Vehicle access method, autonomous driving traffic system, electronic device, and medium

Abstract

This application provides a vehicle access method, an autonomous driving traffic system, an electronic device, and a medium, relating to the field of autonomous driving. After receiving an access request from a target vehicle, the cloud system does not directly control the target vehicle to enter the corresponding area. Instead, it determines the access time point within the expected time range based on the target vehicle's entry and exit locations, the desired time range, occupancy information, and time consumption information. Since occupancy information characterizes the occupancy time of the starting point of each designated road segment occupied by a vehicle, and time consumption information characterizes the planned time for a vehicle to pass through each designated road segment, and since designated road segments are continuous roads between the starting and ending points where no vehicles merge or exit, the cloud system can estimate the occupancy of subsequent designated road segments after the target vehicle enters at different candidate times based on the occupancy status of already accessed vehicles in each designated road segment. This avoids the target vehicle's access process affecting the normal driving of already accessed vehicles.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically to a vehicle access method, an autonomous driving transportation system, electronic equipment, and a medium. Background Technology

[0002] In the field of autonomous driving, there exists an autonomous driving scenario where vehicles are entirely controlled by a cloud system. In this scenario, in a relatively closed road environment, all vehicles connected to the cloud system are controlled and operated by a single cloud system. When a new vehicle needs to connect to an existing cloud system, enter the closed road environment corresponding to the cloud system, and begin to be controlled by the cloud system for autonomous driving, how to enable the new vehicle to connect smoothly without affecting the normal driving of the already connected vehicles is a problem that those skilled in the art need to consider when designing the vehicle connection process. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle access method, an automated driving traffic system, an electronic device, and a medium, so as to enable new vehicles to smoothly access the cloud system and accept the automated driving control of the cloud system without affecting the normal driving of already connected vehicles.

[0004] In a first aspect, embodiments of this application provide a vehicle access method, the method being applied to a cloud system, the cloud system being used to control the accessed vehicle to perform autonomous driving within a corresponding area of ​​the cloud system, the method comprising: Obtain the access request of the target vehicle, wherein the access request includes the target entry position of the target vehicle entering the corresponding area, the target exit position of the target vehicle leaving the corresponding area, and the expected time range; Based on the access request, occupancy information, and time consumption information, determine the access time point within the expected time range; The occupancy information is used to characterize the occupancy time of the starting position of each designated road segment in the corresponding area when it is occupied by a vehicle, and the time consumption information is used to characterize the planned time for a vehicle to pass through each designated road segment. The designated road segment is a continuous road between the starting position and the ending position where no vehicle merges in or out. After receiving a confirmation instruction for the access time point and confirming that the target vehicle is already in the waiting position corresponding to the target entry position, the system controls the target vehicle to enter the corresponding area via the target entry position at the access time point.

[0005] In some implementations, determining the access time point within the desired time range based on the access request, occupancy information, and time consumption information includes: Based on the access request, occupancy information, time consumption information, and interval information, the access time point is determined within the expected time range; The interval information is used to characterize the minimum time interval for each of the defined road segments. For each defined road segment, when the starting position of the defined road segment is occupied by two adjacent vehicles in succession, the interval between the two occupation time points is greater than or equal to the minimum time interval.

[0006] In some implementations, determining the access time point within the desired time range based on the access request, occupancy information, time consumption information, and interval information includes: Based on the target entry position and the target exit position, at least one target road segment of the target vehicle is determined, wherein the target road segment is a designated road segment traversed by the target vehicle from the target entry position to the target exit position; For each target road segment, a first set of time points for the target road segment is determined from the occupancy information, wherein the first set of time points includes the occupancy time points when the starting position of the target road segment is occupied by vehicles; For each target road segment other than the first target road segment in the at least one target road segment, the planned durations of the target road segments that precede the target road segment in the passing order of the target vehicles are summed to obtain the associated interval of the target road segment, wherein the first target road segment is the first target road segment in the passing order of the target vehicles among the at least one target road segment; Each occupied time point in the first time point set of the target road segment is advanced to a time point that is separated from the occupied time point by one associated interval, to obtain the second time point set of the target road segment; The starting time point of the desired time range is determined as a candidate time point, and the candidate time point is compared with the time points in the first time point set of the first target road segment to obtain a first comparison result; For each target road segment other than the first target road segment, the candidate time point is compared with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment; If the first comparison result and the second comparison result do not meet the preset conditions, the candidate time point is delayed by one time step to obtain an adjusted candidate time point. The adjusted candidate time point is then used as the candidate time point, and the process jumps to the step of comparing the candidate time point with the time point in the first time point set of the first target road segment until the first comparison result and the second comparison result meet the preset conditions. The candidate time points corresponding to the first comparison result and the second comparison result that meet the preset conditions are determined as the access time points.

[0007] In some implementations, comparing the candidate time points with the time points in the first time point set of the first target road segment to obtain a first comparison result includes: Extract the second time point set of the first target road segment from the first time point set; Wherein, the time points in the second time point set of the first target road segment are all located between the first reference time point and the second reference time point; the first reference time point is located before the start time point of the expected time range, and the interval between the first reference time point and the start time point of the expected time range is equal to the minimum time interval of the first target road segment; the second reference time point is located after the end time point of the expected time range, and the interval between the second reference time point and the end time point of the expected time range is equal to the minimum time interval of the first target road segment; Determine whether the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and obtain the first comparison result; The step of comparing the candidate time points with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment includes: Extract the third time point set of the target road segment from the second time point set of the target road segment; Wherein, the time points in the third time point set of the target road segment are all located between the third reference time point and the fourth reference time point of the target road segment; the third reference time point is located before the start time point of the expected time range, and the interval between the third reference time point and the start time point of the expected time range is equal to the minimum time interval of the target road segment; the fourth reference time point is located after the end time point of the expected time range, and the interval between the fourth reference time point and the end time point of the expected time range is equal to the minimum time interval of the target road segment. Determine whether the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment, and obtain the second comparison result corresponding to the target road segment; The preset conditions include: The first comparison result indicates that the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and each second comparison result indicates that the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment.

[0008] In some implementations, controlling the target vehicle to enter the corresponding area via the target entry location at the access time point includes: Determine the estimated time it will take for the target vehicle to travel from its current waiting position to its target entry position; The target vehicle is instructed to start driving at a pre-access time point, so that the target vehicle drives to the target entry position and enters the corresponding area at the access time point, wherein the pre-access time point is located before the access time point, and the interval between the access time point and the access time point is equal to the estimated consumption time.

[0009] In some embodiments, after instructing the target vehicle to begin driving, the method further includes: The speed of the target vehicle is continuously monitored, and the estimated time when the target vehicle will arrive at the target entry position is determined based on the speed of the target vehicle. A speed adjustment command is generated based on the difference between the expected time point and the access time point, and the speed adjustment command is sent to the target vehicle so that the target vehicle travels at the speed indicated by the adjustment command.

[0010] In some implementations, there are multiple target vehicles, and the multiple target vehicles have the same target entry location. The proportion of the overlap between the expected time ranges of the multiple target vehicles in the expected time range of each target vehicle is greater than a preset proportion threshold. Determining the access time point within the expected time range based on the access request, occupancy information, and time consumption information includes: For each target vehicle, based on the occupancy information, determine the traffic flow along the path of the target vehicle from the target entry position to the target exit position, assuming the target vehicle enters the corresponding area within the expected time range. The priority score of the target vehicle is determined based on the time point at which the access request of the target vehicle is received and the traffic flow. Based on the priority scores of the multiple target vehicles, the priority ranking of the multiple target vehicles is determined; According to the priority order, the access time of each target vehicle is determined one by one based on the access request of each target vehicle, the occupancy information, and the time consumption information. For each target vehicle, after the access time of the target vehicle is determined, the occupancy information is updated according to the access time of the target vehicle to obtain the updated occupancy information, and the updated occupancy information is used to replace the occupancy information.

[0011] Secondly, embodiments of this application provide an automated driving transportation system, the system comprising: A cloud system, wherein the cloud system is used to execute the vehicle access method provided in the first aspect of the embodiments of this application; The corresponding area of ​​the cloud system, the cloud system controls the connected vehicles to perform autonomous driving in the corresponding area, the corresponding area includes at least one entry position and at least one exit position, each entry position corresponds to a waiting area; the corresponding area also includes at least one designated road segment for vehicle passage, the designated road segment is a continuous road between the starting position and the ending position where no vehicles merge or exit. At least one waiting area, the waiting area including at least one waiting position, where a vehicle waits before entering the corresponding area.

[0012] Thirdly, embodiments of this application provide an electronic device, including: The memory is configured to store instructions; and The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the vehicle access method provided in the first aspect of the embodiments of this application.

[0013] Fourthly, embodiments of this application provide a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the vehicle access method according to the first aspect of embodiments of this application.

[0014] In this embodiment, after receiving the access request from the target vehicle, the cloud system does not directly control the target vehicle to enter the corresponding area. Instead, it determines the access time point within the expected time range based on the target entry location, target exit location, expected time range, occupancy information, and time consumption information. Since occupancy information characterizes the time at which the starting point of each designated road segment is occupied by a vehicle, and time consumption information characterizes the planned time for a vehicle to pass through each designated road segment, and since designated road segments are continuous roads between the starting and ending points where no vehicles merge or exit, the cloud system can estimate the occupancy of subsequent designated road segments after the target vehicle enters at different candidate times based on the occupancy status of already connected vehicles in each designated road segment. This avoids the target vehicle's access process affecting the normal driving of already connected vehicles. After receiving a confirmation instruction for the access time point and confirming that the target vehicle is in the waiting position corresponding to the target entry location, the cloud system then controls the target vehicle to enter the corresponding area via the target entry location at the access time point. This ensures that the target vehicle can access the corresponding area in an orderly manner according to the predetermined access time point, improving the certainty, coordination, and security of the vehicle access process. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart of the vehicle access method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the cloud system communication structure provided in an embodiment of this application; Figure 3 This is a schematic diagram of the road structure provided in an embodiment of this application; Figure 4 This is another schematic diagram of a road structure provided in an embodiment of this application; Figure 5 This is a logical diagram illustrating the access time point determination process provided in an embodiment of this application; Figure 6 This is another logical diagram illustrating the access time point determination process provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the automated driving traffic system provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0017] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0018] In the field of autonomous driving, there exists an autonomous driving scenario where vehicles are entirely controlled by a cloud system. In this scenario, in a relatively closed road environment, all vehicles connected to the cloud system are controlled and operated by a single cloud system. When a new vehicle needs to connect to an existing cloud system, enter the closed road environment corresponding to the cloud system, and begin to be controlled by the cloud system for autonomous driving, how to enable the new vehicle to connect smoothly without affecting the normal driving of the already connected vehicles is a problem that those skilled in the art need to consider when designing the vehicle connection process.

