Right-of-way allocation method and apparatus, device, and medium

Abstract

Embodiments of the present application provide a right-of-way allocation method and apparatus, a device, and a medium. The method comprises: acquiring distribution information to be processed and right-of-way allocation information of a plurality of vehicles in a target area, wherein the target area comprises a plurality of available parking spots, the distribution information to be processed is used for representing vehicle distribution conditions of the plurality of vehicles at the plurality of available parking spots, and the right-of-way allocation information comprises a correspondence between at least one piece of vehicle distribution information and a right-of-way allocation scheme; and on the basis of the correspondence between the at least one piece of vehicle distribution information and the right-of-way allocation scheme, matching the distribution information to be processed, so as to obtain a target right-of-way allocation scheme corresponding to the distribution information to be processed, wherein the target right-of-way allocation scheme is used for indicating a next available parking spot that can be passed by the vehicle at each available parking spot among the plurality of available parking spots.

Description

Method, device, equipment and medium for allocating right of way

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure claims priority to Chinese Patent Application No. 202410821909.7, filed on June 24, 2024 in China, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of information processing, and particularly relates to a method, device, equipment and medium for allocating right of way. BACKGROUND

[0004] In real life, when an open-pit mine is put into production, the loading and unloading area usually has a large density of mine cards. When a large number of mine cards gather in a relatively small area, the optimal loading and unloading position needs to be selected for each mine card, and then the mine cards are sequentially guided to complete the production process of “entering the field-reversing into position-loading / unloading-leaving the field”. In this process, due to the size of the area and the kinematic constraints of the mine cards, there are often a large number of right-of-way conflicts between the mine cards.

[0005] To solve the above problems, the related art generally uses a real-time path planning method to generate a collision-free or obstacle-avoiding path, so as to avoid right-of-way conflicts. However, this method results in low traffic efficiency of the entire loading and unloading area. SUMMARY

[0006] The embodiments of the present application provide a method, device, equipment and medium for allocating right of way, which improves the traffic efficiency of the entire loading and unloading area.

[0007] In a first aspect, the embodiments of the present application provide a method for allocating right of way, the method comprising:

[0008] obtaining to-be-processed distribution information of a plurality of vehicles in a target area and communication right allocation information, the target area comprising a plurality of parking points, the to-be-processed distribution information being used to represent vehicle distribution at the plurality of parking points, and the right of way allocation information comprising a correspondence between at least one vehicle distribution information and a right of way allocation scheme;

[0009] matching the to-be-processed distribution information based on the correspondence between the at least one vehicle distribution information and the right of way allocation scheme, to obtain a target right of way allocation scheme corresponding to the to-be-processed distribution information, the target right of way allocation scheme being used to indicate a next parking point through which a vehicle at each parking point in the plurality of parking points can pass.

[0010] In an optional implementation of the first aspect, the target right-to-pass allocation scheme comprises at least one first feasible path, each first feasible path comprises at least two stoppable points, and the target right-to-pass allocation scheme further comprises a priority of each stoppable point;

[0011] After matching the to-be-processed distribution information based on the correspondence between the at least one vehicle distribution information and the right-to-pass allocation scheme, the target right-to-pass allocation scheme corresponding to the to-be-processed distribution information is obtained, the method further comprises:

[0012] Based on the priority of each stoppable point, the vehicle at each stoppable point is controlled to travel to the next stoppable point in a preset priority order and at least one first feasible path.

[0013] In an optional implementation of the first aspect, the right-to-pass allocation information is obtained by:

[0014] The at least one vehicle distribution information and an N-layer network topology graph are obtained, the N-layer network topology graph comprises priority information of a plurality of stoppable points, the stoppable points in an i-th layer network topology graph are at the same priority, the priority of the stoppable points in the i-th layer network topology graph is lower than that in an (i+1)-th layer network topology graph, i and N are positive integers, i is greater than or equal to 1 and less than or equal to N-1;

[0015] For each vehicle distribution information in the at least one vehicle distribution information, a right-to-pass allocation scheme corresponding to the vehicle distribution information is determined based on the vehicle distribution information and the N-layer network topology graph, so as to obtain the right-to-pass allocation information.

[0016] In an optional implementation of the first aspect, the N-layer network topology graph is obtained by:

[0017] A plurality of drivable routes in the target area are obtained;

[0018] For each drivable route in the plurality of drivable routes, the following steps are performed:

[0019] A first layer network topology graph is drawn with a first stoppable point as a starting point and with a first stoppable point as an end point, the first stoppable point is spaced 1 stoppable point from and before a target point passed by the drivable route for the first time;

[0020] An i+1-th layer network topology graph is drawn with a last stoppable point of a target point passed by the drivable route for the i+1-th time as a starting point and with an i+1-th stoppable point as an end point, until i+1=N, the i+1-th stoppable point is spaced 1 stoppable point from and before a target point passed by the drivable route for the i+1+1-th time, i=1, 2, 3, …, N-1.

[0021] In an optional implementation of the first aspect, the plurality of parking points comprises at least two loading and unloading points, and the at least two loading and unloading points have different loading and unloading priorities.

[0022] Before determining, for each of the at least one vehicle distribution information, a passing right allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph to obtain the passing right allocation information, the method comprises:

[0023] For each of the at least two loading and unloading points, the position of the loading and unloading point in the N-layer network topology graph is adjusted based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology graph to obtain an adjusted N-layer network topology graph.

