vehicles, and preset dual-lane driving rules. The waiting time for the target intelligent vehicle relative to the higher-ranking intelligent vehicle is determined based on the ranking information in the retrieval sequence queue. A retrieval navigation command for the target intelligent vehicle is generated based on the retrieval navigation channel and the waiting time. By controlling the orderly driving of the intelligent vehicle in the two driving lanes through the retrieval sequence queue, the utilization rate of the two driving lanes is improved. One-way driving within the same driving lane eliminates linear conflict problems. Controlling the timing of the intelligent vehicle's exit from the buffer zone through the waiting time avoids conflicts between vehicles entering and exiting the door buffer zone, making the navigation decision logic simpler and improving the exit efficiency of the intelligent vehicle. Attached Figure Description

[0021] Figure 1 A flowchart is shown for a navigation method for a smart car to exit a door buffer zone according to an embodiment of this application; Figure 2 A plan view of the door buffer zone according to an embodiment of this application is shown; Explanation of reference numerals in the attached figures: 11-Door buffer zone, 12-Buffer position, 13-Driving passage, 14-Limit guide rod, 15-Opening, 16-Buffer zone entrance, 17-Buffer zone exit. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0024] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0025] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0026] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0027] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0028] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0029] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0030] The embodiments provided in this application are embodiments of a navigation method for a smart car to exit a door buffer zone.

[0031] The following is combined Figure 1 The embodiments of this application will be described in detail.

[0032] Step S101: Obtain the pause duration of the target smart car in the call-out sequence queue.

[0033] The intelligent vehicle can be an Automated Guided Vehicle (AGV) or an Infinite Vehicle (IGV).

[0034] The target intelligent vehicle is paused at the target buffer position in the door buffer zone, and the call-out order queue includes the rank information of each intelligent vehicle paused at the buffer position for calling out of the door buffer zone.

[0035] The vehicle door buffer zone includes a buffer zone entrance, a buffer zone exit, multiple buffer positions, and two driving channels. The multiple buffer positions are divided into multiple buffer partitions, each corresponding to a call-out level. The multiple buffer partitions are arranged sequentially from near the buffer zone exit to near the buffer zone entrance according to the call-out level, from high to low. Each buffer position includes two openings, each of which is directly connected to a driving channel. The target intelligent vehicle pauses in the buffer position of the corresponding buffer partition according to the call-out level.

[0036] like Figure 2 As shown, the door buffer zone 11 includes multiple buffer positions 12 and two driving channels 13. The multiple buffer positions 12 are arranged longitudinally side by side. Each buffer position 12 is provided with two limiting guide rods 14. The two limiting guide rods 14 are respectively arranged on the lateral sides of the buffer position 12. The two limiting guide rods 14 form openings 15 at the longitudinal ends of the buffer position 12. A smart car can be temporarily parked between the two limiting guide rods 14 of each buffer position 12. The two openings 15 of each buffer position 12 are respectively connected to the two driving channels 13 for the smart car to enter and exit the buffer position 12.

[0037] The "recall level" represents the relative urgency of a paused smart car being recalled from the door buffer zone.

[0038] The exit level is determined based on the current production task before the intelligent vehicle enters the door buffer zone. The intelligent vehicle pauses in the corresponding buffer zone according to its exit level. For example, the door buffer zone is divided into five buffer zones: buffer zone 1, buffer zone 2, buffer zone 3, buffer zone 4, and buffer zone 5. Buffer zone 1 corresponds to the first exit level, buffer zone 2 to the second exit level, buffer zone 3 to the third exit level, buffer zone 4 to the fourth exit level, and buffer zone 5 to the fifth exit level. The first exit level is the highest, and the fifth exit level is the lowest. The five buffer zones are arranged in descending order of exit level, with buffer zone 1 closest to the buffer zone exit and buffer zone 5 closest to the buffer zone entrance. This arrangement of buffer zones across multiple exit levels allows the intelligent vehicle to pause in descending order of exit level, ensuring that higher-level intelligent vehicles can quickly exit the door buffer zone during exit, thereby improving the exit efficiency of higher-level intelligent vehicles.

[0039] The sequential queue is generated based on production tasks.

[0040] Production tasks are generated based on the production plan and schedule, assigning intelligent vehicles to transport production materials (such as vehicle doors). Production tasks change as the production plan and / or schedule changes. For example, if the production schedule of an assembly island requiring vehicle doors is delayed, the production task will also be delayed. The order of intelligent vehicles in the recall queue changes according to the changes in production tasks. The recall queue follows a first-in, first-out (FIFO) principle. For example, the recall queue O = [O1, O2, ..., Om], where O1 is the first intelligent vehicle to be recalled, O2 is the second, and so on.