[0019] Based on this, embodiments of this application provide a vehicle access method, an automated driving traffic system, an electronic device, and a medium, with the aim of enabling new vehicles to smoothly access the cloud system and accept the automated driving control of the cloud system without affecting the normal driving of already connected vehicles.

[0020] Figure 1 This is a flowchart illustrating the vehicle access method provided in an embodiment of this application. Figure 2 This is a schematic diagram of the cloud system communication structure provided in an embodiment of this application. Figure 3 This is a schematic diagram of the road structure provided in an embodiment of this application. Figure 4 This is another schematic diagram of a road structure provided in an embodiment of this application.

[0021] Please refer to the following: Figures 1-4 The first aspect of this application provides a vehicle access method, which is applied to a cloud system ( Figure 2 This is referred to as a cloud-based control system. The cloud system is used to control connected vehicles to perform autonomous driving within a designated area of ​​the cloud system. The cloud system can interact with an in-vehicle client application (…). Figure 2 (represented as in-vehicle program) and / or mobile client application ( Figure 2(This refers to the communication connection between the vehicle and the cloud system.) The in-vehicle client application can be installed in the vehicle to interact with the cloud system, receive control commands from the cloud system, and display access-related information to the user. The mobile client application can be installed on the user's mobile device to allow the user to submit trip reservations and view access times before the vehicle is connected to the cloud system.

[0022] The corresponding area of ​​the cloud system can be a relatively closed autonomous driving road area (cloud-controlled autonomous driving main road + ramps), where connected vehicles are autonomously controlled by the cloud system within this area. Before entering the corresponding area, the target vehicle can first drive to the waiting position corresponding to the target entry location. This waiting position can be located within the access buffer waiting area, which connects the open road and the corresponding area of ​​the cloud system. The access buffer waiting area can include at least one entry lane, at least one exit lane, and several waiting spaces (each parking space can be a waiting position). The entry lane connects the open road and the waiting spaces, where the target vehicle is manually driven; the exit lane connects the waiting spaces and the target entry location, where the target vehicle is controlled by the cloud system. Thus, the access buffer waiting area acts as a transition between the open road and the corresponding area of ​​the cloud system, allowing the target vehicle to wait at the waiting position and then enter the corresponding area (entry ramp, from which it enters the cloud-controlled autonomous driving main road) via the target entry location (formal access point) after meeting the access conditions.

[0023] The vehicle access method provided in the first aspect of the embodiments of this application includes the following steps S100-S300.

[0024] Step S100: Obtain the access request of the target vehicle, wherein the access request includes the target entry position of the target vehicle entering the corresponding area, the target exit position of the target vehicle leaving the corresponding area, and the expected time range.

[0025] In this step, specifically, the cloud system can obtain the target vehicle's access request through an in-vehicle client application or a mobile client application. The access request can include the target vehicle's target entry location into the corresponding area, the target vehicle's target exit location from the corresponding area, and the desired time range. The target entry location can be understood as the position where the target vehicle enters the corresponding area from the access buffer waiting area, such as the official access point; the target exit location can be understood as the position where the target vehicle ends its current autonomous driving journey and leaves the corresponding area; the desired time range can be understood as the time range within which the user wants the target vehicle to enter the corresponding area.

[0026] Specifically, users can select their target entry and exit locations from a list of candidate locations provided by the cloud system via an in-vehicle client application or a mobile client application, and input their desired time range. Upon receiving this information, the cloud system can generate or retrieve an access request for the target vehicle. The access request may also include the target vehicle's identifier, user identifier, current location, and vehicle status information, enabling the cloud system to identify the target vehicle and determine whether it meets the subsequent access requirements.

[0027] In this way, the cloud system obtains the access requests of the target vehicles and clarifies where the vehicles plan to enter and exit the corresponding area, as well as the desired time period for their entry. This provides the foundational data for subsequently determining the access time. By first obtaining the access requests, the cloud system can prevent target vehicles from entering the corresponding area haphazardly, and instead perform unified scheduling based on the access requests submitted by users.

[0028] For example, if target vehicle A needs to enter a closed autonomous driving road area, the user selects "Entrance 1" as the target entry point and "Office Building Exit 3" as the target exit point through a mobile client application, and enters the desired time range of 8:00 to 8:10. After the mobile client application sends the above information to the cloud system, the cloud system receives the access request from target vehicle A and determines that target vehicle A wishes to enter the corresponding area via Entrance 1 between 8:00 and 8:10, and subsequently exit the corresponding area via Office Building Exit 3.

[0029] Step S200: Determine the access time point within the expected time range based on the access request, occupancy information, and time consumption information; Among them, the occupancy information is used to characterize the occupancy time of the starting position of each designated road segment in the corresponding area when it is occupied by vehicles, and the time consumption information is used to characterize the planned time for vehicles to pass through each designated road segment. The designated road segment is a continuous road between the starting position and the ending position where no vehicles merge or exit.

[0030] In this step, specifically, after receiving the access request from the target vehicle, the cloud system can determine at least one designated road segment that the target vehicle needs to traverse within the corresponding area based on the target's entry and exit locations. A designated road segment is a continuous road between the start and end points where no vehicles merge or exit (a ramp is a separate designated road segment). That is, within the same designated road segment, vehicles typically enter from the start point and exit from the end point; no other vehicles merge into or exit the designated road segment midway. Therefore, the cloud system can maintain road occupancy information for vehicles on a segment-by-segment basis.

[0031] Occupancy information is used to characterize the time point at which the starting position of each designated road segment within the corresponding area is occupied by a vehicle. Here, "occupancy time point" can be understood as the time point at which a connected or reserved vehicle arrives at or passes through the starting position of a designated road segment. For the same designated road segment, its starting position may be occupied by multiple vehicles successively, so the designated road segment can correspond to multiple occupancy time points.

[0032] The time consumption information is used to characterize the planned time for a vehicle to travel through each designated road segment. In other words, the cloud system can pre-determine the planned time required for a vehicle to travel from the starting point to the ending point of a designated road segment. This planned time can be statically configured or adjusted based on vehicle type, road conditions, speed limits, and other factors.

[0033] When determining the access time, the cloud system first determines the target vehicle's travel path based on its entry and exit locations, and then identifies multiple designated road segments along that path. Subsequently, the cloud system selects candidate time points within the desired time range and, based on these candidate time points and the time consumption information for each designated road segment, calculates the time the target vehicle will arrive at the starting point of each segment. Next, the cloud system compares the calculated time points with the occupancy information of the corresponding designated road segments to determine whether the target vehicle entering the area via its entry location at the candidate time point will conflict with already connected or reserved vehicles at the starting point of the same designated road segment. If the target vehicle's entry at the candidate time point does not affect the normal travel of already connected vehicles at any of the designated road segments, the cloud system can determine this candidate time point as the access time point.

[0034] Thus, by using occupancy and time consumption information, the optimal time for a target vehicle to enter the designated area can be determined before it actually does. Since occupancy information reflects the time at which vehicles have occupied the starting points of each designated road segment, and time consumption information reflects the planned time for vehicles to traverse each segment, the cloud system can not only determine whether a target vehicle can enter at its designated entry point, but also further calculate its occupancy status on subsequent designated road segments after entry. This avoids the target vehicle's entry process affecting the normal operation of already connected vehicles, improving the orderliness and determinism of access scheduling.

[0035] For example, the target entry point for vehicle A is entrance 1, and the target exit point is exit 3. The cloud system determines, based on the road topology, that vehicle A needs to sequentially pass through designated road segments L1, L2, and L3. The planned duration for designated road segment L1 is 30 seconds, for L2 it is 60 seconds, and for L3 it is 40 seconds. The expected time range for vehicle A is 8:00 to 8:10. The cloud system attempts to use 8:00 as a candidate time point. If vehicle A enters the corresponding area via entrance 1 at 8:00, vehicle A will occupy the starting position of designated road segment L1 at 8:00, the starting position of designated road segment L2 at 8:00:30, and the starting position of designated road segment L3 at 8:01:30. If the cloud system determines, based on the occupancy information, that a vehicle has already occupied the starting point of designated road segment L2 around 8:00:30, then 8:00 is not suitable as an access time. The cloud system continues searching between 8:00 and 8:10. If it determines that when target vehicle A enters at 8:02, the times at which target vehicle A passes the starting points of designated road segments L1, L2, and L3 do not conflict with the occupancy times in the occupancy information, then the cloud system can determine 8:02 as the access time.

[0036] Step S300: After receiving the confirmation instruction for the access time point and confirming that the target vehicle is in the waiting position corresponding to the target entry position, control the target vehicle to enter the corresponding area via the target entry position at the access time point.

[0037] In this step, specifically, after determining the access time, the cloud system can send the access time to the in-vehicle client application and / or mobile client application to prompt the user to confirm whether to accept the access time. The user can enter a confirmation command for the access time through the in-vehicle client application or the mobile client application. After receiving the confirmation command, the cloud system can use the access time as the reservation time for the target vehicle to access the corresponding area, and can update the occupancy information of the relevant designated road segments based on the access time to reserve corresponding road space and time resources for the target vehicle.

[0038] Before the target vehicle enters the corresponding area, the user can drive the vehicle to the waiting position corresponding to the target entry location. This waiting position can be a waiting space within the access buffer waiting area. The cloud system can confirm whether the target vehicle is in the waiting position corresponding to the target entry location using the target vehicle's location information, waiting position detection information, and information reported by the in-vehicle client application. The cloud system can also further confirm the vehicle's status, such as whether the target vehicle is stationary, whether the in-vehicle client application is online, and whether the target vehicle meets the conditions for being controlled by the cloud system.

[0039] After confirming that the target vehicle is located at the waiting position corresponding to the target entry location, the cloud system can receive or acquire control of the target vehicle and determine the pre-access travel time required for the target vehicle to travel from the waiting position to the target entry location based on the path between the waiting position and the target entry location. If the access time is t and the pre-access travel time is tb, the cloud system can control the target vehicle to depart from the waiting position at the time corresponding to t-tb, enabling the target vehicle to arrive at the target entry location at the access time and then enter the corresponding area via the target entry location. If the waiting position and the target entry location coincide, or if the target vehicle is already located at the target entry location, the cloud system can also directly control the target vehicle to enter the corresponding area at the access time.

[0040] Thus, after the user confirms the access time, the system first ensures that the target vehicle has arrived at the waiting position corresponding to the target entry location. Then, the cloud system controls the target vehicle to enter the corresponding area according to the access time. This avoids the target vehicle occupying reserved resources before it is in position, and also prevents the target vehicle from entering the corresponding area early or late, thus affecting the normal driving of already accessed vehicles. At the same time, by using the waiting position to facilitate the transition between the open road and the corresponding area, the target vehicle can complete the waiting, confirmation, and handover of control before access, thereby improving the safety and controllability of the vehicle access process.

