A two-way single-lane automatic passing method, device and medium

Abstract

The application discloses a two-way single-lane automatic meeting method, equipment and medium, and provides a chamber automatic meeting scheme suitable for a two-way single-lane underground mine environment. Through the combination of logical interval division, vehicle interval positioning and dynamic signal lamp control, stable, orderly, safe and efficient meeting of underground vehicles in the two-way single-lane environment can be realized, and scheduling confusion and safety hazards caused by manual intervention can be avoided.

Description

Technical Field

[0001] This application relates to the field of traffic control, and in particular to a method, apparatus and medium for automatic passing of vehicles on a two-way single-lane road. Background Technology

[0002] Currently, underground transportation systems generally adopt a two-way single-lane structure, with chambers set up at appropriate locations for temporary passing. Traditional passing methods mainly rely on manual scheduling or voice prompts, lacking systematic control logic and automation, resulting in the following main defects in existing underground chamber passing scheduling technology:

[0003] 1. Delayed information transmission: Dispatch instructions rely on manual transmission, communication conditions are poor, and responses are not timely;

[0004] 2. Insufficient basis for judgment: Drivers have difficulty accurately judging the status of oncoming vehicles when visibility is low or their line of sight is obstructed;

[0005] 3. Disorganized scheduling logic: When multiple chambers coexist, the lack of a unified scheduling mechanism can easily lead to "roaming" behavior.

[0006] 4. Significant safety hazards: Frequent collisions between vehicles may lead to vehicle congestion, road blockages, or even collisions.

[0007] 5. Low level of automation: Existing technologies are mostly auxiliary prompting systems, lacking closed-loop control mechanisms;

[0008] 6. Lack of strategy support: Unable to dynamically schedule tasks based on factors such as priority, task type, and historical waiting time;

[0009] 7. Lack of abnormal handling mechanism: No safety mechanisms such as timeout alarm or forced access control are set up. Summary of the Invention

[0010] This application provides a method, device, and medium for automatic passing in a two-way single-lane roadway, which addresses the technical problem of the lack of systematic control logic and automation means for passing in existing underground roadways.

[0011] Embodiments of this application provide an automatic passing method for a two-way single-lane road, including:

[0012] The target lane is divided into lane sections and chamber sections with interval distribution, wherein:

[0013] The chamber section includes a chamber and a section of lanes connected to it. The lane sections on both sides of the same chamber section are connected through the section of lanes. Each chamber section is equipped with an image acquisition device to acquire images of vehicles and parking space occupancy within the chamber section.

[0014] Magnetic nail lines are set near both ends of each lane section to detect the direction and number of passing vehicles. The number of vehicles and the direction of the lane section are obtained in real time based on the detection of the magnetic nail lines at both ends of each lane section. The direction of the lane section is the direction of travel of the vehicles in the lane section.

[0015] For each lane section, a stop line is set near both ends as an indication of the stopping position of the vehicle before leaving the current lane section;

[0016] Traffic lights are installed near both ends of each lane section to indicate whether vehicles at the opposite stop line are permitted to enter the lane section where the traffic light is located. If the traffic light indicates that the vehicle can proceed, the vehicle enters the lane section where the traffic light is located. If the traffic light indicates that the vehicle must stop, the vehicle stops at the stop line. The number and direction of each traffic light are determined based on the number of vehicles in the lane section it is located in, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light.

[0017] A dispatch center is configured to poll and dispatch vehicles while they are parked near the parking line of the tunnel section. During each poll, the image of the tunnel section near which the vehicle to be dispatched is located is synchronized to determine whether the vehicle can enter. If it can enter, a first dispatch plan for entering the tunnel is issued to the vehicle. The dispatch center also continuously polls and dispatches vehicles that are waiting in the tunnel section. During each poll, it determines whether the lane section to which the vehicle is waiting can be entered. If it can be entered, a second dispatch plan for entering the next lane section is issued to the vehicle.

[0018] Preferably, each lane section is provided with at least one set of first magnetic nail lines and second magnetic nail lines spaced apart in the direction of lane travel at each end. When a vehicle passes the first magnetic nail line, a signal A is generated. When a vehicle passes the second magnetic nail line, a signal B is generated. The signals A and B form a two-bit signal combination AB. The direction of the vehicle is determined based on the change of the signal combination AB.

[0019] Preferably, the distance D between the first and second magnetic nail wires, the sampling frequency f of the signal combination, the vehicle length T, and the vehicle speed v satisfy the following:

[0020] Condition 1: T>D;

[0021] Condition 2: v 1 / f <D。

[0022] Preferably, determining the vehicle's direction based on the change in the signal combination AB includes the following four cases:

[0023] Case 1: When signal combination AB changes from 01 to 11 or 10, it indicates that the signal is traveling from the second magnetic nail line towards the first magnetic nail line.