[0024] In an optional implementation of the first aspect, each vehicle distribution information comprises a passing coefficient of each parking point in the plurality of parking points, and the passing coefficient is used to represent the passable degree of the vehicle at the parking point.

[0025] Before determining, for each of the at least one vehicle distribution information, a passing right allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph to obtain the passing right allocation information, the method comprises:

[0026] For each of the at least one vehicle distribution information, a first feasible path with the largest passable coefficient in each network topology graph is determined according to the vehicle distribution information.

[0027] Based on the first feasible path with the largest passable coefficient in each network topology graph, a passing right allocation scheme corresponding to the vehicle distribution information is determined to obtain the passing right allocation information.

[0028] In an optional implementation of the first aspect, for each of the at least one vehicle distribution information, the first feasible path with the largest passable degree in each network topology graph is determined according to the vehicle distribution information, which comprises:

[0029] For each network topology graph, R root nodes and L leaf nodes of the network topology graph are determined, and R x L second feasible paths are determined according to the R root nodes and the L leaf nodes, R and L are both positive integers greater than or equal to 1.

[0030] Based on the passing coefficient of each parking point included in the vehicle distribution information, the passable coefficient of each second feasible path in the R x L second feasible paths is determined.

[0031] The second feasible path with the largest passable coefficient is determined from the R x L second feasible paths as the first feasible path of the network topology graph.

[0032] In a second aspect, an embodiment of the present application provides a passing right allocation apparatus, the apparatus comprising:

[0033] an obtaining module, configured to obtain to-be-processed distribution information of a plurality of vehicles in a target area and passing right allocation information, the target area comprising a plurality of parking points, the to-be-processed distribution information being used to represent vehicle distribution at the plurality of parking points, and the passing right allocation information comprising a correspondence between at least one vehicle distribution information and a passing right allocation scheme;

[0034] a determining module, configured to match the to-be-processed distribution information based on the correspondence between the at least one vehicle distribution information and the passing right allocation scheme, to obtain a target passing right allocation scheme corresponding to the to-be-processed distribution information, the target passing right allocation scheme being used to indicate a next parking point through which a vehicle at each of the plurality of parking points can pass.

[0035] In a third aspect, an electronic device is provided, comprising a memory configured to store computer program instructions, and a processor configured to read and run the computer program instructions stored in the memory, to execute the passing right allocation method provided in any of the optional embodiments of the first aspect.

[0036] In a fourth aspect, a computer storage medium is provided, the computer storage medium storing computer program instructions, the computer program instructions being executed by a processor to implement the passing right allocation method provided in any of the optional embodiments of the first aspect.

[0037] In a fifth aspect, a computer program product is provided, the computer program product comprising a computer program, the computer program being executed by a processor to implement the passing right allocation method provided in any of the optional embodiments of the first aspect.

[0038] In the embodiments of the present application, the to-be-processed distribution information of a plurality of vehicles in a target area and passing right allocation information can be obtained, the target area comprising a plurality of parking points, the to-be-processed distribution information being used to represent vehicle distribution at the plurality of parking points, and the passing right allocation information comprising a correspondence between at least one vehicle distribution information and a passing right allocation scheme. Based on this, the to-be-processed distribution information can be matched based on the correspondence between the at least one vehicle distribution information and the passing right allocation scheme, to obtain a target passing right allocation scheme corresponding to the to-be-processed distribution information, the target passing right allocation scheme being used to indicate a next parking point through which a vehicle at each of the plurality of parking points can pass. In this way, the passing efficiency of the loading and unloading area can be improved by considering a plurality of continuous conflicts or the relationship between conflicts in the entire area from the perspective of the entire area, and avoiding the case of only considering a local conflict in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows, and other drawings can be obtained by those of ordinary skill in the art without creative labor on the premise of not paying the creative labor.

[0040] FIG. 1 is a flow diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0041] FIG. 2 is a flow diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0042] FIG. 3 is an example diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0043] FIG. 4 is an example diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0044] FIG. 5 is an example diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0045] FIG. 6 is an example diagram of a right-to-pass allocation method according to an embodiment of the present application;

[0046] FIG. 7 is a structural diagram of a right-to-pass allocation apparatus according to an embodiment of the present application;

[0047] FIG. 8 is a structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0049] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0050] The term "and / or", merely describes an association between associated objects, can represent three kinds of relationships, for example, A and / or B, can represent: the existence of A alone, the existence of A and B at the same time, the existence of B alone.

[0051] In real life, when the open-pit mine is put into production, the loading and unloading area usually has a large density of mining trucks. When a large number of mining trucks gather in a relatively small area, the optimal loading and unloading position needs to be selected for each mining truck, and then the mining trucks are guided in order to complete the production process of "entering the field-reversing into position-loading / unloading-leaving the field". In this process, due to the limitation of the size of the area and the kinematic constraints of the mining trucks, there are often a large number of right-of-way conflicts between the mining trucks.

[0052] To solve the above problems, the related art generally uses a real-time path planning method to generate a collision-free or obstacle-avoiding path, so as to avoid the right-of-way conflict. However, this method only solves one local right-of-way conflict at a time, and does not consider multiple consecutive conflicts or related interference between the conflicts, which may cause a deadlock phenomenon, resulting in low traffic efficiency of the entire loading and unloading area.