[0041] For example, the cloud system determines 8:02 as the access time of target vehicle A and sends this access time to the mobile client application. After the user confirms access at 8:02, the cloud system receives a confirmation instruction for this access time and adds the occupancy times of target vehicle A through designated road segments L1, L2, and L3 to the corresponding occupancy information. Subsequently, the user manually drives target vehicle A through the entry lane into the access buffer waiting area and parks target vehicle A in the waiting space corresponding to entrance 1. The cloud system confirms that target vehicle A is in the waiting space through the target vehicle A's location information and confirms that target vehicle A is ready to be controlled by the cloud system. If the cloud system determines that it takes 20 seconds for target vehicle A to travel from the waiting space to entrance 1, the cloud system controls target vehicle A to depart from the waiting space at 8:01:40, drive through the exit lane towards entrance 1, and then controls target vehicle A to enter the corresponding area through entrance 1 at 8:02. Thus, target vehicle A can enter the corresponding area according to the confirmed access time and continue driving to the target exit position under the control of the cloud system.

[0042] Through steps S100-S300, after obtaining the access request from the target vehicle, the cloud system does not directly control the target vehicle to enter the corresponding area. Instead, it determines the access time point within the expected time range based on the target vehicle's entry and exit locations, the desired time range, occupancy information, and time consumption information. Since occupancy information can characterize the occupancy time of the starting position of each designated road segment occupied by a vehicle, and time consumption information can characterize the planned time for a vehicle to pass through each designated road segment, and since the designated road segments are continuous roads between the starting and ending positions where no vehicles merge or exit, the cloud system can estimate the occupancy of subsequent designated road segments after the target vehicle enters at different candidate times based on the occupancy status of already connected vehicles in each designated road segment. This avoids the target vehicle's access process affecting the normal driving of already connected vehicles. After receiving confirmation instructions for the access time point and confirming that the target vehicle is in the waiting position corresponding to the target entry location, the cloud system controls the target vehicle to enter the corresponding area via the target entry location at the access time point, so that the target vehicle can enter the corresponding area in an orderly manner according to the predetermined access time point, thereby improving the certainty, coordination and security of the vehicle access process.

[0043] In some implementations, the access time point is determined within a desired time range based on the access request, occupancy information, and time consumption information, including: Based on the access request, occupancy information, time consumption information, and interval information, determine the access time point within the expected time range; Among them, the interval information is used to characterize the minimum time interval for each designated road segment. For each designated road segment, when the starting position of the designated road segment is occupied by two adjacent vehicles in succession, the interval between the two occupation time points is greater than or equal to the minimum time interval.

[0044] In this embodiment, when determining the access time point based on the access request, occupancy information, and time consumption information, the cloud system can further combine interval information to determine the access time point within the expected time range. The interval information characterizes the minimum time interval for each designated road segment. For any designated road segment, when the starting position of that segment is occupied sequentially by two adjacent vehicles, the interval between the two occupancy times must be greater than or equal to the minimum time interval corresponding to that designated road segment.

[0045] Specifically, after receiving an access request from a target vehicle, the cloud system can determine one or more designated road segments that the target vehicle needs to traverse from the target entry location to the target exit location based on the target entry and exit locations in the access request. For each designated road segment, the cloud system can obtain the corresponding occupancy information, time consumption information, and interval information. The occupancy information indicates the time at which the starting point of the designated road segment has been occupied by a vehicle; the time consumption information indicates the planned duration for a vehicle to traverse the designated road segment; and the interval information indicates the minimum time interval required for the starting point of the designated road segment to be occupied sequentially by two adjacent vehicles.

[0046] During the process of determining the access time point, the cloud system can identify candidate access time points within the expected time range. Based on the time consumption information, it can calculate the estimated time it will take for the target vehicle to reach the starting point of each designated road segment after entering the corresponding area via the target entry point at the candidate access time point. Subsequently, the cloud system can compare the estimated time point corresponding to the target vehicle with the existing time points in the occupancy information, and determine whether the estimated time point corresponding to the target vehicle meets the minimum time interval requirement of the corresponding designated road segment based on the interval information.

[0047] In other words, for each designated road segment that the target vehicle needs to traverse, the cloud system needs to determine whether the time interval between the expected occupancy time point corresponding to the starting position of the target vehicle in that designated road segment and the existing occupancy time points in the occupancy information of that designated road segment is greater than or equal to the minimum time interval corresponding to that designated road segment. If, after the target vehicle enters at a candidate access time point, the expected occupancy time point corresponding to the starting position of each designated road segment meets the corresponding minimum time interval requirement, then the cloud system can determine that the candidate access time point as the access time point. If, after the target vehicle enters at a candidate access time point, the interval between the expected occupancy time point corresponding to the starting position of at least one designated road segment and the existing occupancy time points is less than the minimum time interval corresponding to that designated road segment, then the cloud system can determine that the candidate access time point is not suitable as an access time point and continue to determine other candidate access time points within the expected time range.

[0048] By introducing interval information, the cloud system, when determining the access time, can not only judge the occupancy status of the target vehicle on each designated road segment at different candidate access time points based on occupancy and time consumption information, but also further determine whether the target vehicle meets the minimum time interval requirement for adjacent vehicles to occupy the starting position of the same designated road segment. Therefore, the cloud system can avoid allowing the target vehicle to access simply because its occupancy time points do not completely overlap at a certain moment, but can ensure that a sufficient time interval is maintained between the target vehicle and other vehicles after access.

[0049] In this way, the cloud system incorporates interval information when determining the access time, ensuring that the minimum time interval is met when the target vehicle and adjacent vehicles occupy the starting position of the same designated road segment, thereby reducing the risk of spatiotemporal conflicts during vehicle access. Furthermore, the cloud system can combine occupancy information, time consumption information, and interval information to predict the subsequent road segment occupancy of the target vehicle in advance, improving the safety and reliability of vehicle access scheduling.

[0050] For example, the access request of the target vehicle includes the target entry position P1, the target exit position P2, and the expected time range of 8:00 to 8:10. Based on the target entry position P1 and the target exit position P2, the cloud system determines that the target vehicle needs to pass through designated road segments A, B, and C sequentially. The planned duration for designated road segment A is 30 seconds, with a minimum time interval of 10 seconds; the planned duration for designated road segment B is 60 seconds, with a minimum time interval of 15 seconds; and the planned duration for designated road segment C is 40 seconds, with a minimum time interval of 10 seconds. The occupancy information records that the starting position of designated road segment A has been occupied at 8:00:05, the starting position of designated road segment B has been occupied at 8:00:50, and the starting position of designated road segment C has been occupied at 8:02:00.

[0051] If the cloud system selects 8:00:00 as a candidate access time, the target vehicle will occupy the starting position of designated road segment A at 8:00:00, the starting position of designated road segment B at 8:00:30, and the starting position of designated road segment C at 8:01:30. At this time, the expected occupancy time of the target vehicle at the starting position of designated road segment A, 8:00:00, differs from the existing occupancy time, 8:00:05, by only 5 seconds, which is less than the minimum time interval of 10 seconds corresponding to designated road segment A. Therefore, the cloud system determines that 8:00:00 is not suitable as an access time.

[0052] The cloud system continues to determine other candidate access times within the expected time range. If the cloud system selects 8:00:20 as a candidate access time, the target vehicle will occupy the starting position of designated road segment A at 8:00:20, the starting position of designated road segment B at 8:00:50, and the starting position of designated road segment C at 8:01:50. At this point, although the expected occupancy time of 8:00:20 at the starting position of designated road segment A differs from the existing occupancy time of 8:00:05 by 15 seconds, satisfying the minimum time interval requirement for designated road segment A, the expected occupancy time of 8:00:50 at the starting position of designated road segment B is the same as the existing occupancy time of 8:00:50, failing to meet the minimum time interval of 15 seconds for designated road segment B. Therefore, the cloud system determines that 8:00:20 is also unsuitable as an access time.

[0053] If the cloud system selects 8:00:40 as the candidate access time, the target vehicle will occupy the starting position of designated road segment A at 8:00:40, the starting position of designated road segment B at 8:01:10, and the starting position of designated road segment C at 8:02:10. At this time, the estimated time of occupancy of the target vehicle at the starting position of designated road segment A (8:00:40) differs from the existing time of occupancy of designated road segment A (8:00:05) by 35 seconds, which is greater than the minimum time interval of designated road segment A (10 seconds); the estimated time of occupancy of the target vehicle at the starting position of designated road segment B (8:01:10) differs from the existing time of occupancy of designated road segment B (8:00:50) by 20 seconds, which is greater than the minimum time interval of designated road segment B (15 seconds); the estimated time of occupancy of the target vehicle at the starting position of designated road segment C (8:02:10) differs from the existing time of occupancy of designated road segment C (8:02:00) by 10 seconds, which is equal to the minimum time interval of designated road segment C (10 seconds). Therefore, after the target vehicle enters the corresponding area via the target entry position P1 at 8:00:40, the estimated time points at the starting positions of each designated road segment all meet the corresponding minimum time interval requirements, and the cloud system can determine 8:00:40 as the access time point.

[0054] Figure 5 This is a logical diagram illustrating the access time point determination process provided in an embodiment of this application. Figure 6 This is another logical diagram illustrating the access time point determination process provided in the embodiments of this application; please refer to it as well. Figures 5-6 .

[0055] In some implementations, the access time point is determined within a desired time range based on the access request, occupancy information, time consumption information, and interval information, including: Based on the target entry location and the target exit location, at least one target road segment is determined for the target vehicle, wherein the target road segment is the designated road segment traversed by the target vehicle from the target entry location to the target exit location; For each target road segment, the first set of time points for the target road segment is determined from the occupancy information. The first set of time points includes the occupancy time points when the starting position of the target road segment is occupied by vehicles. For each target road segment other than the first target road segment in at least one target road segment, the planned durations of the target road segments preceding the target road segment in the passing order of the target vehicles are summed to obtain the associated interval of the target road segment. The first target road segment is the first target road segment in the passing order of the target vehicles among at least one target road segment. The second set of time points for the target road segment is obtained by advancing each occupied time point in the first time point set to a time point that is separated from the occupied time point by an associated interval. The starting time point of the desired time range is determined as the candidate time point. The candidate time point is compared with the time points in the first time point set of the first target road segment to obtain the first comparison result. For each target road segment other than the first target road segment, the candidate time point is compared with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment; If the first comparison result and the second comparison result do not meet the preset conditions, the candidate time point is delayed by one time step to obtain the adjusted candidate time point. The adjusted candidate time point is then used as the candidate time point, and the process jumps to the step of comparing the candidate time point with the time point in the first time point set of the first target road segment until the first comparison result and the second comparison result meet the preset conditions. The candidate time points corresponding to the first comparison result and the second comparison result that meet the preset conditions are determined as the access time points.