[0024] Case 2: When signal combination AB changes from 10 to 11 or 01, it indicates that the signal is traveling from the first magnetic nail line to the second magnetic nail line.

[0025] Case 3: Signal combination AB changes from 11 to 01, indicating travel from the first magnetic nail line to the second magnetic nail line;

[0026] Case 4: Signal combination AB changes from 11 to 10, indicating travel from the second magnetic nail line towards the first magnetic nail line;

[0027] Here, 1 represents the signal generated when the magnetic nail wire is blocked by a vehicle, and 0 represents the signal generated when the magnetic nail wire is not blocked by a vehicle.

[0028] Preferably, the number of signal combinations A1B1 belonging to the first end of the same lane section and occurring in cases one to four is N1, N2, N3 and N4; the number of signal combinations A2B2 belonging to the second end of the same lane section and occurring in cases one to four is N1', N2', N3' and N4'.

[0029] The number of vehicles in the lane section is and Whichever is greater;

[0030] like Greater than The direction of the interval is from the first magnetic nail line to the second magnetic nail line;

[0031] like Less than The direction of the interval is from the second magnetic nail line to the first magnetic nail line;

[0032] like equal If there are no vehicles in the lane section, then there are no vehicles in the lane section.

[0033] Preferably, each traffic light is determined based on the number and direction of vehicles in the lane section it is located in, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light, including:

[0034] According to the relative position of the signal lights and the chamber, the signal lights are divided into Class I signal lights, Class II signal lights and Class III signal lights. Class I signal lights are located at the outer end of the first lane section at both ends of the target lane, Class II signal lights are located at the inner end of the first lane section at both ends of the target lane, and the remaining signal lights are Class III signal lights.

[0035] A traffic light will be red if any of the following conditions are met, otherwise it will be green:

[0036] Condition A: In the lane section where it is located, there are vehicles leaving the lane section from its end.

[0037] Condition B: In the opposite lane section connected to the lane section it is in through the same chamber section, there are vehicles traveling from the opposite lane section toward the lane section it is in, and the number is greater than or equal to the number of available parking spaces in the same chamber section. At the same time, the lane section it is in also satisfies the condition that there are no vehicles in the lane section it is in, or there are vehicles traveling from the lane section it is in, toward the opposite lane section, and the number is greater than or equal to the number of available parking spaces in the same chamber section.

[0038] Condition C: There are vehicles in the same chamber section that have entered from the opposite lane section and are waiting to enter their own lane section;

[0039] A Class II traffic light will be red if any of the following conditions are met; otherwise, it will be green:

[0040] Condition D: In the lane section where it is located, there are vehicles leaving the lane section from its end.

[0041] Condition E: The number of vehicles in the same chamber section is greater than the number of occupied parking spaces in the same chamber section;

[0042] If any one of the above conditions A, B, C, D, or E is met, the traffic light for all three categories will be red; otherwise, it will be green.

[0043] Preferably, the step of synchronizing the image of the chamber section near the vehicle to be dispatched during each polling to determine whether the vehicle to be dispatched can enter includes:

[0044] Based on the image, it is determined whether there is remaining space in the chamber section. If there is, it is determined that the vehicle to be dispatched can enter; otherwise, it is determined that the vehicle to be dispatched cannot enter.

[0045] Preferably, the dispatch center also continuously polls and dispatches vehicles waiting in the tunnel section, determining whether the lane section to which the vehicle is waiting can be entered during each poll, including:

[0046] The waiting vehicles are those that are in the chamber section and not occupying a chamber parking space. When the traffic light of the lane section to which the vehicle is waiting is green at the end of the chamber section, it is determined that the vehicle can enter; otherwise, it is determined that the vehicle cannot enter.

[0047] A second aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it causes the electronic device to perform the method as described in any of the first aspects of this application.

[0048] A second aspect of this application provides a computer-readable storage medium for storing a computer program that, when run on a computer, causes the computer to perform the method described in any of the first aspects of this application.

[0049] In this embodiment, an automatic passing method for two-way single-lane tunnels is adopted. By providing an automatic passing scheme for tunnels in a two-way single-lane environment in underground mines, it can achieve stable, orderly, safe and efficient passing of underground vehicles in a two-way single-lane environment by combining logical interval division, vehicle interval positioning and dynamic control of traffic lights, thus avoiding scheduling chaos and safety hazards caused by manual intervention. Attached Figure Description

[0050] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0051] Figure 1 This is a schematic diagram of a two-way single lane underground according to an embodiment of this application.

[0052] Figure 2 This is a system flowchart illustrating an automatic passing method for a two-way single-lane road according to an embodiment of this application.