[0053] To solve the problems in the background art, the embodiment of the present application provides a right-of-way allocation method, device, equipment and medium, which can obtain to-be-processed distribution information of a plurality of vehicles in a target area and right-of-way allocation information, the target area including a plurality of parking points, and the to-be-processed distribution information is used to represent the vehicle distribution of the plurality of vehicles at the plurality of parking points, and the right-of-way allocation information includes the correspondence between at least one vehicle distribution information and a right-of-way allocation scheme. Based on this, the to-be-processed distribution information can be matched based on the correspondence between at least one vehicle distribution information and a right-of-way allocation scheme, and a target right-of-way allocation scheme corresponding to the to-be-processed distribution information is obtained, which is used to indicate the next parking point that the vehicle at each parking point in the plurality of parking points can pass. In this way, the entire region is considered from the perspective of the entire region, and the plurality of continuous conflicts or the relationship between the conflicts in the entire region is considered, avoiding the case of only considering a local conflict in the related art, and thus improving the passing efficiency of the loading and unloading area.

[0054] It should be noted that the execution subject of the right-of-way allocation method provided by the embodiment of the present application can be a right-of-way allocation device, or a control module in the right-of-way allocation device for executing the right-of-way allocation method. In the embodiment of the present application, the right-of-way allocation method executed by the right-of-way allocation device is taken as an example to illustrate the right-of-way allocation method provided by the embodiment of the present application.

[0055] The right-of-way allocation method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] FIG. 1 is a flowchart of a right-of-way allocation method provided by an embodiment of the present application.

[0057] As shown in FIG. 1, the execution subject of the right-of-way allocation method can be a right-of-way allocation device. The method can specifically include the following steps S110 and S120.

[0058] S110, obtaining to-be-processed distribution information of a plurality of vehicles in a target area and right-of-way allocation information.

[0059] The vehicle can be a mine truck or other vehicles, which is not limited here. If the vehicle is a mine truck, the target area can be a loading and unloading area of an open-pit mine, which is not limited here.

[0060] In some embodiments, the target area can be a plurality of parking points. Based on this, the to-be-processed distribution information is used to represent the vehicle distribution of the plurality of vehicles at the plurality of parking points. In addition, the right-of-way allocation information can include the correspondence between at least one vehicle distribution information and a right-of-way allocation scheme.

[0061] In one embodiment, the step of obtaining the distribution information of the plurality of vehicles in the target area can include the following steps:

[0062] The positioning awareness information and the area information of the target area are obtained, the positioning awareness information including the vehicle position of each vehicle in the plurality of vehicles, and the area information including the position of each parking point in the plurality of parking points.

[0063] For each vehicle in the plurality of vehicles, the parking point where the vehicle is located is determined based on the vehicle position of the vehicle and the position of each parking point, so as to obtain the distribution information of the plurality of vehicles in the target area.

[0064] Specifically, the right-to-pass allocation device can obtain the positioning awareness information and the area information of the target area, the positioning awareness information including the vehicle position of each vehicle in the plurality of vehicles, and the area information including the position of each parking point. Based on this, for each vehicle in the plurality of vehicles, the parking point where the vehicle is located is determined based on the vehicle position of the vehicle and the position of each parking point, so as to obtain the distribution information of the plurality of vehicles in the target area.

[0065] In one example, if a vehicle is between two parking points (the previous parking point and the next parking point relative to the vehicle), the distance between the vehicle and the previous parking point can be determined. If the distance is less than a preset distance threshold, it is determined that the vehicle is at the previous parking point, otherwise, it is determined that the vehicle is at the next parking point.

[0066] In addition, it should be noted that the positioning awareness information can be obtained by the right-to-pass allocation device through its own detection equipment, which can include a radar, without further limitation. In addition, the positioning awareness information can also be obtained by the right-to-pass allocation device by receiving the vehicle position sent by the positioning device of each vehicle in the plurality of vehicles, without further limitation.

[0067] S120, based on the correspondence between the at least one vehicle distribution information and the right-to-pass allocation scheme, matching the distribution information to be processed to obtain a target right-to-pass allocation scheme corresponding to the distribution information to be processed.

[0068] The target right-to-pass allocation scheme can be used to indicate the next parking point that the vehicle at each parking point in the plurality of parking points can pass.

[0069] Specifically, after obtaining the to-be-processed distribution information of the plurality of vehicles in the target area and the communication right allocation information, since the communication right allocation information can include the correspondence between the at least one vehicle distribution information and the communication right allocation scheme, the communication right allocation device can match the to-be-processed distribution information based on the correspondence between the at least one vehicle distribution information and the communication right allocation scheme, to obtain the target communication right allocation scheme corresponding to the to-be-processed distribution information.

[0070] In the embodiments of the present application, the to-be-processed distribution information of the plurality of vehicles in the target area and the communication right allocation information can be obtained, the target area includes a plurality of parking points, and the to-be-processed distribution information is used to represent the vehicle distribution of the plurality of vehicles at the plurality of parking points. The communication right allocation information includes the correspondence between the at least one vehicle distribution information and the communication right allocation scheme. Based on this, the to-be-processed distribution information can be matched based on the correspondence between the at least one vehicle distribution information and the communication right allocation scheme, to obtain the target communication right allocation scheme corresponding to the to-be-processed distribution information. The target communication right allocation scheme is used to indicate the next parking point that the vehicle at each parking point in the plurality of parking points can pass through. In this way, the plurality of continuous conflicts or the relationship between the conflicts in the entire area can be considered from the perspective of the entire area, avoiding the case of only considering a local conflict in the related art, and thus the passing efficiency of the loading and unloading area is improved.

