CN110570040B

CN110570040B - Vehicle scheduling method and device, computer storage medium and electronic equipment

Info

Publication number: CN110570040B
Application number: CN201910849085.3A
Authority: CN
Inventors: 史冠宇
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2023-05-02
Anticipated expiration: 2039-09-09
Also published as: CN110570040A

Abstract

The disclosure relates to the technical field of logistics, and provides a vehicle dispatching method, a device, a computer readable medium and electronic equipment, wherein the method comprises the following steps: obtaining planning paths of a plurality of vehicles, and marking conflict areas according to the planning paths; the number of vehicles in the conflict area is obtained, and the number of the vehicles is compared with a preset number; and determining a target vehicle according to the comparison result, and executing target operation on the target vehicle. The method and the device can simplify the process of preventing deadlock and relieving deadlock, save the overhead of system resources and improve the efficiency of logistics transportation.

Description

Vehicle scheduling method and device, computer storage medium and electronic equipment

Technical Field

The disclosure relates to the technical field of logistics, in particular to a vehicle dispatching method, a vehicle dispatching device, a computer readable storage medium and electronic equipment.

Background

With the advancement of technology, automatic vehicles are used in more logistics warehouses to carry goods, and with the increasing size and area of warehouses, the number of automatic vehicles is also increased, and the driving path of the automatic vehicles is also more and more complex. Therefore, it is becoming urgent to solve the problem of complicated vehicle travel path scheduling.

In the prior art, the stations on the planned path are controlled to walk, and when a plurality of vehicles work simultaneously, the stations on the planned path are distributed to the vehicles for a plurality of times, so that the work load of the vehicles in unit time can be maximized. Although the distribution is flexible in a plurality of times, deadlock is easy to form at the intersection of road sections or some narrow road sections, and the release of the deadlock needs manual processing, so that the flexibility is not enough and the time is wasted.

Accordingly, there is a need to provide a new vehicle scheduling method.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

It is an object of the present disclosure to provide a vehicle scheduling method, a vehicle scheduling apparatus, a computer-readable storage medium, and an electronic device, which overcome, at least in part, one or more of the problems due to the limitations and disadvantages of the related art.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

According to one aspect of the present disclosure, there is provided a vehicle scheduling method, the method comprising: obtaining planning paths of a plurality of vehicles, and marking conflict areas according to the planning paths; the number of vehicles in the conflict area is obtained, and the number of the vehicles is compared with a preset number; and determining a target vehicle according to the comparison result, and executing target operation on the target vehicle.

In some exemplary embodiments of the present disclosure, determining a target vehicle according to a comparison result, and performing a target operation on the target vehicle, includes: and if the number of the vehicles does not exceed the preset number, taking the vehicles in the conflict area as the target vehicles, and distributing the stations in the conflict area to the target vehicles so that the stations are not preempted by other vehicles.

In some exemplary embodiments of the present disclosure, determining a target vehicle according to a comparison result, and performing a target operation on the target vehicle, includes: and if the number of the vehicles exceeds the preset number, taking the vehicles in the conflict area as the target vehicles, and judging whether the target vehicles form deadlock or not.

In some example embodiments of the present disclosure, determining whether the target vehicle forms a deadlock includes: acquiring the current state of the target vehicle; and when the current state of the target vehicle is a static state, judging whether the target vehicle forms a deadlock or not according to the number of tasks in a task queue corresponding to the target vehicle.

In some exemplary embodiments of the present disclosure, determining whether the target vehicle forms a deadlock according to the number of tasks in the task queue corresponding to the target vehicle includes: acquiring the task number; and when the task number of the target vehicle is zero, judging that the target vehicle forms deadlock.

In some exemplary embodiments of the present disclosure, the method further comprises: when the target vehicle forms a deadlock, the deadlock is relieved by changing a planned path of the target vehicle.

In some exemplary embodiments of the present disclosure, the target vehicle includes at least a first vehicle and a second vehicle, the deadlock is relieved by changing a planned path of the target vehicle, including: detecting whether a drivable station exists on the first vehicle; if so, controlling the first vehicle to travel to the drivable station so that the second vehicle passes through a deadlock point; if not, the first vehicle is controlled to back one or more stations along the driving path so that the second vehicle passes through the dead lock point.

In some exemplary embodiments of the present disclosure, the drivable station includes a station which is unoccupied and adjacent to a station at which the first vehicle is currently located in any direction.

In some exemplary embodiments of the present disclosure, marking the conflict area according to the plurality of planned paths includes: determining a target planning path from the planning paths, and acquiring a driving area corresponding to the target planning path; when the width of the travel area is between the width of one vehicle and the sum of the widths of two vehicles, the travel area is marked as the collision area.