[0041] By acquiring production tasks periodically, the system obtains the call-out order queue and the corresponding pause duration of each intelligent vehicle paused in the buffer position within the door buffer zone, ensuring that the call-out order queue and predicted pause duration can match the changes in actual production tasks.

[0042] The pause duration is counted starting after the smart car stops in the buffer zone.

[0043] The order in which the intelligent vehicle is retrieved can be established when the intelligent vehicle enters the door buffer zone, or it can be established after the intelligent vehicle stops in the buffer position; this application is not limited to this.

[0044] Step S102: When the pause duration of the target intelligent vehicle exceeds the predicted pause duration, obtain the current status information of the target intelligent vehicle and the current status information of the preceding intelligent vehicles on the two driving lanes.

[0045] In this specific embodiment, the intelligent vehicle follows a preset dual-channel driving rule when exiting and entering the door buffer zone.

[0046] The preset dual-channel driving rule includes at least the following: both driving channels are capable of allowing intelligent vehicles to enter and exit the door buffer zone, and the intelligent vehicles driving in the driving channels all travel in one direction, that is, from the buffer zone entrance of the door buffer zone to the buffer zone exit of the door buffer zone.

[0047] Therefore, the prior intelligent vehicle includes an intelligent vehicle that has entered the door buffer zone and an intelligent vehicle that is preparing to leave the door buffer zone on the driving channel.

[0048] The predicted pause duration is based on the production task after the target intelligent vehicle stops at the target buffer position.

[0049] In this embodiment, the intelligent vehicle follows a preset dual-channel driving rule when driving in the door buffer zone.

[0050] The preset dual-channel driving rule includes at least the following: both driving channels are capable of allowing intelligent vehicles to enter and exit the door buffer zone, and the intelligent vehicles driving in the driving channels all travel in one direction, that is, from the buffer zone entrance of the door buffer zone to the buffer zone exit of the door buffer zone.

[0051] In this embodiment, the single-lane entry rule in the prior art is modified to a preset dual-lane driving rule, enabling both driving lanes to allow smart cars to enter and exit the door buffer zone. This improves the utilization rate of the two driving lanes. The unidirectional driving within the same driving lane in the preset dual-lane driving rule eliminates opposing conflicts. The exit navigation only needs to handle the linear conflict problem of overlapping paths of smart cars exiting the same driving lane, as well as the timing problem of exiting the buffer zone. This avoids conflicts between smart cars exiting and entering, making the navigation decision logic simpler and improving the exit efficiency of smart cars.

[0052] Step S102: When the pause duration of the target intelligent vehicle exceeds the predicted pause duration, obtain the current status information of the target intelligent vehicle and the current status information of the preceding intelligent vehicles on the two driving lanes.

[0053] Priority intelligent vehicles refer to intelligent vehicles that travel on driving lanes.

[0054] The aforementioned intelligent vehicle includes an intelligent vehicle that has entered the door buffer zone and an intelligent vehicle that is preparing to leave the door buffer zone on the driving channel.

[0055] Step S103: Determine the navigation channel to be called up for the target intelligent vehicle based on the current status information of the target intelligent vehicle, the current status information of the prior intelligent vehicle, and the preset dual-channel driving rules.

[0056] The navigation channel refers to the passage from the buffer position where the intelligent vehicle is paused in the driving channel to the exit of the buffer zone.

[0057] In some specific embodiments, the plurality of buffer partitions includes two buffer partitions, and the call-out level includes a high priority level and a normal level. The high priority level has a higher urgency than the normal level level.

[0058] The status information of the buffer position includes at least: the lock counter value of each of the two openings, the exit channel of the corresponding opening, the preset exit channel length of the corresponding exit channel, and the preset number of exit turns, wherein the exit channel refers to the channel on the driving channel from the opening of the buffer position to the exit of the buffer zone, and the preset number of exit turns refers to the number of turns on the exit channel.

[0059] The lock counter value is stored in the lock counter. When the intelligent vehicle, paused in the buffer position, prepares to enter the driving lane, it increments the lock counter value of the opening of the buffer position ahead of the driving lane by one; when the intelligent vehicle passes through an opening, it decrements the lock counter value of that opening by one; when the lock counter value of an opening is equal to zero, it indicates that the intelligent vehicle has passed through the opening and is heading towards the buffer exit. If the intelligent vehicle is paused in the buffer position of that opening, it can leave the buffer position from that opening. If an opening is an empty buffer position, the lock counter value of that opening does not affect the intelligent vehicle's entry into the empty buffer position.