[0056] In this embodiment, when the cloud system determines the access time point within the desired time range based on the access request, occupancy information, time consumption information, and interval information, it can first determine at least one target road segment that the target vehicle needs to pass through from the target entry location to the target exit location based on the target entry location and target exit location in the access request. Here, the target road segment is a designated road segment traversed by the target vehicle from the target entry location to the target exit location, and at least one target road segment is arranged according to the actual passing order of the target vehicle.

[0057] For each target road segment, the cloud system can determine the first set of time points for that target road segment from the occupancy information. The first set of time points includes the occupancy times at which the starting position of the target road segment was occupied by vehicles. In other words, the first set of time points indicates when vehicles that have already connected to the cloud system or have completed reservations will occupy the starting position of the target road segment.

[0058] For the first target road segment, since the target vehicle enters the corresponding area through the target entry position at the candidate time point, it is equivalent to occupying the starting position of the first target road segment at that candidate time point. Therefore, the cloud system can directly compare the candidate time point with the time points in the first time point set of the first target road segment to obtain the first comparison result, so as to determine whether the candidate time point meets the preset condition (whether the minimum time interval between the target vehicle and the vehicle that has already occupied the starting position of the first target road segment when the target vehicle enters at the candidate time point does not meet the minimum time interval of the first target road segment).

[0059] For each target road segment other than the first target road segment, the target vehicle does not immediately occupy the starting position of that target road segment at the candidate time point, but rather arrives at the starting position of the target road segment only after passing through the preceding target road segments. Therefore, the cloud system can sum the planned durations of the target road segments that precede the target road segment in the vehicle's passage sequence to obtain the associated interval of that target road segment. This associated interval is used to represent how long it is expected to take for the target vehicle to reach the starting position of the target road segment after entering the corresponding area from its target entry location.

[0060] After obtaining the associated intervals of the target road segment, the cloud system can advance each occupancy time point in the first time point set of the target road segment to a time point separated by one associated interval, thus obtaining the second time point set of the target road segment. Here, "advancement" does not change the actual time when existing vehicles occupy the starting position of the target road segment, but rather converts the occupancy time points of subsequent target road segments to time points that are on the same time base as the candidate access time points. Through this conversion, the cloud system can directly compare the candidate time points with the time points in the second time point set to determine whether, if a target vehicle enters at the candidate time point, its occupancy time point in subsequent target road segments will be too close to that of existing vehicles.

[0061] In other words, if the existing occupancy time point of a certain subsequent target road segment is T, and the target vehicle needs to travel through an associated interval ΔT from its target entry position to the starting position of that subsequent target road segment, then for the target vehicle's access time point, the time point T-ΔT is the access time point that may cause a time conflict between the target vehicle and existing vehicles in that subsequent target road segment. Therefore, by advancing the occupancy time points in the first time point set by one associated interval to obtain the second time point set, the conflict judgment of the subsequent target road segment can be transformed into a judgment of the candidate access time points themselves.

[0062] For each target road segment other than the first target road segment, the cloud system can compare the candidate time point with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment, so as to determine whether the candidate time point meets the preset condition (whether the interval between the candidate time point and each time point in the second time point set of the target road segment meets the minimum time interval corresponding to the target road segment).

[0063] If the first and second comparison results do not meet the preset conditions, it means that when the target vehicle enters the corresponding area at the candidate time point, at least at the starting point of one target road segment, the minimum time interval requirement will not be met between it and existing or reserved vehicles. In this case, the cloud system can postpone the candidate time point by one time step to obtain an adjusted candidate time point. This adjusted candidate time point is then used as the new candidate time point. The system continues to compare the candidate time point with the first time point set of the first target road segment, and with the second time point set of other target road segments, until the first and second comparison results meet the preset conditions. Thus, the cloud system can progressively search for candidate time points that meet the minimum time interval requirements of each target road segment within the desired time range, and determine the candidate time points that meet the preset conditions as the access time points.

[0064] Those skilled in the art will understand that if the expected time range is [t1, t2], that is, the end time point of the expected time range is t2, after delaying the candidate time point by one time step, if the adjusted candidate time point is greater than t2 (t > t2), the stop condition is triggered, the comparison loop is terminated, and it is determined that no access time point can be found in the range of [t1, t2] such that the first comparison result and the second comparison result can meet the preset conditions.

[0065] During the comparison process, the first time point set of the first target road segment and all time points in the second time point set of other target road segments can be compared with the candidate time points. Alternatively, the above time point sets can be filtered before comparison. By filtering out the time points that may affect the access judgment within the expected time range, the amount of data involved in the comparison can be reduced without changing the comparison logic, thereby improving the efficiency of determining the access time point.

[0066] In this way, by advancing the occupancy time points of target road segments (excluding the first target road segment) according to the associated intervals, the cloud system can transform the occupancy conflict judgment of target vehicles in subsequent target road segments into a unified comparison of candidate access time points, thereby improving the executability and computational efficiency of the access time point determination process. At the same time, the cloud system can ensure that the target vehicle meets the corresponding minimum time interval requirements at the starting position of each target road segment, reducing the risk that the access of the target vehicle will affect the normal driving of already accessed vehicles.

[0067] For example, the access request of the target vehicle includes the target entry location P1, the target exit location P2, and the expected time range of 8:00:00 to 8:10:00; the cloud system determines, based on the target entry location P1 and the target exit location P2, that the target vehicle needs to pass through target road segment A, target road segment B, and target road segment C sequentially from the target entry location P1 to the target exit location P2. Target road segment A is the first target road segment, target road segment B is the second target road segment, and target road segment C is the third target road segment.

[0068] Assume the planned duration for target road segment A is 30 seconds, for target road segment B it is 60 seconds, and for target road segment C it is 40 seconds; the minimum time interval for target road segment A is 10 seconds, for target road segment B it is 15 seconds, and for target road segment C it is 10 seconds. The occupancy information records the first time point set for target road segment A as {7:59:55, 8:00:25, 8:03:00}, for target road segment B as {8:00:50, 8:02:20}, and for target road segment C as {8:02:00, 8:03:30}.

[0069] Since target road segment A is the first target road segment, when the target vehicle enters the corresponding area at the candidate time point, it occupies the starting position of target road segment A. Therefore, the first time point set of target road segment A can be directly used for comparison with the candidate time points.

[0070] For target road segment B, in terms of the passing order of target vehicles, the target road segment preceding target road segment B is target road segment A. Therefore, the cloud system determines the planned duration of 30 seconds corresponding to target road segment A as the associated interval for target road segment B. Subsequently, the cloud system advances each occupied time point in the first time point set of target road segment B by 30 seconds, obtaining the second time point set of target road segment B. That is, advancing 8:00:50 by 30 seconds results in 8:00:20, and advancing 8:02:20 by 30 seconds results in 8:01:50. Therefore, the second time point set of target road segment B is {8:00:20, 8:01:50}.

[0071] For target road segment C, in terms of the passing order of target vehicles, the target road segments preceding target road segment C include target road segment A and target road segment B. Therefore, the cloud system sums the planned duration of 30 seconds corresponding to target road segment A and the planned duration of 60 seconds corresponding to target road segment B, obtaining an association interval of 90 seconds for target road segment C. Subsequently, the cloud system advances each occupied time point in the first time point set of target road segment C by 90 seconds, obtaining the second time point set of target road segment C. That is, advancing 8:02:00 by 90 seconds results in 8:00:30, and advancing 8:03:30 by 90 seconds results in 8:02:00. Therefore, the second time point set of target road segment C is {8:00:30, 8:02:00}.

[0072] The cloud system identifies 8:00:00 as the starting time of the desired time range and a candidate time point. For target road segment A, the cloud system compares 8:00:00 with the time points in the first time point set {7:59:55, 8:00:25, 8:03:00} for target road segment A. Since the interval between 8:00:00 and 7:59:55 is 5 seconds, which is less than the minimum time interval of 10 seconds corresponding to target road segment A, the first comparison result does not meet the preset conditions. The cloud system determines that 8:00:00 cannot be used as the access time point.

[0073] Subsequently, the cloud system postpones the candidate time points by one time step. Assuming the time step is 1 second, the cloud system can sequentially use 8:00:01, 8:00:02, 8:00:03, etc., as adjusted candidate time points and repeat the comparison process. For ease of explanation, assume the cloud system uses 8:00:20 as a candidate time point. If the target vehicle enters the corresponding area via target entry position P1 at 8:00:20, the target vehicle is expected to occupy the starting position of target road segment A at 8:00:20, the starting position of target road segment B at 8:00:50, and the starting position of target road segment C at 8:01:50. When judging using the calculated second time point set, 8:00:20 is the same as 8:00:20 in the second time point set of target road segment B. This indicates that if the target vehicle enters at 8:00:20, it will occupy the starting position of target road segment B at 8:00:50. Since a vehicle is already occupying the starting position of target road segment B at 8:00:50, the interval between the two is 0 seconds, which is less than the minimum time interval of 15 seconds corresponding to target road segment B. Therefore, the second comparison result corresponding to target road segment B does not meet the preset conditions, and the cloud system determines that 8:00:20 cannot be used as the access time point.

[0074] For example, the cloud system selects 8:00:35 as a candidate time point. At this time, the interval between 8:00:35 and 8:00:25 in the first time point set of target road segment A is 10 seconds, satisfying the minimum time interval corresponding to target road segment A; the interval between 8:00:35 and 8:00:20 in the second time point set of target road segment B is 15 seconds, satisfying the minimum time interval corresponding to target road segment B; however, the interval between 8:00:35 and 8:00:30 in the second time point set of target road segment C is 5 seconds, which is less than the minimum time interval of 10 seconds corresponding to target road segment C. Therefore, the second comparison result corresponding to target road segment C does not meet the preset conditions, and the cloud system determines that 8:00:35 still cannot be used as an access time point.

[0075] When the cloud system selects 8:00:40 as a candidate time point, the intervals between 8:00:40 and the first time points of target road segment A (7:59:55, 8:00:25, 8:03:00) are 45 seconds, 15 seconds, and 140 seconds, respectively, all greater than or equal to the minimum time interval of 10 seconds corresponding to target road segment A. The intervals between 8:00:40 and the second time points of target road segment B (8:00:20 and 8:01:50) are 20 seconds and 70 seconds, respectively, both greater than or equal to the minimum time interval of 15 seconds corresponding to target road segment B. The intervals between 8:00:40 and the second time points of target road segment C (8:00:30 and 8:02:00) are 10 seconds and 80 seconds, respectively, both greater than or equal to the minimum time interval of 10 seconds corresponding to target road segment C. Therefore, the first comparison result and all the second comparison results meet the preset conditions, and the cloud system can determine 8:00:40 as the access time point.