[0053] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0056] like Figure 1 The diagram shown is a schematic diagram of a two-way single lane in a mine, provided in an embodiment of this application. Figure 1In this embodiment, a two-way single-lane road with a transverse orientation is used as the target lane for the meeting method. Both ends of this two-way single-lane road intersect with other lanes. Ducts are provided along the route of this two-way single-lane road to facilitate traffic regulation and prevent congestion during meeting. The number of ducts is generally proportional to the length and traffic volume of the lane. The schematic diagram shows two ducts; in other embodiments, the number of ducts may be greater.

[0057] To implement the oncoming traffic meeting method, relevant hardware and software settings need to be configured around the target lane, including:

[0058] The lanes are physically divided into blocks, specifically as follows:

[0059] The target lane is divided into lane sections and chamber sections with intervals, wherein: the chamber section includes a chamber and a portion of the lane connected to it, and the lane sections on both sides of the same chamber section are connected through the portion of the lane.

[0060] Figure 1 In the diagram, the lane is divided into multiple blocks by blue dashed lines. Crossing a blue dashed line indicates entering another block from one block. In this embodiment, from left to right, the blocks are the first lane section, the first chamber section, the second lane section, the second chamber section, and the third lane section.

[0061] Configure the image acquisition device as follows:

[0062] An image acquisition device is configured for each chamber section to acquire images of vehicles and parking space occupancy within the chamber section. In this embodiment, the image acquisition device can be a camera device. The camera device acquires video, extracts frames from the video to obtain images, and then analyzes the images to obtain the corresponding number of vehicles and parking spaces.

[0063] The magnetic nail cable is configured as follows:

[0064] Magnetic nail lines are installed near both ends of each lane section to detect the direction and number of passing vehicles. In this embodiment, the magnetic nail lines at each end of each lane section are located near the blue dotted line in the figure, and there are two magnetic nail lines at each end. The outer one can be arranged at the blue dotted line in the figure, and the inner one is arranged at a certain interval from the outer one. Since the signal on the magnetic nail line will be different depending on whether a vehicle passes by and whether it is blocked, the driving direction and number of vehicles can be determined by the cooperation of multiple magnetic nail lines. That is, the number of vehicles in each lane section and the direction of the section can be obtained in real time based on the detection of the magnetic nail lines at both ends of each lane section. The lane sections are variable, but if there are vehicles in a certain lane section, only vehicles traveling in the same direction can pass at a certain time, otherwise congestion will occur. Therefore, the direction of the lane section is the driving direction of the vehicles in the lane section.

[0065] Parking lines are configured as follows:

[0066] Stop lines are provided near both ends of each lane section as indicators of the stopping position of vehicles before leaving the current lane section.

[0067] like Figure 1 As shown, a stop line 1 is provided on the road connecting to the left side of the first lane section, near the first lane section, for vehicles traveling on the connecting road and stopping when entering the first lane section. A stop line 2 is provided on the inner side of the right side of the first lane section, for vehicles traveling from left to right on the first lane section and stopping when entering the second lane section.

[0068] A stop line 3 is provided on the inner left side of the second lane section for vehicles traveling from right to left in the second lane section and for vehicles entering the first lane section to stop. A stop line 4 is provided on the inner right side of the second lane section for vehicles traveling from left to right in the second lane section and for vehicles entering the third lane section to stop.

[0069] A stop line 5 is provided on the inner left side of the third lane section for vehicles traveling from right to left in the third lane section and for vehicles entering the second lane section to stop. On the road connecting to the outer right side of the third lane section, a stop line 6 is provided near the third lane section for vehicles traveling from right to left in the third lane section and for vehicles entering the second lane section to stop.

[0070] Configure traffic lights, specifically:

[0071] Traffic lights are installed near both ends of each lane section to indicate whether vehicles at the opposite stop line are permitted to enter the lane section where the traffic light is located. If the traffic light indicates that passage is permitted (in this embodiment, the traffic light is green), the vehicle enters the lane section where the traffic light is located. If the traffic light indicates that the vehicle must stop (in this embodiment, the traffic light is red), the vehicle stops at the stop line. The number and direction of each traffic light are determined based on the number of vehicles in the lane section it is located in, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light.

[0072] like Figure 1As shown, traffic lights 1, 2, 3, 4, 5, and 6 are installed on the target lanes in order from left to right. Taking traffic light 1 as an example, traffic light 1 is located at the left end of the first lane section, and its opposite stop line is stop line 1 on the road connecting to the left end of the first lane section. Therefore, vehicles planning to enter the first lane section from the left end must stop at stop line 1 if traffic light 1 is red when they reach stop line 1. If traffic light 1 is green when they reach stop line 1, they can enter the first lane section without stopping. For vehicles that have stopped, if traffic light 1 turns green later, the vehicle can enter the first lane section without stopping. The other traffic lights follow the same rules as described above and will not be repeated here.