[0060] The status information of the prior intelligent vehicle includes at least: call-out level, entry / exit status information, and location information.

[0061] The entry / exit status information includes exit status information and entry status information.

[0062] In some specific embodiments, step S103 specifically includes: Step S103-1: When the lock counter values ​​of the two openings of the target buffer position are simultaneously reduced to zero, it is determined that the two openings are directly connected to the two target exit channels.

[0063] The target exit channel refers to the channel on the driving channel from the opening of the target buffer position to the exit of the buffer zone.

[0064] The lock counter values ​​of the two openings of the target buffer position are simultaneously reduced to zero, which can be understood as the target intelligent vehicle being able to choose any one of the two openings of the target buffer position to enter the driving channel.

[0065] The exit channel of a target directly connected to the opening can be understood as the exit channel of the target that is closest to the opening among the two exit channels.

[0066] Step S103-2: Based on the prior intelligent vehicle's entry status information on each target exit channel and the prior intelligent vehicle's exit level, the preset exit channel length and preset number of exit turns corresponding to the target exit channel, and the target intelligent vehicle's exit level, obtain the path cost percentage for each of the two target exit channels.

[0067] The sum of the path cost percentages for each of the two target exit channels is equal to 1.

[0068] Path cost percentage refers to the percentage of the path cost of the destination exiting the route relative to the total path cost.

[0069] Path cost represents the difficulty of exiting the door buffer zone through the target exit passage.

[0070] The more intelligent vehicles with entry status information on the target exit lane, the higher the path cost; the more ordinary-level intelligent vehicles on the target exit lane, the higher the path cost; the lower the exit level of the target intelligent vehicle, the higher the path cost; the longer the preset exit lane length of the target exit lane, the higher the path cost; the more preset exit turns in the target exit lane, the higher the path cost.

[0071] Total path cost refers to the sum of the path costs of the two destinations exiting the passage.

[0072] In some specific embodiments, step S103-2 specifically includes the following formula: P =( NrⅹWr+ NpⅹWp+ NsⅹWs +NlⅹWl+NzⅹWz ) / Ac ; in, P This represents the percentage of the path cost for any target exiting the passage. Nr This indicates the number of prior intelligent vehicles with entry status information on the target exit channel. Wr The weight value represents the number of existing intelligent vehicles. Np This indicates the number of ordinary-level pre-existing intelligent vehicles on the exit channel of the target vehicle. Wp This represents the weight value indicating the number of existing ordinary-level intelligent vehicles. Ns This indicates the retrieval level of the target intelligent vehicle. WsThis represents the weight value of the call-out level of the target intelligent vehicle. Nl This indicates the preset exit lane length of the target exit lane. Wl The weight value represents the preset exit channel length of the target exit channel. Nz This indicates the preset number of exit turns for the target exit lane. Wz This represents a weight value indicating the preset number of exit turns for the target exit lane. Ac This represents the total path cost.

[0073] in, Wr, Wp, Wl and Wz All are experience values. The recall level is represented by a number. The higher the recall level, the lower the number, and vice versa. For example, the number 1 indicates high priority, and the number 2 indicates normal level.

[0074] The numerator in the above formula represents the path cost of any single target exiting the passage. The total path cost is the sum of the path costs of multiple targets exiting the passage. For example, if there are two target exit passages, the path cost of the first target exiting the passage is... P1 The path cost for the second objective to exit the passage is P2 ,but Ac = P1 + P2 .

[0075] Step S103-3: Determine the navigation channel for the target intelligent vehicle based at least on the path cost percentage of each of the two target exit channels.

[0076] In some specific embodiments, step S103-3 specifically includes: Step S103-3a: When the absolute value of the difference between the path cost percentages of the two target exit channels is greater than the preset minimum percentage difference threshold, the target exit channel corresponding to the minimum path cost percentage is determined as the navigation channel for the target intelligent vehicle.

[0077] In this specific embodiment, if the absolute value of the difference between the path cost percentages of the two exit channels is greater than the preset minimum percentage difference threshold, it indicates that the path costs of the two exit channels differ significantly. In this case, the target path cost percentage is determined by the minimum value of the path cost percentages of the two exit channels.

[0078] In some specific embodiments, step S103-3 specifically includes: Step S103-3b: When the absolute value of the difference between the path cost percentages of the two target exit channels is less than or equal to a preset minimum percentage difference threshold, the other exit channel outside the exit navigation channel of the high-position intelligent vehicle is determined as the exit navigation channel of the target intelligent vehicle.