[0076] In the above process, the second set of time points for target road segment B and target road segment C allows the cloud system to convert the actual occupancy time points in subsequent target road segments into the judgment benchmark for access time points. For example, if target road segment B has an existing occupancy time point at 8:00:50, and it takes 30 seconds for the target vehicle to reach the starting position of target road segment B from the target entry position P1, then 8:00:20 is a candidate access time point that would cause the target vehicle to conflict with existing vehicles at target road segment B. Through this conversion, the cloud system does not need to repeatedly perform the complete driving process at each candidate time point, but can directly compare the candidate time points with the time point sets corresponding to each target road segment, thereby determining the access time point that meets the time interval requirements of each target road segment.

[0077] In some implementations, the candidate time points are compared with the time points in the first time point set of the first target road segment to obtain a first comparison result, including: Extract the second time point set of the first target road segment from the first time point set; Among them, the time points in the second time point set of the first target road segment are all located between the first reference time point and the second reference time point; the first reference time point is located before the start time point of the expected time range, and the interval between the first reference time point and the start time point of the expected time range is equal to the minimum time interval of the first target road segment; the second reference time point is located after the end time point of the expected time range, and the interval between the second reference time point and the end time point of the expected time range is equal to the minimum time interval of the first target road segment. Determine whether the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and obtain the first comparison result; The candidate time points are compared with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment, including: Extract the third time point set of the target road segment from the second time point set; Among them, the time points in the third time point set of the target road segment are all located between the third reference time point and the fourth reference time point of the target road segment; the third reference time point is located before the start time point of the expected time range, and the interval between the third reference time point and the start time point of the expected time range is equal to the minimum time interval of the target road segment; the fourth reference time point is located after the end time point of the expected time range, and the interval between the fourth reference time point and the end time point of the expected time range is equal to the minimum time interval of the target road segment. Determine whether the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment, and obtain the second comparison result corresponding to the target road segment; The preset conditions include: The first comparison result indicates that the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and each second comparison result indicates that the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment.

[0078] In this embodiment, when the cloud system compares the candidate time point with the time points in the first time point set of the first target road segment, it can first extract the second time point set of the first target road segment from the first time point set of the first target road segment, and then perform the comparison based on the second time point set.

[0079] The first time point set for the first target road segment includes the occupancy times when the starting point of the first target road segment is occupied by vehicles. Since the access time point needs to be determined within the expected time range, and candidate time points will also fall within this expected time range, not all time points in the first time point set will affect the selection of candidate time points. For occupancy time points far from the expected time range, the interval between them and any candidate time point within the expected time range will necessarily be greater than the minimum time interval of the first target road segment, thus they do not need to participate in subsequent comparisons. Based on this, the cloud system can extract time points that may affect the selection of candidate time points from the first time point set of the first target road segment, forming the second time point set for the first target road segment, according to the expected time range and the minimum time interval of the first target road segment.

[0080] Specifically, the time points in the second time point set for the first target road segment all lie between the first reference time point and the second reference time point. The first reference time point is located before the start time point of the expected time range, and the interval between it and the start time point of the expected time range is equal to the minimum time interval of the first target road segment. The second reference time point is located after the end time point of the expected time range, and the interval between it and the end time point of the expected time range is equal to the minimum time interval of the first target road segment. That is, if the expected time range is [t1, t2], and the minimum time interval of the first target road segment is minT, then the first reference time point can be t1-minT, and the second reference time point can be t2+minT. The resulting second time point set can exclude time points that obviously will not affect the current access decision, while retaining time points near the boundary of the expected time range that may cause insufficient time intervals.

[0081] After obtaining the second set of time points for the first target road segment, the cloud system can determine whether the time interval between the candidate time point and each time point in the second set of time points for the first target road segment is greater than or equal to the minimum time interval of the first target road segment, thus obtaining the first comparison result. If the time interval between the candidate time point and each time point in the second set of time points for the first target road segment is greater than or equal to the minimum time interval of the first target road segment, the first comparison result indicates that the candidate time point meets the minimum time interval requirement on the first target road segment; if the time interval between the candidate time point and any time point in the second set of time points for the first target road segment is less than the minimum time interval of the first target road segment, the first comparison result indicates that the candidate time point does not meet the minimum time interval requirement on the first target road segment.

[0082] For each target road segment other than the first target road segment, the cloud system can first advance the occupancy time points in the first time point set of the target road segment according to the associated interval, to obtain the second time point set of the target road segment. The time points in the second time point set of the target road segment are the time points obtained by converting the actual occupancy time points of the target road segment to the time base of the candidate access time point. In other words, the second time point set of the target road segment is used to indicate that if the candidate time point is too close to a certain time point in the second time point set, the target vehicle may not meet the minimum time interval of the target road segment when it arrives at the starting position of the target road segment after passing the previous target road segment.

[0083] After obtaining the second set of time points for the target road segment, the cloud system can further extract the third set of time points for the target road segment from this set. The time points in the third set of time points for the target road segment all lie between the third and fourth reference time points of that target road segment. Specifically, the third reference time point is located before the start time point of the expected time range, and the interval between it and the start time point of the expected time range is equal to the minimum time interval of the target road segment (i.e., the third reference time point is t1-minT, where minT is the minimum time interval of the target road segment); the fourth reference time point is located after the end time point of the expected time range, and the interval between it and the end time point of the expected time range is equal to the minimum time interval of the target road segment (i.e., the fourth reference time point is t1+minT, where minT is the minimum time interval of the target road segment). In other words, for any non-first target road segment, the cloud system can filter the converted second set of time points based on the minimum time interval of the target road segment itself, retaining only the time points that may affect the judgment of candidate time points within the expected time range, thus forming the third set of time points for that target road segment.

[0084] After obtaining the third set of time points for the target road segment, the cloud system can determine whether the time interval between the candidate time point and each time point in the third set of time points for the target road segment is greater than or equal to the minimum time interval for the target road segment, thus obtaining the second comparison result corresponding to the target road segment. If the time interval between the candidate time point and each time point in the third set of time points for the target road segment is greater than or equal to the minimum time interval for the target road segment, then the second comparison result corresponding to the target road segment can indicate that the candidate time point meets the minimum time interval requirement for the target road segment; if the time interval between the candidate time point and any time point in the third set of time points is less than the minimum time interval for the target road segment, then the second comparison result corresponding to the target road segment can indicate that the candidate time point does not meet the minimum time interval requirement for the target road segment.

[0085] In this embodiment, the preset conditions include: the first comparison result indicates that the time interval between the candidate time point and each time point in the second set of time points for the first target road segment is greater than or equal to the minimum time interval of the first target road segment; and each second comparison result indicates that the time interval between the candidate time point and each time point in the third set of time points for the corresponding target road segment is greater than or equal to the minimum time interval of the corresponding target road segment. Only when both the first comparison result and each of the second comparison results meet the preset conditions will the cloud system determine the candidate time point as the access time point. Therefore, the cloud system can ensure that after the target vehicle enters the corresponding area via the target entry location at the candidate time point, it can maintain the corresponding minimum time interval with existing vehicles or reserved vehicles at the starting positions of the first target road segment and subsequent target road segments.

[0086] In this way, by extracting a set of time points between reference time points before comparison, the cloud system can retain time points that may cause conflicts near the boundaries of the desired time range while reducing the number of time points that do not need to be involved in the judgment, thereby improving the efficiency of determining the access time point. Furthermore, by comparing based on the minimum time interval of each target road segment, it can ensure that the target vehicle meets the minimum time interval requirement between its starting position and adjacent vehicles on each target road segment, reducing the risk of the access process affecting the normal driving of already accessed vehicles.

[0087] For example, the access request of the target vehicle includes the target entry location P1, the target exit location P2, and the expected time range of 8:00:00 to 8:10:00. Based on the target entry location P1 and the target exit location P2, the cloud system determines that the target vehicle needs to pass through target road segment A, target road segment B, and target road segment C in sequence to travel from the target entry location P1 to the target exit location P2. Among them, target road segment A is the first target road segment, and target road segments B and C are the target road segments other than the first target road segment.

[0088] Assume the planned duration for target road segment A is 30 seconds, the planned duration for target road segment B is 60 seconds, and the planned duration for target road segment C is 40 seconds; the minimum time interval for target road segment A is 10 seconds, the minimum time interval for target road segment B is 15 seconds, and the minimum time interval for target road segment C is 10 seconds.

[0089] For the first target road segment A, the set of the first time points recorded in the occupancy information. The desired time range is {7:50:00, 7:59:55, 8:00:25, 8:03:00, 8:10:20}. Since the expected time range starts at 8:00:00 and the minimum time interval for target road segment A is 10 seconds, the first reference time point is 7:59:50. Since the expected time range ends at 8:10:00 and the minimum time interval for target road segment A is 10 seconds, the second reference time point is 8:10:10. The cloud system extracts the time points between 7:59:50 and 8:10:10 from the first set of time points for target road segment A. Figure 5 The middle is represented as [ The second time point set of target road segment A is obtained by considering the time points of the target road segment A. The times are {7:59:55, 8:00:25, 8:03:00}. Of these, 7:50:00 is too far from the expected time range, and 8:10:20 is later than the second reference time point; therefore, these times are not included in this candidate time point comparison.

[0090] For target road segment B, assume the first time point set recorded in the occupancy information. The times are {7:59:00, 8:00:50, 8:02:20, 8:10:40}. Since target road segment B previously only had target road segment A, and the planned duration of target road segment A is 30 seconds, the association interval for target road segment B is 30 seconds. The cloud system advances the occupancy time point of each time point in the first time point set of target road segment B by 30 seconds, thus obtaining the second time point set of target road segment B. {7:58:30, 8:00:20, 8:01:50, 8:10:10}. Since the minimum time interval for target road segment B is 15 seconds, the third reference time point for target road segment B is 7:59:45, and the fourth reference time point is 8:10:15. The cloud system extracts the time points between 7:59:45 and 8:10:15 from the second set of time points for target road segment B. Figure 5 The middle is represented as [ The third time point set of target road segment B is obtained by considering the time points of the target road segment B. {8:00:20, 8:01:50, 8:10:10}. Among them, 7:58:30 is earlier than the third reference time point, therefore it is not included in this candidate time point comparison.

[0091] For target road segment C, assume the set of first time points recorded in the occupancy information is as follows: {8:02:00, 8:03:30, 8:11:00}. Since target road segment C previously included target road segments A and B, with a planned duration of 30 seconds for target road segment A and 60 seconds for target road segment B, the associated interval for target road segment C is 90 seconds. The cloud system advances the occupancy time of each point in the first time point set of target road segment C by 90 seconds, thus obtaining the second time point set of target road segment C. {8:00:30, 8:02:00, 8:09:30}. Since the minimum time interval for target road segment C is 10 seconds, the third reference time point for target road segment C is 7:59:50, and the fourth reference time point is 8:10:10. The cloud system extracts the time points between 7:59:50 and 8:10:10 from the second set of time points for target road segment C. Figure 5 The middle is represented as [ The third set of time points for the target road segment C is obtained by considering the time points of the target road segment C. {8:00:30, 8:02:00, 8:09:30}.