[0071] In some embodiments, the target communication right allocation scheme can include at least one first feasible path, and each first feasible path can include at least two parking points. Based on this, the target communication right allocation scheme can further include the priority of each parking point.

[0072] Based on this, after S120, the communication right allocation method can further include the following steps:

[0073] Based on the priority of each parking point, the vehicle at each parking point is controlled to travel to the next parking point according to the preset priority order and the at least one first feasible path.

[0074] The preset priority order can be set in advance based on actual experience or conditions, and is not limited here.

[0075] Specifically, the communication right allocation device can control the vehicle at each parking point to travel to the next parking point according to the preset priority order and the at least one first feasible path based on the priority of each parking point.

[0076] In this embodiment, based on the priority of each parking point, the vehicle at each parking point can be controlled to travel to the next parking point in a preset priority order and at least one first feasible path, so that the multiple continuous conflicts in the entire region and the relationship between the conflicts are considered, the multiple continuous conflicts in the entire region are effectively avoided, and the traffic efficiency of the entire region is improved.

[0077] In order to more completely describe the traffic right allocation method provided by the embodiments of the present application, in one embodiment, as shown in FIG. 2, the above-mentioned step of obtaining the traffic right allocation information can further include the following steps S210 and S220.

[0078] S210, obtaining at least one vehicle distribution information and an N-layer network topology graph.

[0079] The at least one vehicle distribution information can include actual vehicle distribution information in the current target region, or can include all vehicle distribution information that can exist in the target region, which is not limited here. Each vehicle distribution information can indicate whether there is a vehicle or how many vehicles at each parking point in the multiple parking points. It should be noted that the number of the multiple vehicle distribution information can be determined based on the number of vehicles, the number of parking points, and the number of parking states of each parking point.

[0080] In one example, the number of the multiple vehicle distribution information = (the number of parking points) 车辆数量 × (the number of the number of parking states) 车辆数量 It should be noted that the number of parking states can be determined based on actual conditions. If “0” represents that a parking point has no vehicle, and “1” represents that a parking point has a vehicle, then there are two parking states. If “0” represents that a parking point has no vehicle, “1” represents that a parking point has one vehicle, and “2” represents that a parking point has two vehicles, then the number of parking states is equal to the number of vehicles + 1.

[0081] In addition, in some embodiments, the N-layer network topology graph can include priority information of the multiple parking points. The parking points in the i-th layer network topology graph are in the same priority, and the priority of the parking points in the i-th layer network topology graph is lower than that of the parking points in the i+1-th layer network topology graph. i and N are positive integers, i is greater than or equal to 1 and less than or equal to N-1.

[0082] S220, for each vehicle distribution information in the at least one vehicle distribution information, determining a traffic right allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph, to obtain the traffic right allocation information.

[0083] Specifically, after obtaining the plurality of vehicle distribution information and the N-layer network topology graph, the passing right allocation device can determine, for each vehicle distribution information in the at least one vehicle distribution information, a passing right allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph containing priority information of a plurality of parking points in the target area, to obtain passing right allocation information.

[0084] In this embodiment, for each vehicle distribution situation, the N-layer network topology graph containing priority information of a plurality of parking points in the target area and the vehicle distribution information representing the vehicle distribution situation can be used to accurately determine the passing right allocation scheme corresponding to each vehicle distribution situation, which is conducive to subsequent quick determination of the corresponding passing right allocation scheme by table lookup, thereby improving the passing efficiency of the entire region.

[0085] Based on this, in one embodiment, S220 can specifically include the following steps:

[0086] Obtaining a plurality of drivable routes in the target area;

[0087] For each drivable route in the plurality of drivable routes, the following steps are performed:

[0088] Drawing a first-layer network topology graph with a first parking point as a starting point and a first parking point as an ending point, the first parking point being spaced 1 parking point from and before a target point of the 1+1th passing of the drivable route.

[0089] Drawing an i+1-layer network topology graph with a last parking point of the target point of the i+1th passing of the drivable route as a starting point and an i+1th parking point as an ending point, until i+1=N, the i+1th parking point being spaced 1 point from and before a target point of the i+1+1th passing of the drivable route.

[0090] Wherein, the plurality of drivable routes can be routes obtained according to historical trajectories, or can be a general driving trajectory direction, without limitation here.

[0091] In addition, i=1, 2, 3, …, N-1. It should be noted that N can be determined based on the number of times the drivable route passes through a potential conflict point (the target point), which includes a parking point repeatedly passed through in each drivable route and a parking point coincided by at least two drivable routes.

[0092] Specifically, the right-to-pass allocation device can obtain a plurality of drivable routes in the target area, and for each drivable route, draw a first layer network topology graph with a first parking point as a starting point and a second parking point as an ending point, the first parking point being 1 parking point away from and before a target point that is passed by the drivable route for the first time, and the second parking point being 1 parking point away from and before a target point that is passed by the drivable route for the second time.

[0093] Based on this, an i+1 layer network topology graph is drawn with a last parking point of a target point that is passed by the drivable route for the i+1 time as a starting point and an i+1 parking point as an ending point, until i+1=N, the i+1 parking point being 1 point away from and before a target point that is passed by the drivable route for the i+1+1 time.