According to one aspect of the present disclosure, there is provided a vehicle scheduling apparatus, the apparatus including: the marking module is used for obtaining planning paths of a plurality of vehicles and marking conflict areas according to the planning paths; the comparison module is used for acquiring the number of vehicles in the conflict area and comparing the number of the vehicles with a preset number; and the execution operation module is used for determining a target vehicle according to the comparison result and executing target operation on the target vehicle.

According to an aspect of the present disclosure, there is provided a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a vehicle scheduling method as described in the above embodiments.

According to an aspect of the present disclosure, there is provided an electronic apparatus including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the vehicle scheduling method as described in the above embodiments.

As can be seen from the above technical solutions, the vehicle scheduling method and apparatus, the computer-readable storage medium, and the electronic device in the exemplary embodiments of the present disclosure have at least the following advantages and positive effects:

in the vehicle scheduling method of the exemplary embodiment of the disclosure, firstly, a conflict area is marked, secondly, a target vehicle in the conflict area is determined through comparison of the number of vehicles in the conflict area and a preset number, and finally, a target operation is executed on the target vehicle. According to the vehicle scheduling method, on one hand, the conflict area is marked, so that the process of detecting all areas in the map by the scheduling control center is simplified, and the cost of system resources is saved; on the other hand, the number of the vehicles in the conflict area is compared with the preset number, and the running state of the vehicles in the conflict area is estimated, so that the dispatching control center performs corresponding operation on the running state, and the vehicle transportation efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

FIG. 1 schematically illustrates a flow diagram of the operation of a vehicle dispatch system according to one embodiment of the present disclosure;

FIG. 2 schematically illustrates a flow diagram of a vehicle scheduling method according to an embodiment of the disclosure;

FIG. 3 schematically illustrates a schematic structure of a narrow road segment area in accordance with an embodiment of the present disclosure;

fig. 4 schematically illustrates a structural schematic of a junction-segment region according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a flow diagram of performing a target operation according to a comparison result, according to an embodiment of the disclosure;

FIG. 6 schematically illustrates a flow diagram for determining that a target vehicle forms a deadlock in accordance with an embodiment of the present disclosure;

FIG. 7 schematically illustrates a flow diagram for deadlock resolution according to an embodiment of the present disclosure;

FIG. 8 schematically illustrates a block diagram of a vehicle scheduler according to an embodiment of the present disclosure;

FIG. 9 schematically illustrates a block diagram of an electronic device according to an embodiment of the disclosure;

fig. 10 schematically illustrates a program product schematic according to an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

In the related art, a vehicle walks through a station on a path planning, the station is issued to the vehicle for multiple times, for example, the vehicle A is led to go to a pick-up point for pick-up, 20 stations (1-20) are shared between the current station of the vehicle A and the pick-up point, the 20 stations are issued to the vehicle A for multiple times, 1-5 stations are locked for the first time and issued, 6-10 stations are locked and issued when the vehicle A walks to the 5 stations immediately, and locking and issuing are sequentially carried out until the vehicle A runs to the last station to finish the pick-up task. In the related art, although the issuing of the stations is more flexible, the stations on each vehicle planning path are issued for multiple times, and deadlock can be formed at the intersection of road sections or in narrow road section areas.

It should be noted that the formation of the deadlock includes that two vehicles form the deadlock or that a plurality of vehicles form the deadlock. Wherein, the deadlock of two vehicles means that the station to be allocated next to the vehicle A is occupied by the vehicle B, and the point to be allocated next to the vehicle B is occupied by the vehicle A; deadlock of a plurality of vehicles means that the next station of the a vehicle is actually occupied by the B vehicle, the next point of the B vehicle is actually occupied by the C vehicle, the next station of the C vehicle is actually occupied by the D vehicle.

Based on the problems existing in the related art, a vehicle scheduling method that can be applied to a vehicle scheduling system is proposed in exemplary embodiments of the present disclosure. Fig. 1 shows a schematic flow chart of the operation of the vehicle dispatching system, as shown in fig. 1, in step S110, a put-in point reports information to be fetched of a put to a dispatching control center; in step S120, the states of all vehicles and the current site locations are acquired; in step S130, a map is queried, and a path of the idle vehicle from the pick-up destination point is calculated; in step S140, a planned path of the vehicle from the start point to the destination point is planned according to a path planning algorithm; in step S150, all the planned paths from the start point to the destination point are returned; in step S160, uploading the calculated planned path to the control dispatching center, so that the control dispatching center controls the vehicle to pick up goods according to the planned path; in step S170, determining that the nearest vehicle starts to execute the command according to the number of the vehicle and the planned path, and allocating a certain number of stations at a time until the vehicle runs through all the planned paths; in step S180, the allocated station is issued to the vehicle, and the vehicle is instructed to travel as required; in step S190, the vehicle executes the travel command.