[0092] Next, the cloud system determines candidate time points starting from the desired time range's starting time point of 8:00:00 and compares these candidate time points. If the candidate time point is 8:00:00, the cloud system determines a second set of time points between 8:00:00 and the target road segment A. The time interval between 7:59:55 is 5 seconds, which is less than the minimum time interval of 10 seconds for the target road segment A. Therefore, the first comparison result indicates that 8:00:00 does not meet the preset conditions, and the cloud system does not determine 8:00:00 as the access time point.

[0093] If the candidate time point is 8:00:20, then the cloud system determines the second time point set between 8:00:20 and the target road segment A. The time interval between 8:00:25 and the target road segment B is 5 seconds, which is less than the minimum time interval of 10 seconds for the target road segment A. Therefore, the first comparison result indicates that 8:00:20 does not meet the preset conditions. Meanwhile, the third time point set between 8:00:20 and the target road segment B... The time interval between 8:00:20 is 0 seconds, which is also less than the minimum time interval of 15 seconds for target road segment B. This means that if the target vehicle enters the corresponding area via the target entry position P1 at 8:00:20, the target vehicle will arrive at the starting position of target road segment B at 8:00:50. However, the starting position of target road segment B is already occupied by a vehicle at 8:00:50. Therefore, the second comparison result corresponding to target road segment B also does not meet the preset conditions.

[0094] If the candidate time point is 8:00:35, then the cloud system determines the second time point set between 8:00:35 and the target road segment A. The time interval between 8:00:25 is 10 seconds, which satisfies the minimum time interval of target road segment A; the third time point set between 8:00:35 and target road segment B. The time interval between 8:00:20 and 8:00:20 is 15 seconds, which meets the minimum time interval requirement for target road segment B; however, 8:00:35 and the third time point set of target road segment C... The time interval between 8:00:30 and the target road segment B is 5 seconds, which is less than the minimum time interval of 10 seconds for the target road segment C. Therefore, although the first comparison result and the second comparison result corresponding to the target road segment B meet the requirements, the second comparison result corresponding to the target road segment C does not meet the requirements, and the cloud system still does not determine 8:00:35 as the access time point.

[0095] If the candidate time point is 8:00:40, then the cloud system determines the second time point set between 8:00:40 and the target road segment A. The time intervals between the time points {7:59:55, 8:00:25, 8:03:00} are 45 seconds, 15 seconds, and 140 seconds, respectively, all greater than or equal to the minimum time interval of 10 seconds for target road segment A. Therefore, the first comparison result meets the requirements. The cloud system also determined the third time point set between 8:00:40 and target road segment B. The time intervals between the time points {8:00:20, 8:01:50, 8:10:10} are 20 seconds, 70 seconds, and 570 seconds, respectively, all greater than or equal to the minimum time interval of 15 seconds for target road segment B. Therefore, the second comparison result corresponding to target road segment B meets the requirements. The cloud system further determines the third time point set between 8:00:40 and target road segment C. The time intervals between the time points {8:00:30, 8:02:00, 8:09:30} are 10 seconds, 80 seconds, and 530 seconds, respectively, all of which are greater than or equal to the minimum time interval of 10 seconds for the target road segment C. Therefore, the second comparison result corresponding to the target road segment C also meets the requirements.

[0096] Since the first comparison result and each second comparison result corresponding to 8:00:40 meet the preset conditions, the cloud system can determine 8:00:40 as the access time point. If the target vehicle enters the corresponding area via the target entry position P1 at 8:00:40, the target vehicle will occupy the starting position of target road segment A at 8:00:40, the starting position of target road segment B at 8:01:10, and the starting position of target road segment C at 8:02:10. Moreover, each of the above-mentioned occupation time points can maintain the corresponding minimum time interval with the existing occupation time points on the corresponding target road segment.

[0097] After determining the access time point (tfind), the cloud system sends the access time point to the vehicle client or mobile client. Upon receiving a confirmation command for the access time point, the cloud system updates the occupancy information and aggregates the data. Add tfind to the set Add tfind+T to A ,gather Add tfind+T to A +T B , among which, T A T B These are the planned times for passing through target road segment A and target road segment B, respectively.

[0098] In some implementations, controlling the target vehicle to enter the corresponding area via the target entry location at the access time point includes: Determine the estimated time it will take for the target vehicle to travel from its current waiting position to its target entry position; The target vehicle is instructed to start driving at the pre-access time point, so that the target vehicle drives to the target entry position and enters the corresponding area at the access time point. The pre-access time point is located before the access time point, and the interval between the two points is equal to the expected consumption time.

[0099] In this embodiment, when the cloud system controls the target vehicle to enter the corresponding area via the target entry location at the access time, it does not instruct the target vehicle to start driving from the waiting position only at the access time. Instead, it first determines the estimated time required for the target vehicle to travel from the waiting position to the target entry location, and determines a pre-access time point earlier than the access time based on the estimated time. This allows the target vehicle to start driving at the pre-access time point and arrive at the target entry location at the access time, thereby entering the corresponding area via the target entry location.

[0100] Specifically, after the cloud system receives a confirmation instruction for the access time and confirms that the target vehicle is already at the waiting position corresponding to the target entry location, the cloud system can determine the estimated time it will take for the target vehicle to travel from its current waiting position to the target entry location based on information such as the target vehicle's current waiting position, the target entry location, the travel path between the waiting position and the target entry location, the path length, the road speed limit, the target vehicle's driving status, and the target vehicle's power performance. This estimated time can be used to characterize the time required for the target vehicle to reach the target entry location after departing from the waiting position.

[0101] After determining the estimated duration, the cloud system can determine a lead time point based on the access time and the estimated duration. The lead time point is located before the access time, and the interval between the lead time point and the access time is equal to the estimated duration. In other words, if the access time is t and the estimated duration is tb, then the lead time point can be t-tb. The cloud system can then instruct the target vehicle to begin driving at this lead time point, causing the target vehicle to depart from its waiting position, travel along the path from the waiting position to the target entry position, and arrive at the target entry position at the access time point, thus entering the corresponding area.

[0102] In this way, the cloud system can incorporate the journey of a target vehicle from its waiting position to its target entry position into the access time control. This ensures that the target vehicle does not arrive at the target entry position haphazardly in advance, nor does it only begin to leave the waiting position at the access time. Instead, it departs in advance according to the estimated travel time, thus arriving at the target entry position accurately at the access time. Consequently, the target vehicle can be matched with the access time point determined by the cloud system, preventing the target vehicle from occupying the access position due to arriving too early, and also preventing the target vehicle from missing the access time due to arriving too late.

[0103] For example, target vehicle A has already confirmed its access time through an access request. The cloud system determines that target vehicle A should enter the corresponding area via target entry position P1 at 8:05:00. Before the access time, the user drives target vehicle A to the waiting position W1 corresponding to target entry position P1 and confirms through the vehicle client that target vehicle A is at waiting position W1. After confirming that target vehicle A is at waiting position W1, the cloud system determines, based on the driving path between waiting position W1 and target entry position P1, that target vehicle A needs to pass through an exit lane from waiting position W1 to target entry position P1. The exit lane has a path length of 120 meters, the planned driving speed of the vehicle in the exit lane is 6 meters per second, and considering the time required for the vehicle to start from a standstill, accelerate, and decelerate when approaching the target entry position, the estimated time for target vehicle A to travel from waiting position W1 to target entry position P1 is determined to be 25 seconds.

[0104] In this scenario, since the access time is 8:05:00 and the estimated time consumption is 25 seconds, the cloud system can determine the preceding time point as 8:04:35. This preceding time point is before the access time point 8:05:00, and the interval between them is equal to the estimated time consumption of 25 seconds. At 8:04:35, the cloud system instructs target vehicle A to begin driving, causing target vehicle A to depart from waiting position W1 and travel along the exit lane towards target entry position P1. Under the control of the cloud system, target vehicle A travels at a predetermined speed and arrives at target entry position P1 at 8:05:00, thereby entering the corresponding area via target entry position P1.

[0105] For example, if another target vehicle B's access time is 9:10:00, but its waiting position W2 is far from the target entry position P2, the cloud system determines the estimated time to travel between waiting position W2 and target entry position P2 to be 45 seconds based on the path length, curve conditions, and planned speed. The cloud system can then set 9:09:15 as the precursor time and instruct target vehicle B to start traveling at 9:09:15, enabling it to reach target entry position P2 and enter the corresponding area by 9:10:00. If the waiting position of target vehicle B changes, for example, from waiting position W2 to waiting position W3, which is closer to target entry position P2, the cloud system can re-determine the estimated time to travel and accordingly re-determine the precursor time to ensure that target vehicle B can still reach the target entry position at the access time.

[0106] In some implementations, after instructing the target vehicle to begin driving, the method further includes: Continuously monitor the speed of the target vehicle and determine the estimated time when the target vehicle will arrive at the target entry point based on the speed of the target vehicle; A speed adjustment command is generated based on the difference between the expected time and the access time, and then sent to the target vehicle to make the target vehicle travel at the speed indicated by the adjustment command.

[0107] In this embodiment, after the cloud system instructs the target vehicle to start driving at the pre-determined time point, the cloud system can continuously monitor the target vehicle's speed and determine the estimated time for the target vehicle to arrive at the target entry position based on the vehicle's speed. In other words, the cloud system does not only determine the pre-determined time point once before the target vehicle departs based on the estimated travel time, but continuously judges whether the target vehicle can arrive at the target entry position on time based on the actual driving status of the target vehicle as it travels from the waiting position to the target entry position.

[0108] Specifically, after the target vehicle begins to move, the cloud system can acquire the real-time speed of the target vehicle according to a preset monitoring cycle, or acquire the average speed of the target vehicle over a recent period. The cloud system can also combine the target vehicle's current location, target entry location, the remaining path length from the current location to the target entry location, the road speed limit corresponding to that remaining path, and vehicle acceleration / deceleration constraints to determine the estimated time when the target vehicle will arrive at the target entry location. This estimated time is used to characterize: if the target vehicle continues to move at its current speed or current driving trend, it is expected to arrive at the target entry location at what time.

[0109] After determining the estimated time, the cloud system can generate a speed adjustment command based on the difference between the estimated time and the access time. If the estimated time is later than the access time, it means that the target vehicle may not arrive at the target entry position on time if it continues to travel at the current speed. The cloud system can generate a speed adjustment command to increase the target vehicle's speed within a safe range. If the estimated time is earlier than the access time, it means that the target vehicle may arrive at the target entry position earlier if it continues to travel at the current speed. The cloud system can generate a speed adjustment command to decrease the target vehicle's speed to prevent it from arriving at the target entry position too early and occupying the access position. If the difference between the estimated time and the access time is within the allowable error range, the cloud system can generate a speed adjustment command to maintain the current speed, or not adjust the target vehicle's speed.