[0094] In one example, as shown in FIG. 3, assuming that a drivable route of a vehicle is A-->X-->B-->C-->X-->D, where the BC segment is a reverse driving. It can be seen that the vehicle needs to pass the X point twice, that is, the X point is a potential conflict point in the drivable route. Based on this, a first layer network topology graph is drawn with a first parking point (A point) of the drivable route as a starting point and a second parking point (B point) as an ending point, the B point being 1 point away from and before the X point that is passed by the drivable route for the second time, so the B point is the first parking point. Based on this, a second layer network topology graph is drawn with a last parking point (C point) of a target point that is passed by the drivable route for the second time as a starting point and a third parking point (D point) as an ending point, that is, the second layer network topology graph should be C-->X-->D as shown in FIG. 4.

[0095] It should also be noted that in the process of drawing the network topology graph, it also needs to be noted that any conflict point has at most one node converging in each layer of the network topology graph; the loading and unloading points with high priority are placed in higher network levels; and the same conflict point is aligned from top to bottom.

[0096] In this embodiment, a complex driving route can be converted into a multi-layer network topology graph, the priority of the right-to-pass of each parking point is reasonably scheduled, and it is convenient for subsequent accurate obtaining of a right-to-pass allocation scheme corresponding to each vehicle distribution based on the multi-layer network topology graph, thereby avoiding the problem of limiting a single right conflict and improving the passing efficiency of the entire area.

[0097] In some embodiments, the plurality of parking points can include at least two loading and unloading points having different loading and unloading priorities. Based on this, in one embodiment, before S230, the above-mentioned traffic right allocation scheme can further include the following steps:

[0098] For each of the at least two loading and unloading points, based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology graph, the position of the loading and unloading point in the N-layer network topology graph is adjusted to obtain an adjusted N-layer network topology graph.

[0099] Wherein, the loading and unloading priority of each loading and unloading point can be pre-set based on actual experience or situation, or can be determined based on relevant information such as the production rate of each loading and unloading point, which is not limited here. In addition, the loading and unloading priority of each loading and unloading point is positively correlated with the number of vehicles required by each loading and unloading point, which is not limited here.

[0100] Specifically, since the plurality of parking points can include at least two loading and unloading points having different loading and unloading priorities, the traffic right allocation device can adjust the position of each of the at least two loading and unloading points in the N-layer network topology graph based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology graph, to obtain an adjusted N-layer network topology graph.

[0101] In one example, if the loading and unloading points are E, F, I and J, without considering the loading and unloading priority relationship between the four loading and unloading points, it can be as shown in Figure 5. If the loading and unloading priority relationship between the four loading and unloading points is considered, and the loading and unloading priority relationship of the four is as follows: F > E, I > J, then based on the loading and unloading priority relationship, the position of the loading and unloading point in Figure 5 can be adjusted in turn to obtain the multi-layer network topology graph shown in Figure 6. It should be noted that different loading and unloading priority settings will result in different topologies.

[0102] Based on the multi-layer network topology graph shown in Figure 6, it should be noted that first, because the potential conflict point cannot be parked, when the node converges into the potential conflict point, we use a straight line to connect instead of an arrow (such as BZ, GY) to distinguish. When we allocate traffic rights, we also give the two nodes connected to the conflict point before and after (such as BC traffic right, not BZC).

[0103] Second, the two conflict points Y and Z repeatedly appear in the multi-layer network topology, forming a "traffic pipeline" (the part surrounded by the dashed line in FIG. 6), indicating that the potential conflict points can only be occupied by one vehicle at the same time. Once the traffic flow on a certain plane is given the right to pass through a certain pipeline, the traffic flow on other planes cannot pass through the pipeline at the current time step. For example, the right to pass is now assigned to the CE section (through Z), so DF and BD cannot pass at the same time. In addition, if there are vehicles parked at the same time, the priority sorting algorithm needs to give rules to constrain who passes first.

[0104] In this embodiment, the loading and unloading priorities of each loading and unloading point can be considered, the vehicle dispatching between each loading and unloading point can be balanced, and the road right conflict can be converted into a "traffic pipeline" in the multi-layer network topology, so as to solve the road right conflict coordination problem, and then avoid the limitation of the single road right conflict problem, and improve the traffic efficiency of the entire region.

[0105] In some embodiments, each of the vehicle distribution information includes a traffic coefficient of each of the plurality of parking points, and the traffic coefficient is used to represent the passable degree of the vehicle at the parking point. Based on this, in an embodiment, the S230 can specifically include the following steps:

[0106] For each of the at least one vehicle distribution information, a first feasible path with the maximum traffic coefficient in each network topology graph is determined according to the vehicle distribution information;

[0107] Based on the first feasible path with the maximum traffic coefficient in each network topology graph, a traffic right allocation scheme corresponding to the vehicle distribution information is determined to obtain the traffic right allocation information.

[0108] Specifically, since each vehicle distribution information includes a traffic coefficient of each of the plurality of parking points, and the traffic coefficient is used to represent the passable degree of the vehicle at the parking point, the traffic right allocation device can determine a first feasible path with the maximum traffic coefficient in each network topology graph according to the vehicle distribution information for each of the at least one vehicle distribution information, and then can determine a traffic right allocation scheme corresponding to the vehicle distribution information based on the first feasible path with the maximum traffic coefficient in each network topology graph, to obtain the traffic right allocation information.