[0079] The high-position intelligent vehicle refers to the intelligent vehicle that is positioned one position ahead of the target intelligent vehicle in the dispatch sequence queue.

[0080] For example, in the queue of retrieved vehicles, the target intelligent vehicle is ranked 10, the high-ranking intelligent vehicle is ranked 9, and the high-ranking intelligent vehicle is the last intelligent vehicle to enter the driving channel before the current time point.

[0081] In this specific embodiment, if the absolute value of the difference in the percentage of path cost between the two exit channels of the target buffer position is less than or equal to a preset minimum percentage difference threshold, it indicates that the path costs of the two exit channels are not significantly different. Therefore, the navigation channel for the target intelligent vehicle is separated from the navigation channel for the higher-position intelligent vehicle. This ensures that the two adjacent intelligent vehicles in the exit positions are evenly distributed across the two driving channels, reducing path overlap and guaranteeing that the intelligent vehicles can efficiently exit the buffer zone.

[0082] Step S104: Determine the waiting time for the target intelligent vehicle relative to the higher-ranking intelligent vehicle based on the ranking information in the call-out order queue.

[0083] The high-position intelligent vehicle refers to the intelligent vehicle that is positioned one position ahead of the target intelligent vehicle in the dispatch sequence queue.

[0084] The waiting time is used to control the time it takes for the target intelligent vehicle to leave the buffer position, ensuring that the higher-position intelligent vehicle can reach the buffer exit before the target intelligent vehicle, and ensuring that the target intelligent vehicle leaves the buffer exit in sequence after the higher-position intelligent vehicle, so that the order in which the higher-position intelligent vehicle and the target intelligent vehicle leave the buffer exit is consistent with the order of their arrangement in the call-out sequence queue.

[0085] In some specific embodiments, step S104 specifically includes: Step S104a: Increment the lock counter value of each opening directly connected to the navigation channel of the target intelligent vehicle by one, and when the navigation channel of the target intelligent vehicle is completely within the navigation channel of the high-position intelligent vehicle, determine that the waiting time for the target intelligent vehicle to depart when the lock counter value of the opening directly connected to the navigation channel of the target buffer position is zero is a preset safe waiting time.

[0086] The setting of incrementing the lock counter value of each opening directly connected to the first navigation channel of the target smart car can be understood as locking each opening directly connected to the navigation channel of the target smart car (i.e., incrementing the lock counter value). If the target smart car does not pass through any locked opening, the opening cannot be unlocked; if the target smart car passes through any locked opening, the lock counter value of that opening is unlocked (i.e., the lock counter value is decremented).

[0087] The navigation channel of the target intelligent vehicle is entirely within the navigation channel of the high-position intelligent vehicle. This can be understood as the target intelligent vehicle and the target intelligent vehicle using the same driving channel, and the length of the target intelligent vehicle's navigation channel is shorter than that of the high-position intelligent vehicle's navigation channel.

[0088] When the lock counter value of the opening directly connected to the target buffer position and the navigation channel is zero, it means that the intelligent vehicle (including the high-ranking intelligent vehicle) that needs to pass through the opening in the retrieval sequence queue and is ranked before the target intelligent vehicle has already passed through the opening, and the target intelligent vehicle can enter its retrieval navigation channel through the opening. In the retrieval sequence queue, the high-ranking intelligent vehicle is the last high-ranking intelligent vehicle to pass through the target buffer position opening, followed by the target intelligent vehicle.

[0089] The waiting time for the target intelligent vehicle is a preset safe waiting time. This can be understood as follows: after the higher-position intelligent vehicle passes the opening of the target buffer zone (i.e., the lock counter value of the target buffer zone opening is zero), the target intelligent vehicle waits for the preset safe waiting time before executing the navigation command. This ensures that the higher-position intelligent vehicle and the target intelligent vehicle maintain a safe distance while traveling in the same lane, guaranteeing the orderly and safe departure of both intelligent vehicles. This avoids the drawback of requiring the higher-position intelligent vehicle to exit the buffer zone before executing the navigation command for the next intelligent vehicle, reduces the distance between adjacent intelligent vehicles in the same lane, and improves departure efficiency.

[0090] In some specific embodiments, step S104 specifically includes: Step S104b: Increment the lock counter value of each opening directly connected to the first navigation channel of the target intelligent vehicle by one. When the first navigation channel of the target intelligent vehicle is not completely within or completely outside the second navigation channel of the high-position intelligent vehicle, based on the entry status information of each prior intelligent vehicle on the first navigation channel of the target intelligent vehicle, the preset exit channel length and preset exit turn number of the first navigation channel, the entry status information of each prior intelligent vehicle on the second navigation channel of the high-position intelligent vehicle, and the third position information of the high-position intelligent vehicle, obtain the waiting departure time of the target intelligent vehicle relative to the high-position intelligent vehicle.