It should be understood that the vehicle dispatching system comprises one or more vehicles and a dispatching control center, wherein the dispatching control center can be a server or any terminal equipment, the vehicles are provided with wireless communication modules, and each vehicle can be in communication connection with the dispatching control center through the wireless communication modules. A plurality of stations are arranged in a planned path of the vehicle, the vehicle can reach any area through the arranged stations and the planned path, and a path map model is built.

Implementation details of the technical solutions of the exemplary embodiments of the present disclosure are set forth in detail below:

fig. 2 shows a flow diagram of a vehicle scheduling method that may be performed by a scheduling control center, which may be the scheduling control center shown in fig. 1. As shown in fig. 2, the vehicle scheduling method at least includes the following steps:

step S210: acquiring planning paths of a plurality of vehicles, and marking conflict areas according to the planning paths;

step S220: the method comprises the steps of obtaining the number of vehicles in a conflict area, and comparing the number of the vehicles with a preset number;

step S230: and determining a target vehicle according to the comparison result, and executing target operation on the target vehicle.

According to the vehicle scheduling method, on one hand, by marking the conflict area, the process of detecting all areas in the map by the scheduling control center is simplified, and the cost of system resources is saved; on the other hand, the number of the vehicles in the conflict area is compared with the preset number, and the running state of the vehicles in the conflict area is estimated, so that the dispatching control center performs corresponding operation on the running state, and the vehicle transportation efficiency is improved.

In order to make the technical solution of the present disclosure clearer, each step of the vehicle scheduling method will be described next.

In step S210, planned routes of a plurality of vehicles are acquired, and the conflict area is marked according to the plurality of planned routes.

In an exemplary embodiment of the present disclosure, first, planned paths of a plurality of vehicles are acquired, and a target planned path is determined from the plurality of planned paths; secondly, a running area corresponding to the target planning path is obtained; when the width of the running area is between the width of one vehicle and the width of two vehicles, the running area is marked as a collision area. Wherein the conflict area includes a narrow road segment area and a junction road segment area. When the collision area is a narrow road section area, fig. 3 shows a schematic structural diagram of the narrow road section area, and as shown in fig. 3, in the narrow road section area 301, there are multiple target planned paths, but only one vehicle can pass at a time, so that deadlock is very easy to occur in the narrow road section area 301. When the conflict area is a road-section area, fig. 4 shows a schematic structural diagram of the road-section area, and as shown in fig. 4, in the road-section area 401, there are multiple target planned paths, but only one vehicle can pass at the intersection, so that deadlock is very likely to occur in the road-section area 401.

According to the method and the device for detecting the vehicle travel path in the conflict area, the conflict area is marked, on one hand, only the vehicle travel path in the conflict area is needed to be detected, the process that a dispatching control center detects all areas in a map is simplified, and the cost of system resources is saved; on the other hand, the deadlock of the vehicle mostly occurs in the conflict area, and the efficiency is improved by judging whether the vehicle in the conflict area is deadlocked or not and timely preventing and relieving the deadlock.

In step S220, the number of vehicles in the collision area is acquired, and the number of vehicles is compared with a preset number;

in an exemplary embodiment of the present disclosure, the preset number may be set empirically by a user, and in addition, the preset number may be calculated according to the size of the collision area or the number of planned paths within the collision area. When the preset number is 1, stations in the conflict area are allocated to the vehicles every time the vehicles are detected to enter the conflict area, and other vehicles wait outside the conflict area until the vehicles run out of the conflict area according to the planned path, and all stations in the conflict area are released, and then the stations in the conflict area are allocated to other vehicles.

In step S230, a target vehicle is determined according to the comparison result, and a target operation is performed on the target vehicle.

In an exemplary embodiment of the present disclosure, after comparing the number of vehicles in the collision area with a preset number, a target vehicle may be determined according to the comparison result and a target operation may be performed on the target vehicle. Further, fig. 5 shows a flow chart of performing the target operation according to the comparison result, and as shown in fig. 5, in step S510, it is determined whether the number of vehicles in the collision area exceeds a preset number; in step S520, if the number of vehicles does not exceed the preset number, the vehicles in the conflict area are taken as target vehicles, and the stations in the conflict area are allocated to the target vehicles, so that the stations are not preempted by other vehicles; in step S530, if the number of vehicles exceeds the preset number, the vehicle in the collision area is used as the target vehicle, and it is determined whether the target vehicle forms a deadlock.