[0109] In one example, after determining the first feasible path with the maximum passable coefficient in each layer network topology graph, the first feasible path with the maximum passable coefficient in the entire region can be determined based on the first feasible path with the maximum passable coefficient in each layer network topology graph, that is, the pass right allocation scheme corresponding to the vehicle distribution information is determined. It should be noted that the first feasible path with the maximum passable degree in the entire region is not necessarily a continuous path from the starting point to the ending point, but can be a combination of multiple discontinuous paths.

[0110] In this embodiment, the feasible path with the maximum passable degree in the entire region can be determined by determining the feasible path with the maximum passable degree in each layer network topology graph. In this way, the road right conflict coordination problem is solved with the maximum traffic of the entire network, that is, the maximum number of truck movements (maximum passable degree), and the maximum passable efficiency of the entire road network is achieved.

[0111] Based on this, in one embodiment, the above-mentioned step of determining the pass right allocation scheme corresponding to the vehicle distribution information can include the following steps:

[0112] For each layer network topology graph, R root nodes and L leaf nodes of the network topology graph are determined, and R x L second feasible paths are determined according to the R root nodes and the L leaf nodes;

[0113] Based on the passable coefficient of each parking point included in the vehicle distribution information, the passable coefficient of each second feasible path in the R x L second feasible paths is determined;

[0114] The second feasible path with the maximum passable coefficient is determined from the R x L second feasible paths as the first feasible path of the network topology graph.

[0115] Specifically, the pass right allocation device can determine R root nodes and L leaf nodes of the network topology graph for each layer network topology graph, and determine R x L second feasible paths according to the R root nodes and the L leaf nodes, and then can determine the passable coefficient of each second feasible path in the R x L second feasible paths based on the passable coefficient of each parking point included in the vehicle distribution information, that is, for each second feasible path, the sum of the passable coefficients of each parking point included in the second feasible path is determined as the passable coefficient of the second feasible path. In order to determine the second feasible path with the maximum passable coefficient from the R x L second feasible paths as the first feasible path of the network topology graph.

[0116] In this embodiment, the feasible path with the maximum passable degree in each layer network topology graph can be accurately determined, so that the feasible path with the maximum passable degree in the entire region can be accurately determined subsequently.

[0117] Based on the same inventive concept, the embodiment of the present application further provides a right-to-pass allocation device. The right-to-pass allocation device provided by the embodiment of the present application is specifically described in combination with FIG. 7.

[0118] FIG. 7 is a structural schematic diagram of a right-to-pass allocation device provided by an embodiment of the present application.

[0119] As shown in FIG. 7, the right-to-pass allocation device 700 can include:

[0120] The acquisition module 710 is configured to acquire to-be-processed distribution information of a plurality of vehicles in a target area and right-to-pass allocation information, the target area including a plurality of parking points, the to-be-processed distribution information being used to represent vehicle distribution at the plurality of parking points, and the right-to-pass allocation information including a correspondence between at least one vehicle distribution information and a right-to-pass allocation scheme.

[0121] The determination module 720 is configured to match the to-be-processed distribution information based on the correspondence between the at least one vehicle distribution information and the right-to-pass allocation scheme, to obtain a target right-to-pass allocation scheme corresponding to the to-be-processed distribution information, the target right-to-pass allocation scheme being used to indicate a next parking point through which a vehicle at each parking point in the plurality of parking points can pass.

[0122] In one embodiment, the target right-to-pass allocation scheme includes at least one first feasible path, each first feasible path including at least two parking points, and the target right-to-pass allocation scheme further includes a priority of each parking point, based on which the above right-to-pass allocation device can include a control module.

[0123] The control module is configured to control, based on the priority of each parking point, a vehicle at each parking point to travel to a next parking point according to a preset priority order and the at least one first feasible path.

[0124] In one embodiment, the acquisition module 710 is further configured to acquire at least one vehicle distribution information and an N-layer network topology graph, the N-layer network topology graph including priority information of the plurality of parking points, parking points in an i-th layer network topology graph being at a same priority, and a priority of a parking point in the i-th layer network topology graph being less than a priority of a parking point in an (i+1)-th layer network topology graph, i and N being positive integers, i being greater than or equal to 1 and less than or equal to N-1.

[0125] The determination module 720 is further configured to, for at least one vehicle distribution information in the at least one vehicle distribution information, determine a right-to-pass allocation scheme corresponding to the vehicle distribution information based on the vehicle distribution information and the N-layer network topology graph, to obtain the right-to-pass allocation information.

[0126] In one embodiment, the acquisition module 710 is specifically configured to:

[0127] obtain a plurality of drivable routes in the target area;

[0128] For each of the plurality of drivable routes, the following steps are performed:

[0129] A first layer network topology graph is drawn with a first parking point as the starting point and a first parking point as the end point, the first parking point being spaced 1 parking point before and before the target point passed by the drivable route for the first time;

[0130] An i+1 layer network topology graph is drawn with the last parking point of the target point passed by the drivable route for the i+1 time as the starting point and the i+1 parking point as the end point, until i+1=N, the i+1 parking point being spaced 1 point before and before the target point passed by the drivable route for the i+1+1 time, i=1, 2, 3,..., N-1.

[0131] In one embodiment, the plurality of parking points includes at least two loading and unloading points, the at least two loading and unloading points having different loading and unloading priorities; the above-mentioned passage right allocation device further includes an adjustment module.

[0132] The adjustment module is configured to, for each of the at least two loading and unloading points, adjust the position of the loading and unloading point in the N-layer network topology graph based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology graph, to obtain an adjusted N-layer network topology graph.