[0110] After generating a speed adjustment command, the cloud system can send it to the target vehicle, causing it to travel at the speed indicated by the command. The speed indicated by the command can be the target speed for the vehicle's subsequent travel, or it can be a speed change strategy for the vehicle in the next time period. For example, the command can instruct the vehicle to increase its speed from the current speed to a first target speed, decrease its speed to a second target speed, or gradually adjust to the target speed according to a preset acceleration. Thus, the cloud system can dynamically adjust the target vehicle's journey from the waiting position to the target entry position based on its actual driving conditions, ensuring that the vehicle arrives at the target entry position and enters the corresponding area as close as possible to the access time.

[0111] In this way, the cloud system can dynamically determine the estimated time point based on the actual speed of the target vehicle after it starts moving, and adjust the target vehicle's speed based on the difference between the estimated time point and the access time point, thereby improving the timeliness of the target vehicle's arrival at the target entry location. This reduces the impact of the target vehicle arriving at the target entry location early or late on access scheduling, improving the controllability and reliability of the vehicle access process.

[0112] For example, if the access time of target vehicle A is 8:05:00, the cloud system has already determined, based on the estimated travel time for target vehicle A to travel from waiting position W1 to target entry position P1, that target vehicle A should start traveling from waiting position W1 at 8:04:35. After target vehicle A starts traveling at 8:04:35, the cloud system continuously monitors the speed of target vehicle A and, combined with the current position of target vehicle A and the remaining path length between target entry position P1, determines the estimated time when target vehicle A will arrive at target entry position P1.

[0113] For example, at 8:04:45, the cloud system determines that target vehicle A is 80 meters away from the target entry point P1, and its current speed is 4 meters per second. If target vehicle A continues to travel at 4 meters per second, it is estimated that it will take another 20 seconds to reach the target entry point P1, so the estimated time is 8:05:05. Since the estimated time of 8:05:05 is later than the access time of 8:05:00, the difference is 5 seconds, indicating that target vehicle A may arrive at the target entry point P1 later than the access time. At this time, the cloud system can generate a speed adjustment command, instructing target vehicle A to increase its speed to 5.5 meters per second, and send this speed adjustment command to target vehicle A, causing it to travel at 5.5 meters per second, thereby shortening the time to reach the target entry point P1.

[0114] For example, at 8:04:52, the cloud system monitors the speed of target vehicle A again, determining that target vehicle A is 36 meters away from the target entry point P1, and its current speed is 6 meters per second. If target vehicle A continues to travel at 6 meters per second, it is estimated that it will take another 6 seconds to reach the target entry point P1, so the estimated time is 8:04:58. Since the estimated time of 8:04:58 is earlier than the access time of 8:05:00, the difference is 2 seconds, indicating that target vehicle A may arrive at the target entry point P1 earlier. At this time, the cloud system can generate another speed adjustment command, instructing target vehicle A to reduce its speed to 4.5 meters per second, or instructing target vehicle A to decelerate with a smaller acceleration, so that the estimated time of target vehicle A is closer to the access time of 8:05:00.

[0115] When the cloud system continues monitoring at 8:04:56, if it determines that target vehicle A is 18 meters away from target entry point P1, and that target vehicle A is expected to arrive at target entry point P1 at 8:05:00 based on its current speed, then the cloud system can determine that the difference between the expected time and the access time meets the allowable error range, and generate a speed adjustment command to maintain the current speed. Target vehicle A then continues to travel at the speed indicated by the speed adjustment command and arrives at target entry point P1 at 8:05:00, entering the corresponding area via target entry point P1.

[0116] In some implementations, there are multiple target vehicles, and the target entry positions of the multiple target vehicles are the same. The proportion of the overlap between the expected time ranges of the multiple target vehicles in the expected time range of each target vehicle is greater than a preset proportion threshold. Based on the access request, occupancy information, and time consumption information, determine the access time point within the expected time range, including: For each target vehicle, based on the occupancy information, determine the traffic flow along the target vehicle's path from its entry point to its exit point, assuming the target vehicle enters the corresponding area within the expected time frame. The priority score of the target vehicle is determined based on the time of receipt of the target vehicle's access request and the traffic flow. Based on the priority scores of multiple target vehicles, determine the priority ranking of the multiple target vehicles; Based on priority, the access time of each target vehicle is determined one by one according to its access request, occupancy information, and time consumption information. For each target vehicle, after the access time of the target vehicle is determined, the occupancy information is updated according to the access time of the target vehicle to obtain the updated occupancy information, and the updated occupancy information is used to replace the occupancy information.

[0117] In this embodiment, when there are multiple target vehicles, the target entry locations of the multiple target vehicles are the same, and the proportion of the overlap between the expected time ranges of the multiple target vehicles in the expected time range of each target vehicle is greater than a preset proportion threshold, the cloud system can first prioritize the multiple target vehicles, and then determine the access time point of each target vehicle according to the priority ranking.

[0118] Specifically, if the overlap between the desired time ranges of multiple target vehicles is greater than a preset threshold within each target vehicle's desired time range, it indicates a high degree of temporal overlap in the access requests of the multiple target vehicles. For example, multiple target vehicles may all wish to enter the corresponding area via the same target entry point around 8:00 to 8:10. If the cloud system directly determines the access time points for multiple target vehicles in an arbitrary order, the target vehicles with later determined access time points may be significantly affected by updates to the occupancy information of preceding vehicles, thus impacting overall access efficiency. Therefore, the cloud system can determine the priority score for each target vehicle by combining the time point at which its access request is received and the traffic flow along its path from the target entry point to the target exit point.

[0119] For each target vehicle, the cloud system can determine the traffic flow along its path from the target entry point to the target exit point, assuming the vehicle enters the corresponding area within the expected time frame, based on occupancy information. This traffic flow can characterize the vehicle occupancy level of the target vehicle's path within the expected time frame. For example, the cloud system can determine the traffic flow based on the number of existing occupancy time points for each designated road segment within the expected time frame; alternatively, it can calculate the traffic flow based on a weighted average of the number of occupancy time points for each designated road segment, the length of the designated road segment, the planned duration, or the minimum time interval.

[0120] After determining the time of receiving the access request and the traffic flow, the cloud system can determine the priority score of the target vehicle according to the following formula:

[0121] in, Indicates the first Priority rating of each target vehicle; Indicates the first The time point at which the access request of each target vehicle is received; This indicates the earliest receiving time among the receiving times of multiple target vehicle access requests. This indicates the latest receiving time among the receiving times of multiple target vehicle access requests; Indicates the first Traffic flow along the path of a target vehicle from its entry point to its exit point; This represents the minimum traffic flow among multiple target vehicles. This represents the maximum traffic flow among multiple target vehicles. This indicates the weight corresponding to the receiving time point; This indicates the weight corresponding to traffic flow. and All can be non-negative numbers, and can satisfy the following conditions: + =1; It is a preset constant greater than 0, used to avoid the denominator being 0.

[0122] In the above formula, This is used to characterize the impact of the access request reception time on priority scoring. The earlier the target vehicle's access request is received, the higher the priority score. The smaller the value, the larger the value of this item, and the higher the corresponding priority score. Therefore, the cloud system can assign higher priority to target vehicles that submit access requests earlier.

[0123] This is used to characterize the impact of traffic flow on priority scoring. The lower the traffic flow in the path corresponding to the target vehicle, the higher the priority score. The smaller the value, the larger the value of this item, and the higher the corresponding priority score. Therefore, the cloud system can prioritize allocating access time points to target vehicles with lower traffic volume and easier access time points along the travel path, thereby reducing access conflicts between multiple target vehicles. Of course, in other implementations, target vehicles with higher traffic volume can also be assigned higher priority based on the actual scheduling strategy to prioritize access requests on high-load paths; this application does not impose any restrictions on this.

[0124] After obtaining priority scores for multiple target vehicles, the cloud system can determine their priority ranking based on these scores. For example, a higher priority score places the target vehicle higher in the priority ranking. Subsequently, the cloud system can determine the access time point for each target vehicle according to its priority ranking, based on its access request, occupancy information, and latency information.

[0125] Specifically, the cloud system can first determine the access time point for the target vehicle that ranks first in the priority ranking. After the access time point of the target vehicle is determined, the cloud system can determine the occupancy time point corresponding to the starting position of the target vehicle at each designated road segment based on the access time point of the target vehicle and the time taken by the target vehicle to travel from the target entry position to the target exit position. The system then updates the occupancy information based on these occupancy time points, obtaining the updated occupancy information. Next, the cloud system replaces the original occupancy information with the updated occupancy information and determines the access time point for the next target vehicle in the priority ranking based on the updated occupancy information. This process is repeated until the access time points of multiple target vehicles are determined.

[0126] By updating the occupancy information after the access time of each target vehicle is determined, the cloud system enables the subsequent target vehicle access time determination process to fully consider the road space-time resources already reserved by the preceding target vehicles, avoiding multiple target vehicles being assigned to conflicting or overly close access time points. Therefore, when multiple target vehicles enter the corresponding area from the same target location within a highly overlapping expected time range, the cloud system can achieve orderly multi-vehicle access scheduling.

[0127] Thus, when multiple target vehicles have the same target entry location and highly overlapping expected time ranges, the cloud system can determine the priority order based on the time the access request is received and the traffic flow in the travel path, and then determine the access time point for each vehicle according to the priority order. By updating the occupancy information after the access time point of each target vehicle is determined, conflicts between the access time points of multiple target vehicles can be avoided, improving the orderliness of multi-vehicle access scheduling and overall traffic efficiency.

[0128] For example, target vehicle A, target vehicle B, and target vehicle C all request to enter the corresponding area via target entry point P1. The expected time range for target vehicle A is 8:00 to 8:10, for target vehicle B it is 8:02 to 8:12, and for target vehicle C it is 8:01 to 8:11. The overlap between these three expected time ranges is significant, and the proportion of overlap in each target vehicle's expected time range exceeds a preset threshold of 80%. Therefore, the cloud system determines that target vehicles A, B, and C need to be prioritized.

[0129] Assume the cloud system receives access requests from target vehicle A at 7:50:00, target vehicle B at 7:51:00, and target vehicle C at 7:49:00. Based on the occupancy information, the cloud system determines that, assuming each target vehicle enters its corresponding area within its expected timeframe, the traffic flow along the path of target vehicle A from its entry point P1 to its exit point is 12, the traffic flow for target vehicle B is 8, and the traffic flow for target vehicle C is 15.

[0130] Among the time points when multiple target vehicles' access requests are received, =7:49:00, =7:51:00. For ease of calculation, the receiving time can be converted to seconds relative to 7:49:00, then the target vehicle A corresponds to... =60, the target vehicle B corresponds to =120, the target vehicle C corresponds to =0. Among the traffic flows corresponding to multiple target vehicles, =8, =15. Assume =0.6, =0.4, We take a very small positive number, which we will ignore for the sake of explanation.