[0073] Configure the dispatch center as follows:

[0074] like Figure 2 As shown, a dispatch center is configured to poll and dispatch vehicles while they are parked at the parking line near the tunnel section. During each poll, the image of the tunnel section near which the vehicle to be dispatched is located is synchronized to determine whether the vehicle can enter. If it can enter, a first dispatch plan for entering the tunnel is issued to the vehicle. The dispatch center also continuously polls and dispatches vehicles waiting in the tunnel section. During each poll, it determines whether the lane section to which the vehicle is waiting can be entered. If it can enter, a second dispatch plan for entering the next lane section is issued to the vehicle.

[0075] The above-mentioned solution, through the coordination of magnetic nail lines, traffic lights, image acquisition devices, and the dispatch center, achieves real-time monitoring and dispatching of the situation within the lanes, and has at least the following advantages:

[0076] 1. Improve underground transportation efficiency: Reduce vehicle waiting time caused by delays in manual scheduling through a dynamic scheduling mechanism; rationally arrange the passage order of vehicles going up and down to avoid "road grabbing"; shorten meeting time and improve the overall transportation rhythm.

[0077] 2. Enhance safety when vehicles meet each other: Reduce the risk of driver misjudgment by dividing the system into logical zones and linking them with traffic lights; improve the understandability of instructions by clearly defining the mapping between light states and behaviors; and enhance the system's fault tolerance by supporting the identification and alarm of abnormal behaviors.

[0078] 3. Achieve automated and intelligent scheduling: Upgrade from "manual scheduling + voice prompts" to a closed-loop system of "automatic perception + intelligent decision-making + precise execution"; support multi-strategy scheduling models to adapt to different working conditions; can be integrated with mining transportation management systems, personnel positioning systems, etc. to achieve a unified scheduling platform.

[0079] 4. Optimize the utilization rate of chamber resources: Monitor the usage status of chambers in real time to avoid resource idleness or conflicts; Dynamically adjust the usage priority of chambers to improve the usage efficiency.

[0080] In the above embodiments, at least one set of first magnetic nail lines and second magnetic nail lines arranged at intervals in the lane traveling direction is provided at each end of each lane interval. When the vehicle passes through the first magnetic nail line, signal A is generated, and when the vehicle passes through the second magnetic nail line, signal B is generated. The signal A and signal B form a two-bit signal combination AB, and the direction of the vehicle is judged according to the change of the signal combination AB. The above A and B can be represented by high and low levels. When the vehicle passes through and blocks the magnetic nail line, a high level 1 is generated, and when the vehicle crosses the magnetic nail line without blocking, a low level 0 is generated.

[0081] In order to avoid missing vehicle detection while taking into account the detection efficiency, considering the actual length and running speed of the mine car, the following conditions are set for the setting of the magnetic nail line and the sampling frequency: The distance D between the first magnetic nail line and the second magnetic nail line, the sampling frequency of the signal combination is f, the vehicle length is T, and the vehicle speed is v, satisfying:

[0082] Condition 1: T > D, that is, the vehicle length is greater than the distance between the magnetic nail lines, which can ensure that the vehicle will at least block one of the magnetic nail lines during passing through the magnetic nail lines, preventing the vehicle from being completely located between a set of magnetic nail lines, resulting in both magnetic nail lines being unable to detect the vehicle, which is likely to cause data confusion of the two magnetic nail lines in a set.

[0083] Condition 2: v 1 / f < D, that is, the moving distance of the vehicle between two samplings cannot be greater than the magnetic nail spacing, otherwise the vehicle will be missed.

[0084] In this embodiment, satisfying the above conditions, the two magnetic nail lines are spaced 5 - 10 meters apart, with a sampling frequency of 1 hz, the vehicle body is about 5 meters long, and the vehicle speed is less than 5 meters per second.

[0085] In this embodiment, every time the vehicle passes through a set of magnetic nail lines, due to the different relative positions of the vehicle and the magnetic nail lines and the different directions of the vehicle passing through the magnetic nail lines, the magnetic nail lines have various different signal changes, and the direction of the current passing vehicle can be identified through the signal changes. Specifically, it includes the following 4 situations:

[0086] Situation 1: The signal combination AB changes from 01 to 11 or 10. 01 means the vehicle blocks the second magnetic nail line and does not block the first magnetic nail line, and 11 means the vehicle blocks both magnetic nail lines. Therefore, when the signal combination changes from 01 to 11, it means traveling from the second magnetic nail line to the first magnetic nail line direction; Similarly, 10 means the vehicle does not block the second magnetic nail line and blocks the first magnetic nail line. Therefore, when the signal combination changes from 01 to 10, it also means traveling from the second magnetic nail line to the first magnetic nail line direction.