[0133] In one embodiment, each vehicle distribution information includes a passage coefficient of each parking point in the plurality of parking points, the passage coefficient being used to represent the degree of passability of the vehicle at the parking point; the determination module 720 is specifically configured to:

[0134] For each of the at least one vehicle distribution information, determine a first feasible path with the largest passable coefficient in each layer network topology graph according to the vehicle distribution information;

[0135] Based on the first feasible path with the largest passable coefficient in each layer network topology graph, determine a passage right allocation scheme corresponding to the vehicle distribution information to obtain passage right allocation information.

[0136] In one embodiment, the determination module 720 is specifically configured to:

[0137] For each layer network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths according to the R root nodes and the L leaf nodes, R and L being positive integers greater than or equal to 1;

[0138] determine a passable coefficient of each of the R x L second feasible paths based on the passable coefficient of each parking point included in the vehicle distribution information;

[0139] determine, from the R x L second feasible paths, a second feasible path with the largest passable coefficient as the first feasible path of the network topology graph.

[0140] In the embodiments of the present application, the distribution information to be processed of a plurality of vehicles in a target area and the right-to-pass allocation information can be obtained, the target area including a plurality of parking points, and the distribution information to be processed is used to represent the vehicle distribution of the plurality of vehicles at the plurality of parking points, and the right-to-pass allocation information includes the corresponding relationship between at least one vehicle distribution information and the right-to-pass allocation scheme. Based on this, the distribution information to be processed can be matched based on the corresponding relationship between at least one vehicle distribution information and the right-to-pass allocation scheme, to obtain a target right-to-pass allocation scheme corresponding to the distribution information to be processed, and the target right-to-pass allocation scheme is used to indicate the next parking point that the vehicle can pass at each parking point in the plurality of parking points. In this way, the entire region can be considered from the perspective of the entire region, and the plurality of continuous conflicts or the relationship between the conflicts in the entire region can be considered, thereby avoiding the case of only considering a local conflict in the related art, and the passing efficiency of the loading and unloading area is improved.

[0141] The modules in the right-to-pass allocation device provided in the embodiments of the present application can implement the method steps of the embodiments shown in FIG. 1 or FIG. 2, and achieve the corresponding technical effects. For brevity, the description is not repeated here.

[0142] FIG. 8 shows a hardware structure schematic diagram of an electronic device provided in the embodiments of the present application.

[0143] The electronic device 800 can include a processor 801 and a memory 802 storing computer program instructions.

[0144] Specifically, the processor 801 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0145] The memory 802 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 802 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 802 can include removable or non-removable (or fixed) media, where appropriate. The memory 802 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 802 is non-volatile, solid-state memory.

[0146] The memory 802 can include read-only memory (ROM), random-access memory (RAM), a disc storage medium device, an optical storage medium device, a flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.

[0147] The processor 801 implements any one of the access right allocation methods in the above embodiments by reading and executing computer program instructions stored in the memory 802.

[0148] In one example, the electronic device 800 can further include a communication interface 803 and a bus 810. As shown in FIG. 8, the processor 801, the memory 802, and the communication interface 803 are connected through the bus 810 and complete communication among each other.

[0149] The communication interface 803 is mainly used to realize the communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0150] Bus 810 includes a hardware, software, or both that couples components of the online data traffic metering device to each other. As an example without limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 810 can include one or more buses. Although this application describes and illustrates a particular bus, this application contemplates any suitable bus or interconnect.

[0151] In addition, in combination with the access right allocation method in the above embodiments, the embodiments of the present application can provide a computer storage medium for implementation. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement the access right allocation method provided by the embodiments of the present application.

[0152] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the access right allocation method provided by the embodiments of the present application.

[0153] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0154] The functions indicated in the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium that can store or transfer information. Examples of the machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via a computer network such as the Internet, an intranet, and the like.

[0155] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the examples, or in a different order from the examples, or several steps can be performed simultaneously.

[0156] The above-described aspects and implementations of the present disclosure can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of them. The described aspects and implementations can be implemented using various computer hardware, software, and firmware combinations. The described aspects and implementations can be implemented also using any portion of the methods or apparatuses described above. The described aspects and implementations can be implemented using computer-readable media, for example, memory 110, to store data and instructions for use by or in connection with the processor 102 of the mobile device 100. The computer-readable media, such as the memory 110, can be removable or non-removable. The computer-readable media can also be volatile or non-volatile. The computer-readable media can include volatile and non-volatile, removable and non-removable media implemented in a method or technology such as, but not limited to, set top box, server, or desktop computer use, memory card, CompactFlash, Memory Stick, USB flash drive, external hard drive, or solid-state drive. The computer-readable media can also include transmission media or signals, which can be carried by carrier waves, which communicate a data signal between nodes or devices in a network. The computer-readable media, or computer-readable media and computer interfaces that utilize the computer-readable media, constitute computer program products.

[0157] The above is merely a specific implementation of the present application. As can be clearly understood by a person skilled in the art from the above description, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited in this way, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application.

Claims

1. A method for allocating right-of-way, the method comprising: The system acquires unprocessed distribution information and right-of-way allocation information for multiple vehicles within a target area. The target area includes multiple parking spots. The unprocessed distribution information is used to characterize the vehicle distribution of the multiple vehicles at the multiple parking spots. The right-of-way allocation information includes at least one correspondence between vehicle distribution information and a right-of-way allocation scheme. Based on the correspondence between the at least one vehicle distribution information and the right-of-way allocation scheme, the distribution information to be processed is matched to obtain the target right-of-way allocation scheme corresponding to the distribution information to be processed. The target right-of-way allocation scheme is used to indicate the next available parking spot that a vehicle can pass through at each of the multiple available parking spots.