[0091] The first navigation channel of the target intelligent vehicle is not entirely within the second navigation channel of the high-position intelligent vehicle. This can be understood as follows: although the first navigation channel and the second navigation channel are in the same driving channel, the first navigation channel is longer than the second navigation channel.

[0092] The target intelligent vehicle's first navigation channel is completely outside the second navigation channel of the high-position intelligent vehicle. This can be understood as the high-position intelligent vehicle's navigation channel and the target intelligent vehicle's navigation channel belonging to two separate driving lanes. Therefore, it is necessary to determine the target intelligent vehicle's waiting time to ensure that both the high-position and target intelligent vehicles can exit the buffer zone exit in an orderly manner.

[0093] In some specific embodiments, the waiting time for the target intelligent vehicle relative to the high-position intelligent vehicle is obtained based on the entry status information of each prior intelligent vehicle on the first navigation channel of the target intelligent vehicle, the preset exit channel length and preset number of exit turns of the first navigation channel, the entry status information of each prior intelligent vehicle on the second navigation channel of the high-position intelligent vehicle, the second position information, and the third position information of the high-position intelligent vehicle. Specifically, this includes: Step S104b-1: Based on the second retrieved navigation channel and the second location information, obtain the remaining navigation channel of the high-position intelligent vehicle and the remaining channel length of the remaining navigation channel.

[0094] In this specific embodiment, the high-position intelligent vehicle is executing a navigation retrieval command, meaning the high-position intelligent vehicle is on the driving lane.

[0095] The location information of the high-position intelligent vehicle is located on the navigation channel of the high-position intelligent vehicle.

[0096] The remaining navigation channel refers to the channel on the navigation channel from the current location information of the high-position intelligent vehicle to the exit of the buffer zone.

[0097] Step S104b-2: Calculate the quotient of the preset exit channel length and the preset average speed value of the first navigation channel to obtain the first predicted basic navigation time of the target buffer position, and calculate the quotient of the remaining channel length and the preset average speed value to obtain the second predicted basic navigation time of the high-position intelligent vehicle.

[0098] The preset average speed value can be the average of several recent historical driving speed values.

[0099] For example, the preset average speed is 1m / s, the preset exit channel length of the first navigation channel is 10m, and the first predicted basic navigation duration is 10m / (1m / s) = 10s; the remaining channel length is 3m, and the second predicted basic navigation duration is 3m / (1m / s) = 3s.

[0100] Step S104b-3: Based on the first predicted basic navigation duration, the entry status information of each prior intelligent vehicle on the first navigation channel, and the preset number of exit turns of the first navigation channel, obtain the first predicted navigation duration of the target intelligent vehicle; and based on the second predicted basic navigation duration, the entry status information of each prior intelligent vehicle on the remaining navigation channel, and the second number of exit turns of the remaining navigation channel, obtain the second predicted navigation duration of the high-position intelligent vehicle.

[0101] In some specific embodiments, the first predicted navigation time of the target intelligent vehicle is obtained based on the first predicted basic navigation time, the entry status information of each prior intelligent vehicle on the first retrieved navigation channel, and the preset number of exit turns of the first retrieved navigation channel. This specifically includes the following formula: T 1 = T 01 +N r1 ⅹT r + N z1 ⅹT z ; in, T 1 Indicates the first predicted navigation duration. T 01 This indicates the first predicted basic navigation duration. N r1 This indicates the number of prior intelligent vehicles whose driving status information was retrieved from the first navigation channel. T r Indicates the preset entry time ，N z1 This indicates the preset number of turns to exit from the first navigation channel. T z This indicates the preset turning time.

[0102] In some specific embodiments, the second predicted navigation time of the high-position intelligent vehicle is obtained based on the second predicted basic navigation time, the entry status information of each prior intelligent vehicle on the remaining navigation channel, and the second exit turn number of the remaining navigation channel. This specifically includes the following formula: T 2 = T 02 +N r2 ⅹT r + Nz2 ⅹT z ; in, T 2 Indicates the first predicted navigation duration. T 02 This indicates the first predicted basic navigation duration. N r2 This indicates the number of prior intelligent vehicles whose driving status information was retrieved from the first navigation channel. T r Indicates the preset entry time ，N z2 This indicates the preset number of turns to exit from the first navigation channel. T z This indicates the preset turning time.