[0087] Case 2: When signal combination AB changes from 10 to 11 or 01, it indicates that the signal is traveling from the first magnetic nail line to the second magnetic nail line. The analysis is the opposite of Case 1, and will not be elaborated here.

[0088] Case 3: The signal combination AB changes from 11 to 01, which means that the vehicle is no longer blocking the two magnetic nail lines, but is now blocking the second magnetic nail line. Therefore, it indicates that the vehicle is traveling from the first magnetic nail line to the second magnetic nail line.

[0089] Case 4: Signal combination AB changes from 11 to 10, indicating travel from the second magnetic nail line to the first magnetic nail line. The analysis is the opposite of Case 3, and will not be elaborated here.

[0090] Based on the real-time changes in the magnetic nail line signal recorded above, the real-time number of vehicles in the lane section can be further calculated. The statistical method is as follows:

[0091] The number of signal combinations A1B1 at the first end of the same lane section, from scenario one to scenario four, are N1, N2, N3, and N4; the number of signal combinations A2B2 at the second end of the same lane section, from scenario one to scenario four, are N1', N2', N3', and N4'.

[0092] The number of vehicles entering the lane section from the magnetic nail line at the first end is: The number of lane sections leaving the lane section from the magnetic nail line at the second end is Therefore, the number of vehicles still remaining in the lane section in this direction is Correspondingly, the number of vehicles entering this lane section from the magnetic nail line at the second end is... The number of lane sections leaving the lane section from the magnetic nail line at the first end is Therefore, the number of vehicles still remaining in the lane section in this direction is .

[0093] Therefore, since the direction of a lane section is dynamically changing, and at any given moment, the direction can only be one, the number of vehicles within that lane section is... and Take the larger one, and the other must be 0. If equal If there are no vehicles in the lane section, then there are no vehicles in the lane section.

[0094] Furthermore, if Greater than The direction of the interval is from the first magnetic nail line to the second magnetic nail line.

[0095] like Less than The direction of the interval is from the second magnetic nail line to the first magnetic nail line.

[0096] In this embodiment, the traffic lights are initially set to green. At this time, there are no vehicles in the target lane or the chamber, or there are only vehicles parked in parking spaces in the chamber, and there is no driving plan.

[0097] Subsequently, as vehicles enter and exit, each traffic light switches between red and green colors based on the number and direction of vehicles in its lane section, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light.

[0098] For ease of explanation, the traffic lights are classified into three categories based on their relative positions to the chamber: Category I, Category II, and Category III. Category I traffic lights are located at the outer ends of the first lane interval at both ends of the target lane; Category II traffic lights are located at the inner ends of the first lane interval at both ends of the target lane; and the remaining traffic lights are Category III. For example... Figure 1 In the first lane section, signal light 1 and signal light 6 in the third lane section are Class I signal lights; signal light 2 in the first lane section and signal light 5 in the third lane section are Class II signal lights; and signal lights 3 and 4 in the second lane section are Class III signal lights. If there are more chambers in the target lane, resulting in more non-end lane sections similar to the second lane section, then the signal lights in these lane sections will all be Class III signal lights.

[0099] A traffic light will be red if any of the following conditions are met, otherwise it will be green:

[0100] Condition A: In the lane section where it is located, there are vehicles leaving the lane section from its end.

[0101] For example, Figure 1 In the middle, traffic light 1 is at the left end of the first lane section. When there are vehicles traveling from right to left in the first lane section, they will leave the first lane section from the left end. At this time, traffic light 1 needs to be red to prevent vehicles coming from the direction of stop line 1 from entering the first lane section.

[0102] Condition B: In the opposite lane section connected to the lane section it is in through the same chamber section, there are vehicles traveling from the opposite lane section towards the lane section it is in, and the number of vehicles is greater than or equal to the number of available parking spaces in the same chamber section. At the same time, the lane section it is in also satisfies the following conditions: there are no vehicles in the lane section it is in, or there are vehicles traveling from the lane section it is in, towards the opposite lane section, and the number of vehicles is greater than or equal to the number of available parking spaces in the same chamber section.

[0103] "Vacant" means that there are no vehicles in the parking space and no vehicles are about to enter the parking space. For example, Figure 1In this configuration, the first lane section is connected to the second lane section via the first chamber section. The first lane section and the second lane section are opposite lane sections to each other. There are vehicles traveling from right to left in the second lane section (the number of vehicles is not zero), and the number of vehicles is greater than the number of available parking spaces in the first chamber section. This indicates that not all vehicles in the second lane section can fit in the chamber, and some vehicles must wait in the second lane section or enter the first lane section. Simultaneously, if there are no vehicles in the current lane section, then vehicles in the second lane section can enter the first lane section. If there are vehicles traveling from left to right in the first lane section and the number is greater than or equal to the number of available parking spaces in the first chamber section, it indicates that the capacity of the first chamber has been exceeded, and no more vehicles can be allowed to enter the lanes on both sides of the first chamber. Therefore, signal light 1 needs to be turned red.