2. The method according to claim 1, wherein, The target right-of-way allocation scheme includes at least one first feasible path, each first feasible path includes at least two parking spots, and the target right-of-way allocation scheme also includes the priority of each parking spot; After matching the distribution information to be processed based on the correspondence between the at least one vehicle distribution information and the right-of-way allocation scheme to obtain the target right-of-way allocation scheme corresponding to the distribution information to be processed, the method further includes: Based on the priority of each available parking spot, and in accordance with a preset priority order and the at least one first feasible path, the vehicle at each available parking spot is controlled to travel to the next available parking spot.

3. The method according to claim 1, wherein, Obtain right-of-way allocation information, including: Obtain at least one vehicle distribution information and an N-layer network topology diagram. The N-layer network topology diagram includes priority information of the multiple parking points. Parking points in the i-th layer network topology diagram are of the same priority. The priority of parking points in the i-th layer network topology diagram is less than that of parking points in the (i+1)-th layer network topology diagram. i and N are positive integers, i is greater than or equal to 1 and less than or equal to N-1. For each vehicle distribution information in the at least one vehicle distribution information, based on the vehicle distribution information and the N-layer network topology, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information.

4. The method according to claim 3, wherein, Obtain an N-layer network topology diagram, including: Obtain multiple drivable routes within the target area; For each of the multiple drivable routes, perform the following steps: Starting from the first parking spot along the drivable route and ending at the first parking spot, draw a first-layer network topology diagram. The first parking spot is separated from the target point passed by the 1+1th time along the drivable route by one parking spot and is before the target point passed by the 1+1th time along the drivable route. Starting from the previous parking point of the target point passed by the (i+1)th time on the drivable route, and ending at the (i+1)th parking point, draw the network topology diagram of the (i+1)th layer until i+1 = N. The (i+1)th parking point is separated from the target point passed by the (i+1+1)th time on the drivable route by 1 point and is before the target point passed by the (i+1+1)th time on the drivable route, i = 1, 2, 3...N-1.

5. The method according to claim 3 or 4, wherein, The plurality of parking spots include at least two loading and unloading points, and the at least two loading and unloading points have different loading and unloading priorities; Before determining the right-of-way allocation scheme corresponding to each of the at least one vehicle distribution information, based on the vehicle distribution information and the N-layer network topology, to obtain right-of-way allocation information, the method includes: For each of the at least two loading and unloading points, based on the loading and unloading priority of the loading and unloading point and the priority of the loading and unloading point in the N-layer network topology diagram, the position of the loading and unloading point in the N-layer network topology diagram is adjusted to obtain the adjusted N-layer network topology diagram.

6. The method according to claim 3, wherein, Each of the vehicle distribution information includes a passability coefficient for each of the multiple parking spots, the passability coefficient being used to characterize the passability of vehicles at the parking spots; For each vehicle distribution information in the at least one vehicle distribution information, based on the vehicle distribution information and the N-layer network topology, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain right-of-way allocation information, including: For each vehicle distribution information in the at least one vehicle distribution information, a first feasible path with the largest passability coefficient in each layer of the network topology graph is determined based on the vehicle distribution information. Based on the first feasible path with the largest passability coefficient in the network topology graph of each layer, a right-of-way allocation scheme corresponding to the vehicle distribution information is determined to obtain the right-of-way allocation information.

7. The method according to claim 6, wherein, For each vehicle distribution information in the at least one vehicle distribution information, determining the first feasible path with the largest mobility coefficient in each layer of the network topology graph based on the vehicle distribution information includes: For each layer of the network topology graph, determine R root nodes and L leaf nodes of the network topology graph, and determine R×L second feasible paths based on the R root nodes and the L leaf nodes, where R and L are both positive integers greater than or equal to 1. Based on the passability coefficient of each parking point included in the vehicle distribution information, the passability coefficient of each of the R×L second feasible paths is determined. The second feasible path with the largest feasibility coefficient among the R×L second feasible paths is determined as the first feasible path of the network topology.

8. A right-of-way allocation device, the device comprising: The acquisition module is used to acquire the distribution information to be processed of multiple vehicles in a target area and the right-of-way allocation information. The target area includes multiple parking spots. The distribution information to be processed is used to characterize the vehicle distribution of the multiple vehicles at the multiple parking spots. The right-of-way allocation information includes at least one correspondence between vehicle distribution information and right-of-way allocation scheme. The determination module is used to match the distribution information to be processed based on the correspondence between at least one vehicle distribution information and the right-of-way allocation scheme, and obtain the target right-of-way allocation scheme corresponding to the distribution information to be processed. The target right-of-way allocation scheme is used to indicate the next available parking point that a vehicle can pass through at each of the multiple available parking points.

9. An electronic device, comprising: Processor and memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the right-of-way allocation method as described in any one of claims 1-7.

10. A computer storage medium storing computer program instructions, wherein the computer program instructions, when executed by a processor, implement the right-of-way allocation method as described in any one of claims 1-7.

11. A computer program product comprising a computer program that, when executed by a processor, implements the right-of-way allocation method as described in any one of claims 1-7.

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