[0103] Step S104b-4: Calculate the sum of the second predicted navigation time and the preset safe waiting time to obtain the reference time.

[0104] Step S104b-5: Determine the waiting time for the target intelligent vehicle relative to the high-position intelligent vehicle based on the first predicted navigation time and the reference time.

[0105] In some specific embodiments, step S104b-5 specifically includes: Steps S104b-5a: When the first predicted navigation duration is greater than or equal to the reference duration, determine that the waiting time for the target intelligent vehicle to depart relative to the high-position intelligent vehicle is zero.

[0106] In this specific embodiment, if the first predicted navigation duration of the target intelligent vehicle is greater than or equal to the reference duration, it indicates that the target intelligent vehicle's position lags behind the position of the higher-position intelligent vehicle, and the time difference between the target intelligent vehicle and the higher-position intelligent vehicle exceeds the preset safe waiting time. Since the higher-position intelligent vehicle's ranking in the retrieval sequence queue is only before the target intelligent vehicle, if the higher-position intelligent vehicle can enter the driving channel, there will be no intelligent vehicle with a higher ranking than the target intelligent vehicle behind the driving channel the target intelligent vehicle intends to enter. Therefore, the lock counter value of the target buffer position and the opening of the retrieval navigation channel must be zero. The target intelligent vehicle does not need to wait and can directly enter the retrieval navigation channel after the higher-position intelligent vehicle leaves the buffer position; that is, the target intelligent vehicle's waiting departure time is equal to zero. In other words, the target intelligent vehicle can execute the retrieval navigation command without waiting when the lock counter value of the opening directly connected to the target buffer position and the retrieval navigation channel is zero. This method ensures the orderly and safe deployment of two intelligent vehicles, avoids the drawback of having to execute the deployment navigation command for the next intelligent vehicle only after the higher-positioned intelligent vehicle has exited the buffer zone, reduces the distance between two adjacent intelligent vehicles on the same driving lane, and improves deployment efficiency.

[0107] In some specific embodiments, step S104b-5 specifically includes: Steps S104b-5b: When the current predicted navigation time of the target intelligent vehicle is less than the reference time, calculate the difference between the reference time and the first predicted navigation time to obtain the waiting departure time of the target intelligent vehicle relative to the high-position intelligent vehicle.

[0108] In this specific embodiment, if the first predicted navigation time of the target intelligent vehicle is less than the reference time, it indicates that the target intelligent vehicle's position is closer to the buffer zone exit than the position of the higher-ranking intelligent vehicle. During this waiting departure time, the higher-ranking intelligent vehicle will pass through the opening between the target buffer position and the target intelligent vehicle's navigation access channel. In the access sequence queue, the higher-ranking intelligent vehicle is the last high-ranking intelligent vehicle to pass through the target buffer position opening, followed by the target intelligent vehicle. That is, after the higher-ranking intelligent vehicle passes through the opening, there will be no intelligent vehicle with a higher ranking than the target intelligent vehicle behind the driving channel that the target intelligent vehicle wants to enter. Therefore, the lock counter value of the opening of the target buffer position and the navigation access channel must be zero. After waiting for the higher-ranking intelligent vehicle to enter the driving channel, the target intelligent vehicle can execute the navigation access command after the waiting departure time. This method ensures the orderly and safe deployment of two intelligent vehicles, avoids the drawback of having to execute the deployment navigation command for the next intelligent vehicle only after the higher-positioned intelligent vehicle has exited the buffer zone, reduces the distance between two adjacent intelligent vehicles on the same driving lane, and improves deployment efficiency.

[0109] Step S105: Generate a navigation command for the target intelligent vehicle based on the navigation channel and departure waiting time of the target intelligent vehicle.

[0110] In this embodiment, when the pause duration of the target intelligent vehicle exceeds the predicted pause duration, the current state information of the target intelligent vehicle and the current state information of the preceding intelligent vehicles in the two driving lanes are obtained. The navigation channel for the target intelligent vehicle is determined based on the current state information of the target intelligent vehicle, the current state information of the preceding intelligent vehicles, and a preset dual-lane driving rule. The waiting time for the target intelligent vehicle relative to the higher-ranking intelligent vehicle is determined based on the ranking information in the calling-out sequence queue. A calling-out navigation command for the target intelligent vehicle is generated based on the calling-out navigation channel and the waiting time. By controlling the orderly driving of the intelligent vehicle in the two driving lanes through the calling-out sequence queue, the utilization rate of the two driving lanes is improved. One-way driving in the same driving lane eliminates linear conflict problems. Controlling the timing of the intelligent vehicle leaving the buffer position through the waiting time avoids conflicts between vehicles entering and exiting the door buffer zone, making the navigation decision logic simpler and improving the departure efficiency of the intelligent vehicle.