[0104] Condition C: There are vehicles in the same chamber section that have entered from the opposite lane section and are waiting to enter their own lane section.

[0105] For example, if there are vehicles in the first chamber that plan to travel to the first lane section, the chamber is only used for temporary storage. Therefore, if conditions can be provided to allow vehicles with such needs to leave the chamber, these vehicles should be driven out of the chamber as soon as possible. Therefore, signal light 1 needs to be turned red, and vehicles entering the first lane section that are opposite to these vehicles needing to travel should be allowed to enter.

[0106] A Class II traffic light will be red if any of the following conditions are met; otherwise, it will be green:

[0107] Condition D: In the lane section where it is located, there are vehicles leaving the lane section from its end.

[0108] The understanding of this condition is similar to that of condition A, and will not be repeated here.

[0109] Condition E: The number of vehicles in the same chamber section is greater than the number of occupied parking spaces in the same chamber section.

[0110] An occupied parking space is either occupied by a car or the space has been assigned to a car that is about to go to the space but has not yet arrived.

[0111] For example, if there are 3 parking spaces in a tunnel section and 3 cars are already on their way to park, and a fourth car enters the tunnel section, the Class II traffic lights on both sides of the tunnel section will turn red, preventing subsequent cars from entering the tunnel section and thus avoiding chaos in the tunnel.

[0112] If any one of the above conditions A, B, C, D, or E is met, the traffic light for all three categories will be red; otherwise, it will be green.

[0113] The third category of traffic lights is essentially a combination of the first and second category of traffic lights, for example... Figure 1 Traffic light 3, being a Class II traffic light, is symmetrically positioned opposite traffic light 2. The conditions for traffic light 2 to turn red also apply to traffic light 3. Similarly, traffic light 3, being a Class I traffic light, is symmetrically positioned opposite traffic light 6. Therefore, the conditions for traffic light 6 (a Class I traffic light) to turn red also apply to traffic light 3. Furthermore, if either the conditions for Class I or Class II traffic lights to turn red are met, then the Class III traffic light will turn red. Therefore, if any one of the above conditions A, B, C, D, or E is met, then the Class III traffic light will turn red.

[0114] In the above embodiments, the step of synchronizing the image of the chamber section near the vehicle to be dispatched during each polling to determine whether the vehicle to be dispatched can enter includes:

[0115] Based on the image, the system identifies whether there are any vacant parking spaces in the chamber area. If so, it determines that the vehicle to be dispatched can enter; otherwise, it determines that the vehicle to be dispatched cannot enter. Specifically, this can be achieved by using a Faster R-CNN model, trained to count the number of vehicles and comparing it with a pre-calculated total number of parking spaces to determine whether there are any vacant parking spaces.

[0116] In the above embodiments, the dispatch center also continuously polls and dispatches vehicles waiting in the tunnel section, determining whether the lane section to which the vehicle is waiting can be entered during each poll, including:

[0117] The waiting vehicles are those that are in the chamber section and not occupying a chamber parking space. When the traffic light of the lane section to which the vehicle is waiting is green at the end of the chamber section, it is determined that the vehicle can enter; otherwise, it is determined that the vehicle cannot enter.

[0118] With the cooperation of the aforementioned dispatch center, traffic lights, magnetic nail lines, and image acquisition devices, according to the following... Figure 2 The process shown monitors and schedules the target lane, such as... Figure 2 As shown, when a vehicle enters the target lane, it stops and requests the dispatch center when the traffic light at the opposite end is red. The dispatch center determines the parking space occupancy of the chamber based on the video analysis results. If there is an available chamber, the vehicle is notified to enter the target available chamber. If there is no available chamber, the vehicle waits in place for dispatch instructions or waits for the green light to automatically pass.

[0119] When the traffic light at the opposite end is green, it automatically enters the lane section, then performs a calculation of the number of vehicles in the lane section, automatically calculates the traffic light status, and controls the status of the associated traffic lights in the section.

[0120] Poll the vehicles currently waiting at the traffic lights to see if there are any vacant chambers they can enter.

[0121] Poll the vehicles currently waiting in the chamber to determine if they can continue to their destination.