[0131] For target vehicle A, its priority score can be:

[0132] For target vehicle B, its priority score can be:

[0133] For target vehicle C, its priority score can be:

[0134] Therefore, target vehicle C has the highest priority score, followed by target vehicle A, and target vehicle B has the lowest priority score. The cloud system can determine the priority order of multiple target vehicles as: target vehicle C, target vehicle A, and target vehicle B.

[0135] Subsequently, the cloud system determines the access time points one by one according to this priority order. First, based on the access request, current occupancy information, and time consumption information of target vehicle C, the cloud system determines the access time point of target vehicle C within the expected time range of 8:01 to 8:11. Assume the cloud system determines the access time point of target vehicle C to be 8:01:30. Based on the access time point of target vehicle C and the planned duration of each designated road segment traversed by target vehicle C, the cloud system determines the occupancy time points corresponding to the starting positions of target vehicle C in each designated road segment, and writes these occupancy time points into the occupancy information, obtaining the first updated occupancy information.

[0136] Next, the cloud system uses the first updated occupancy information to determine the access time for target vehicle A. Since the first updated occupancy information already includes the occupancy time of target vehicle C on the relevant designated road segment, the cloud system will avoid reserving road space-time resources for target vehicle C when determining the access time within the expected time range of 8:00 to 8:10. Assume the cloud system determines the access time for target vehicle A to be 8:02:10. The cloud system then updates the occupancy information based on the access time of target vehicle A, obtaining the second updated occupancy information.

[0137] Finally, the cloud system uses the updated occupancy information to determine the access time for target vehicle B. Since the updated occupancy information already includes the occupancy times of target vehicles C and A, when determining the access time within the desired time range of 8:02 to 8:12 for target vehicle B, the cloud system will simultaneously avoid the road space-time resources already reserved by target vehicles C and A. Assume the cloud system ultimately determines the access time for target vehicle B to be 8:03:00. Therefore, target vehicles C, A, and B will obtain three access time points: 8:01:30, 8:02:10, and 8:03:00, respectively, allowing multiple target vehicles to enter the corresponding area in an orderly manner from the same target entry position P1 according to priority.

[0138] Figure 7 This is a schematic diagram of the structure of the automated driving transportation system provided in the embodiments of this application, such as... Figure 7 As shown, a second aspect of this application provides an automated driving traffic system 10, the system 10 including... Cloud system 11 is used to execute the vehicle access method provided in the first aspect of the embodiments of this application; The cloud system 13 controls connected vehicles to perform autonomous driving within the corresponding area 12. The corresponding area 12 includes at least one entry position and at least one exit position, with each entry position corresponding to a waiting area. The corresponding area 12 also includes at least one designated road segment for vehicle passage, which is a continuous road between the starting position and the ending position where no vehicles merge or exit. At least one waiting area 13, the waiting area including at least one waiting position, where a vehicle waits before entering the corresponding area 12.

[0139] The automated driving traffic system 10 provided in the second aspect of this application can implement the various processes implemented in the above method embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0140] Please see Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. A third aspect of this application provides an electronic device 1000, including a processor 1100 and a memory 1200. The memory 1200 stores machine-executable instructions that can be executed by the processor 1100. The processor 1100 can execute the machine-executable instructions to implement the above-mentioned vehicle access method.

[0141] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the vehicle access method described above.

[0142] In some embodiments, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle access method according to the above embodiments.

[0143] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0145] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0146] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0147] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transistor silicon switching devices), such as modulated data signals and carrier waves.

[0148] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0149] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0150] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A vehicle access method, characterized in that, The method is applied to a cloud system, which is used to control connected vehicles to perform autonomous driving within a corresponding area of ​​the cloud system. The method includes: Obtain the access request of the target vehicle, wherein the access request includes the target entry position of the target vehicle entering the corresponding area, the target exit position of the target vehicle leaving the corresponding area, and the expected time range; Based on the access request, occupancy information, and time consumption information, determine the access time point within the expected time range; The occupancy information is used to characterize the occupancy time of the starting position of each designated road segment in the corresponding area when it is occupied by a vehicle, and the time consumption information is used to characterize the planned time for a vehicle to pass through each designated road segment. The designated road segment is a continuous road between the starting position and the ending position where no vehicle merges in or out. After receiving a confirmation instruction for the access time point and confirming that the target vehicle is already in the waiting position corresponding to the target entry position, the system controls the target vehicle to enter the corresponding area via the target entry position at the access time point.

2. The method according to claim 1, characterized in that, Determining the access time point within the expected time range based on the access request, occupancy information, and time consumption information includes: Based on the access request, occupancy information, time consumption information, and interval information, the access time point is determined within the expected time range; The interval information is used to characterize the minimum time interval for each of the defined road segments. For each defined road segment, when the starting position of the defined road segment is occupied by two adjacent vehicles in succession, the interval between the two occupation time points is greater than or equal to the minimum time interval.

3. The method according to claim 2, characterized in that, The step of determining the access time point within the expected time range based on the access request, occupancy information, time consumption information, and interval information includes: Based on the target entry position and the target exit position, at least one target road segment of the target vehicle is determined, wherein the target road segment is a designated road segment traversed by the target vehicle from the target entry position to the target exit position; For each target road segment, a first set of time points for the target road segment is determined from the occupancy information, wherein the first set of time points includes the occupancy time points when the starting position of the target road segment is occupied by vehicles; For each target road segment other than the first target road segment in the at least one target road segment, the planned durations of the target road segments that precede the target road segment in the passing order of the target vehicles are summed to obtain the associated interval of the target road segment, wherein the first target road segment is the first target road segment in the passing order of the target vehicles among the at least one target road segment; Each occupied time point in the first time point set of the target road segment is advanced to a time point that is separated from the occupied time point by one associated interval, to obtain the second time point set of the target road segment; The starting time point of the desired time range is determined as a candidate time point, and the candidate time point is compared with the time points in the first time point set of the first target road segment to obtain a first comparison result; For each target road segment other than the first target road segment, the candidate time point is compared with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment; If the first comparison result and the second comparison result do not meet the preset conditions, the candidate time point is delayed by one time step to obtain an adjusted candidate time point. The adjusted candidate time point is then used as the candidate time point, and the process jumps to the step of comparing the candidate time point with the time point in the first time point set of the first target road segment until the first comparison result and the second comparison result meet the preset conditions. The candidate time points corresponding to the first comparison result and the second comparison result that meet the preset conditions are determined as the access time points.

4. The method according to claim 3, characterized in that, The step of comparing the candidate time points with the time points in the first time point set of the first target road segment to obtain a first comparison result includes: Extract the second time point set of the first target road segment from the first time point set; Wherein, the time points in the second time point set of the first target road segment are all located between the first reference time point and the second reference time point; the first reference time point is located before the start time point of the expected time range, and the interval between the first reference time point and the start time point of the expected time range is equal to the minimum time interval of the first target road segment; the second reference time point is located after the end time point of the expected time range, and the interval between the second reference time point and the end time point of the expected time range is equal to the minimum time interval of the first target road segment; Determine whether the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and obtain the first comparison result; The step of comparing the candidate time points with the time points in the second time point set of the target road segment to obtain the second comparison result corresponding to the target road segment includes: Extract the third time point set of the target road segment from the second time point set of the target road segment; Wherein, the time points in the third time point set of the target road segment are all located between the third reference time point and the fourth reference time point of the target road segment; the third reference time point is located before the start time point of the expected time range, and the interval between the third reference time point and the start time point of the expected time range is equal to the minimum time interval of the target road segment; the fourth reference time point is located after the end time point of the expected time range, and the interval between the fourth reference time point and the end time point of the expected time range is equal to the minimum time interval of the target road segment. Determine whether the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment, and obtain the second comparison result corresponding to the target road segment; The preset conditions include: The first comparison result indicates that the time interval between the candidate time point and each time point in the second time point set of the first target road segment is greater than or equal to the minimum time interval of the first target road segment, and each second comparison result indicates that the time interval between the candidate time point and each time point in the third time point set of the target road segment is greater than or equal to the minimum time interval of the target road segment.

5. The method according to claim 1, characterized in that, Controlling the target vehicle to enter the corresponding area via the target entry location at the access time point includes: Determine the estimated time it will take for the target vehicle to travel from its current waiting position to its target entry position; The target vehicle is instructed to start driving at a pre-access time point, so that the target vehicle drives to the target entry position and enters the corresponding area at the access time point, wherein the pre-access time point is located before the access time point, and the interval between the access time point and the access time point is equal to the estimated consumption time.

6. The method according to claim 5, characterized in that, After instructing the target vehicle to begin driving, the method further includes: The speed of the target vehicle is continuously monitored, and the estimated time when the target vehicle will arrive at the target entry position is determined based on the speed of the target vehicle. A speed adjustment command is generated based on the difference between the expected time point and the access time point, and the speed adjustment command is sent to the target vehicle so that the target vehicle travels at the speed indicated by the adjustment command.

7. The method according to claim 1, characterized in that, The number of target vehicles is multiple, and the target entry positions of multiple target vehicles are the same. The proportion of the overlap between the expected time ranges of multiple target vehicles in the expected time range of each target vehicle is greater than a preset proportion threshold. Determining the access time point within the expected time range based on the access request, occupancy information, and time consumption information includes: For each target vehicle, based on the occupancy information, determine the traffic flow along the path of the target vehicle from the target entry position to the target exit position, assuming the target vehicle enters the corresponding area within the expected time range. The priority score of the target vehicle is determined based on the time point at which the access request of the target vehicle is received and the traffic flow. Based on the priority scores of the multiple target vehicles, the priority ranking of the multiple target vehicles is determined; According to the priority order, the access time of each target vehicle is determined one by one based on the access request of each target vehicle, the occupancy information, and the time consumption information. For each target vehicle, after the access time of the target vehicle is determined, the occupancy information is updated according to the access time of the target vehicle to obtain the updated occupancy information, and the updated occupancy information is used to replace the occupancy information.

8. An automated driving transportation system, characterized in that, The system includes: A cloud system, wherein the cloud system is configured to perform the vehicle access method as described in any one of claims 1 to 7; The corresponding area of ​​the cloud system, the cloud system controls the connected vehicles to perform autonomous driving in the corresponding area, the corresponding area includes at least one entry position and at least one exit position, each entry position corresponds to a waiting area; the corresponding area also includes at least one designated road segment for vehicle passage, the designated road segment is a continuous road between the starting position and the ending position where no vehicles merge or exit. At least one waiting area, the waiting area including at least one waiting position, where a vehicle waits before entering the corresponding area.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the vehicle access method as described in any one of claims 1-7.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions that, when executed by a processor, cause the processor to implement the vehicle access method as described in any one of claims 1-7.

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