[0111] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0112] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A navigation method for an intelligent vehicle to exit a door buffer zone, characterized in that, The method comprises the following steps: Step S101, obtaining the suspension duration of a target intelligent vehicle in a call-out sequence queue, wherein the target intelligent vehicle is suspended at a target buffer position in a door buffer area, and the call-out sequence queue comprises ranking information of intelligent vehicles suspended at buffer positions and calling out the door buffer area; Step S102, when the suspension duration of the target intelligent vehicle exceeds a predicted suspension duration, obtaining current state information of the target intelligent vehicle and current state information of preceding intelligent vehicles on two driving channels, wherein the preceding intelligent vehicles include intelligent vehicles driving into the door buffer area and intelligent vehicles preparing to drive away from the door buffer area on the driving channels; Step S103, determining a call-out navigation channel of the target intelligent vehicle based on the current state information of the target intelligent vehicle, the current state information of the preceding intelligent vehicles, and a preset double-channel driving rule; Step S104, determining a waiting departure duration of the target intelligent vehicle relative to a high-position intelligent vehicle based on the ranking information in the call-out sequence queue, wherein the high-position intelligent vehicle refers to an intelligent vehicle arranged in front of the target intelligent vehicle in the call-out sequence queue; Step S105, generating a call-out navigation instruction of the target intelligent vehicle based on the call-out navigation channel and the waiting departure duration of the target intelligent vehicle.

2. The method of claim 1, wherein, The door buffer area comprises a buffer area entrance, a buffer area exit, a plurality of buffer positions, and two driving channels. The plurality of buffer positions are divided into a plurality of buffer subareas, the buffer subareas correspond to call-out levels one by one, and the plurality of buffer subareas are sequentially arranged from the vicinity of the buffer area exit to the vicinity of the buffer area entrance according to the call-out levels from high to low. The buffer position comprises two openings, and the openings are directly connected with the driving channels. The target intelligent vehicle is suspended in the buffer position of the corresponding buffer subarea according to the call-out level.

3. The method of claim 2, wherein the plurality of buffer subareas comprise two buffer subareas, and the call-out levels comprise a high priority and an ordinary level; the state information of the buffer position at least comprises a lock counter value of each of the two openings, a driving-out channel corresponding to the opening, a preset driving-out channel length corresponding to the driving-out channel, and a preset driving-out turning number, wherein the driving-out channel refers to a channel on the driving channel from the opening of the buffer position to the buffer area exit, and the preset driving-out turning number refers to a turning number on the driving-out channel; the state information of the preceding intelligent vehicle at least comprises a call-out level, entry and exit state information, and position information; the entry and exit state information comprises driving-out state information and driving-in state information.

4. The method of claim 3, wherein, Step S103 specifically comprises: Step S103-1, when the lock counter values of the two openings of the target buffer position are simultaneously reduced to zero, determining two target driving-out channels directly connected with the two openings, respectively, wherein the target driving-out channel refers to a channel on the driving channel from the opening of the target buffer position to the buffer area exit. Step S103-2, based on each preceding intelligent vehicle on the target exit lane, the exit level of the preceding intelligent vehicle, the preset exit lane length and preset exit turn number of the corresponding target exit lane, and the exit level of the target intelligent vehicle, obtaining the path cost percentage of each of the two target exit lanes, wherein the sum of the path cost percentages of the two target exit lanes is equal to 1. Step S103-3, determining the exit navigation lane of the target intelligent vehicle based on at least the path cost percentage of each of the two target exit lanes.

5. The method of claim 4, wherein, Step S103-3 specifically includes: Step S103-3a, when the absolute value of the difference between the path cost percentages of the two target exit lanes is greater than a preset minimum percentage difference threshold, determining the target exit lane corresponding to the minimum path cost percentage as the exit navigation lane of the target intelligent vehicle.

6. The method of claim 4, wherein, Step S103-3 specifically includes: Step S103-3b, when the absolute value of the difference between the path cost percentages of the two target exit lanes is less than or equal to the preset minimum percentage difference threshold, determining the other exit lane outside the exit navigation lane of the high-level intelligent vehicle as the exit navigation lane of the target intelligent vehicle.

7. The method of claim 6, wherein, Step S104 specifically includes: Step S104a, setting the lock counter value of each opening directly connected to the exit navigation lane of the target intelligent vehicle to one, and When the exit navigation lane of the target intelligent vehicle is completely within the exit navigation lane of the high-level intelligent vehicle, determining that the waiting departure time length of the target intelligent vehicle is a preset safe waiting time length when the lock counter value of the opening directly connected to the exit navigation lane of the target buffer position is zero.