[0122] During the vehicle's journey, the vehicle from Figure 1 Taking the example of driving from the left to the right, the logic flow for a vehicle dispatch conflict is as follows:

[0123] When a vehicle enters stop line 1, the status of traffic light 1 is checked. If the light is green, the vehicle is allowed to proceed directly. If the light is red, the dispatcher is notified, and the dispatcher makes the decision or the vehicle can proceed after the light turns green.

[0124] After a vehicle enters lane section 1, the traffic light control logic is triggered, changing traffic light 2 to red. At this time, the vehicle on the other end recognizes that traffic light 2 is red and stops at stop line 3 in lane section 2 to wait.

[0125] The dispatcher detects that the first chamber section is empty, determines the less congested end, and instructs vehicles on that end to proceed to the first chamber. At this point, the traffic light on that end changes from red to green. Vehicles on the other end recognize the green light and proceed normally to their destination. Once all vehicles on the other end have exited, the traffic light on that end returns to green, and vehicles in the first chamber can exit normally. The dispatcher then polls and finds vehicles waiting from right to left in the first chamber, with traffic light 2 green. These vehicles are instructed to continue, allowing the two vehicles to pass each other smoothly.

[0126] Based on the same inventive concept as the above method embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it enables the electronic device to implement the control method described in the above embodiments.

[0127] In one embodiment, the electronic device may be a server, and in this embodiment, the structure of the electronic device may be as follows: Figure 3 As shown, it includes a memory 2001, a communication module 2003, and one or more processors 2002.

[0128] The memory 2001 is used to store computer programs executed by the processor 2002. The memory 2001 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and programs required to run instant messaging functions, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0129] Memory 2001 may be volatile memory, such as random access memory (RAM); memory 2001 may also be nonvolatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 2001 may be any other medium capable of carrying or storing a desired computer program having the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 2001 may be a combination of the above-mentioned memories.

[0130] Processor 2002 may include one or more central processing units (CPUs) or digital processing units, etc. Processor 2002 is used to implement the above-mentioned audio data processing method when calling computer programs stored in memory 2001.

[0131] The communication module 2003 is used to communicate with terminal devices and other servers.

[0132] This application embodiment does not limit the specific connection medium between the memory 2001, communication module 2003, and processor 2002. This application embodiment... Figure 3 The memory 2001 and the processor 2002 are connected via a bus 2004, which is in... Figure 3 The connections between other components are illustrated with arrows and are for illustrative purposes only, not as limiting information. The Bus 2004 can be divided into address bus, data bus, control bus, etc. For ease of description, Figure 3 The text uses only one arrow to describe it, but does not indicate that there is only one bus or one type of bus.

[0133] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program. When the computer program is run on a computer, it enables the electronic device to implement the control method described in the above embodiments. The computer-readable storage medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CDROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0134] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer program product, which includes a computer program that, when run on an electronic device, causes the electronic device to perform the steps of the control methods described above according to various exemplary embodiments of this application. The program product may take the form of any combination of one or more readable media. These computer program commands can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the commands executed by the processor of the computer or other programmable data processing device generate a process for implementing... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

Claims

1. An automatic passing method for a two-way single-lane road, characterized in that: The target lane is divided into lane sections and chamber sections with interval distribution, wherein: The chamber section includes a chamber and a section of lanes connected to it. The lane sections on both sides of the same chamber section are connected through the section of lanes. Each chamber section is equipped with an image acquisition device to acquire images of vehicles and parking space occupancy within the chamber section. Magnetic nail lines are set near both ends of each lane section to detect the direction and number of passing vehicles. The number of vehicles and the direction of the lane section are obtained in real time based on the detection of the magnetic nail lines at both ends of each lane section. The direction of the lane section is the direction of travel of the vehicles in the lane section. For each lane section, a stop line is set near both ends as an indication of the stopping position of the vehicle before leaving the current lane section; Traffic lights are installed near both ends of each lane section to indicate whether vehicles at the opposite stop line are permitted to enter the lane section where the traffic light is located. If the traffic light indicates that the vehicle can proceed, the vehicle enters the lane section where the traffic light is located. If the traffic light indicates that the vehicle must stop, the vehicle stops at the stop line. The number and direction of each traffic light are determined based on the number of vehicles in the lane section it is located in, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light. A dispatch center is configured to poll and dispatch vehicles while they are parked near the parking line of the tunnel section. During each poll, the image of the tunnel section near which the vehicle to be dispatched is located is synchronized to determine whether the vehicle can enter. If it can enter, a first dispatch plan for entering the tunnel is issued to the vehicle. The dispatch center also continuously polls and dispatches vehicles that are waiting in the tunnel section. During each poll, it determines whether the lane section to which the vehicle is waiting can be entered. If it can be entered, a second dispatch plan for entering the next lane section is issued to the vehicle.

2. The automatic passing method for a two-way single-lane road according to claim 1, characterized in that: Each lane section has at least one set of first and second magnetic nail lines spaced apart at each end, which are arranged in the direction of lane travel. When a vehicle passes the first magnetic nail line, a signal A is generated. When a vehicle passes the second magnetic nail line, a signal B is generated. The signals A and B form a two-bit signal combination AB. The direction of the vehicle is determined based on the change of the signal combination AB.

3. The automatic passing method for a two-way single-lane road according to claim 2, characterized in that: The distance D between the first and second magnetic nail wires, the sampling frequency f of the signal combination, the vehicle length T, and the vehicle speed v satisfy the following: Condition 1: T > D; Condition 2: v 1 / f < D.

4. The automatic passing method for a two-way single-lane road according to claim 2, characterized in that: The determination of vehicle direction based on changes in the signal combination AB includes the following four cases: Case 1: When signal combination AB changes from 01 to 11 or 10, it indicates that the signal is traveling from the second magnetic nail line towards the first magnetic nail line. Case 2: When signal combination AB changes from 10 to 11 or 01, it indicates that the signal is traveling from the first magnetic nail line to the second magnetic nail line. Case 3: Signal combination AB changes from 11 to 01, indicating travel from the first magnetic nail line to the second magnetic nail line; Case 4: Signal combination AB changes from 11 to 10, indicating travel from the second magnetic nail line towards the first magnetic nail line; Here, 1 represents the signal generated when the magnetic nail wire is blocked by a vehicle, and 0 represents the signal generated when the magnetic nail wire is not blocked by a vehicle.

5. The automatic passing method for a two-way single-lane road according to claim 4, characterized in that: The number of signal combinations A1B1 at the first end of the same lane section, from scenario one to scenario four, are N1, N2, N3, and N4; the number of signal combinations A2B2 at the second end of the same lane section, from scenario one to scenario four, are N1', N2', N3', and N4'. The number of vehicles in the lane section is and Whichever is greater; like Greater than The direction of the interval is from the first magnetic nail line to the second magnetic nail line; like Less than The direction of the interval is from the second magnetic nail line to the first magnetic nail line; like equal If there are no vehicles in the lane section, then there are no vehicles in the lane section.

6. The automatic passing method for a two-way single-lane road according to claim 1, characterized in that, Each of the traffic lights is determined based on the number and direction of vehicles in its lane section, the lane section opposite the traffic light, and the chamber section connected to the end of the traffic light, including: According to the relative position of the signal lights and the chamber, the signal lights are divided into Class I signal lights, Class II signal lights and Class III signal lights. Class I signal lights are located at the outer end of the first lane section at both ends of the target lane, Class II signal lights are located at the inner end of the first lane section at both ends of the target lane, and the remaining signal lights are Class III signal lights. A traffic light will be red if any of the following conditions are met, otherwise it will be green: Condition A: In the lane section where it is located, there are vehicles leaving the lane section from its end. Condition B: In the opposite lane section connected to the lane section it is in through the same chamber section, there are vehicles traveling from the opposite lane section toward the lane section it is in, and the number is greater than or equal to the number of available parking spaces in the same chamber section. At the same time, the lane section it is in also satisfies the condition that there are no vehicles in the lane section it is in, or there are vehicles traveling from the lane section it is in, toward the opposite lane section, and the number is greater than or equal to the number of available parking spaces in the same chamber section. Condition C: There are vehicles in the same chamber section that have entered from the opposite lane section and are waiting to enter their own lane section; A Class II traffic light will be red if any of the following conditions are met; otherwise, it will be green: Condition D: In the lane section where it is located, there are vehicles leaving the lane section from its end. Condition E: The number of vehicles in the same chamber section is greater than the number of occupied parking spaces in the same chamber section; If any one of the above conditions A, B, C, D, or E is met, the traffic light for all three categories will be red; otherwise, it will be green.

7. The automatic passing method for a two-way single-lane road according to claim 1, characterized in that, The step of synchronizing the image of the chamber section near the vehicle to be dispatched during each polling to determine whether the vehicle to be dispatched can enter includes: Based on the image, it is determined whether there is remaining space in the chamber section. If there is, it is determined that the vehicle to be dispatched can enter; otherwise, it is determined that the vehicle to be dispatched cannot enter.

8. The automatic passing method for a two-way single-lane road according to claim 1, characterized in that, The dispatch center also continuously polls and dispatches vehicles waiting in the tunnel section, determining whether the lane section to which the vehicle is waiting can be entered during each poll, including: The waiting vehicles are those that are in the chamber section and not occupying a chamber parking space. When the traffic light of the lane section to which the vehicle is waiting is green at the end of the chamber section, it is determined that the vehicle can enter; otherwise, it is determined that the vehicle cannot enter.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 7.

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