8. The method of claim 6, wherein, Step S104 specifically includes: Step S104b, setting the lock counter value of each opening directly connected to the first exit navigation lane of the target intelligent vehicle to one, and When the first exit navigation lane of the target intelligent vehicle is not completely within or not at all within the second exit navigation lane of the high-level intelligent vehicle, based on each preceding intelligent vehicle on the target exit lane, the preset exit lane length and preset exit turn number of the first exit navigation lane of the target intelligent vehicle, and each preceding intelligent vehicle and second position information on the second exit navigation lane of the high-level intelligent vehicle, the third position information of the high-level intelligent vehicle, obtaining the waiting departure time length of the target intelligent vehicle relative to the high-level intelligent vehicle.

9. The method of claim 8, wherein, The target intelligent vehicle relative to the high-level intelligent vehicle, based on each preceding intelligent vehicle on the target exit lane, the preset exit lane length and preset exit turn number of the first exit navigation lane of the target intelligent vehicle, and each preceding intelligent vehicle and second position information on the second exit navigation lane of the high-level intelligent vehicle, the third position information of the high-level intelligent vehicle, obtaining the waiting departure time length of the target intelligent vehicle relative to the high-level intelligent vehicle, specifically includes: Step S104b-1, obtaining the remaining navigation channel of the high-level intelligent vehicle and the remaining channel length of the remaining navigation channel based on the second call-out navigation channel and the second position information; Step S104b-2, obtaining the first predicted basic navigation time length of the target buffer position based on the preset driving-out channel length and the preset average speed value of the first call-out navigation channel, and obtaining the second predicted basic navigation time length of the high-level intelligent vehicle based on the remaining channel length and the preset average speed value; Step S104b-3, obtaining the first predicted navigation time length of the target intelligent vehicle based on the first predicted basic navigation time length, the preceding intelligent vehicle on the first call-out navigation channel in the entering state information, and the preset driving-out turn number of the first call-out navigation channel, and obtaining the second predicted navigation time length of the high-level intelligent vehicle based on the second predicted basic navigation time length, the preceding intelligent vehicle on the remaining navigation channel in the entering state information, and the second driving-out turn number of the remaining navigation channel; Step S104b-4, calculating the sum of the second predicted navigation time length and the preset safety waiting time length to obtain a reference time length; Step S104b-5, determining the waiting departure time length of the target intelligent vehicle relative to the high-level intelligent vehicle based on the first predicted navigation time length and the reference time length.

10. The method of claim 9, wherein, Step S104b-5 specifically includes: Step S104b-5a, when the first predicted navigation time length is greater than or equal to the reference time length, determining that the waiting departure time length of the target intelligent vehicle relative to the high-level intelligent vehicle is equal to zero.

11. The method of claim 9, wherein, Step S104b-5 specifically includes: Step S104b-5b, when the current predicted navigation time length of the target intelligent vehicle is less than the reference time length, calculating the difference between the reference time length and the first predicted navigation time length to obtain the waiting departure time length of the target intelligent vehicle relative to the high-level intelligent vehicle.

12. The method of claim 3, wherein, Step S103-2 specifically includes the following formula: P =（ Nr x Wr+ Np x Wp+ Ns x Ws +Nl x Wl+Nz x Wz ） / Ac ； wherein, P represents the path cost percentage of any target exit lane, Nr represents the number of preceding intelligent cars on the target exit lane in the entering state information, Wr represents the weight value of the number of preceding intelligent cars, Np represents the number of ordinary-level preceding intelligent cars on the target exit lane, Wp represents the weight value of the number of ordinary-level preceding intelligent cars, Ns represents the call-out level of the target intelligent car, Ws represents the weight value of the call-out level of the target intelligent car, Nl represents the preset exit lane length of the target exit lane, Wl represents the weight value of the preset exit lane length of the target exit lane, Nz represents the preset number of exit turns of the target exit lane, and Wz represents the weight value of the preset number of exit turns of the target exit lane, Ac represents the total path cost.

13. The method of claim 1, wherein, The preset double-channel driving rule at least includes: the intelligent vehicles capable of driving into the vehicle door buffer area and driving out of the vehicle door buffer area on the two driving channels, and the intelligent vehicles driving on the driving channel all drive in one direction, i.e. from the buffer area entrance of the vehicle door buffer area to the buffer area exit of the vehicle door buffer area.

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