As can be seen from the above, the vehicles in the collision area are regarded as target vehicles, and if the number of the target vehicles does not exceed the preset number, the target vehicles are considered to have no deadlock. Further, when the target vehicle does not form a deadlock, a deadlock prevention operation is performed, namely, stations in the conflict area are allocated to the target vehicle, so that other vehicles wait outside the conflict area. For example, in fig. 3, assuming that the preset number at this time is 1, when the vehicle No. 1 302 enters the above-mentioned conflict area 301 from the station 25, and the travel path of the vehicle No. 1 302 in the conflict area 301 is the stations 25-26-27-28-29, the dispatch control center allocates all the stations 4, 12, 42, 41, 40 in the conflict area 301 to the vehicle No. 1 302 in addition to the

stations

25, 26, 27, 28, 29 on the travel path, and releases all the stations in the conflict area 301 when the vehicle No. 1 302 travels out of the conflict area 301, and reallocates the stations in the conflict area 301 to the next vehicle in order. According to the method and the device for preventing the vehicle from forming the dead lock in the collision area, all stations in the collision area are distributed to the target vehicle, so that the number of vehicles in the collision area is guaranteed, the deadlock in the collision area is prevented, and the efficiency of transporting goods by the vehicle is improved.

In the exemplary embodiments of the present disclosure, when the number of target vehicles in the collision area exceeds a preset number, deadlock is easily formed, and thus, it is necessary to determine whether the target vehicles form deadlock. Fig. 6 shows a flow chart for judging that the target vehicle forms a deadlock, as shown in fig. 6, in step S610, the current state of the target vehicle is acquired; in step S620, when the current state of the target vehicle is a stationary state, a task queue corresponding to the target vehicle is acquired; the current state may be a running speed of the target vehicle, and when the running speed is zero, it is determined that the target vehicle is in a stationary state. In step S630, when the number of tasks in the task queue is zero, it is determined that the target vehicle forms a deadlock; the task queues of the vehicles record the task starting point, the task ending point and all stations on the planned path, and the dispatching control center distributes the stations to the vehicles in batches and distributes a certain number of stations at a time. When the vehicle executes the tasks, the vehicle runs according to the allocated station positions, and when the vehicle runs out of a certain number of stations allocated currently, the number of the tasks in the task queue is zero, and the scheduling control center waits for a certain number of points to be allocated again. When the station is completely driven, the station after driving can be released immediately, or all stations driven at one time can be released when the station is driven to the next batch of stations, and the present disclosure is not limited thereto.

In an exemplary embodiment of the present disclosure, upon detecting that a target vehicle forms a deadlock, it is necessary to remove the deadlock by changing the path of the target vehicle. The target vehicle forming the deadlock at least comprises a first vehicle and a second vehicle. Specifically, fig. 7 shows a schematic flow chart for removing deadlock, as shown in fig. 7, in step S710, it is detected whether a drivable station exists in the first vehicle; wherein the drivable station includes a station which is unoccupied and adjacent to a station where the first vehicle is currently located in an arbitrary direction. In step S720, if the first vehicle has a drivable station, controlling the first vehicle to travel to the drivable station so that the second vehicle passes through the deadlock point; the dead lock point may be a current station of the first vehicle and the second vehicle. In step S730, if the first vehicle does not have a drivable station, the first vehicle is controlled to retreat one or more stations along its driving path so that the second vehicle passes through the deadlock point. Further, when the target vehicles forming the deadlock are multiple, the dispatching control center selects any one target vehicle forming the deadlock as a first vehicle, other target vehicles as second vehicles, and dynamically unlocks according to the method for removing the deadlock.

According to the method for removing the deadlock, on one hand, by controlling the first vehicle forming the deadlock to back one or more stations, the deadlock is dynamically removed on the basis of not planning other paths, system resources are saved, and the first vehicle and vehicles outside the deadlock are prevented from forming new deadlock again; on the other hand, by controlling the first vehicle forming the deadlock to travel to the drivable site, the site resources are saved while the deadlock is dynamically relieved.

For example, as shown in FIG. 4, first, the road has a marked intersection road region. Within this road segment region 401, vehicle number 2 402 travels from station 90, through

stations

91, 92, 93, to the last distribution station 58, awaiting distribution of a new station. According to the planned path of the vehicle No. 2 402, the stations to be allocated to the vehicle No. 2 402 are

stations

83, 97, 98, 99 and 100; at the same time, vehicle No. 3 403 travels from station 79, through

stations

80, 81, 82, to the last dispensing station 83, awaiting dispensing of a new station, and vehicle No. 3 403, following its planned path, has

stations

58, 59, 60, 61, 62 to be dispensed.

Then, it is determined whether the vehicle No. 2 402 and the vehicle No. 3 403 form a deadlock. Since the vehicle No. 2 402 and the vehicle No. 3 403 are stationary at this time and have both traveled to the last station in the task queue, it is determined that the vehicle No. 2 402 and the vehicle No. 3 403 form a deadlock.

Finally, vehicle number 2 and vehicle number 3, 403, which form a deadlock, are dynamically unlocked. The unlocking process is as follows:

first, the dispatch control center detects that vehicle number 2 402 has a

drivable station

57, 59, 82, 84;

second, control number 2 vehicle 402 may travel to any one of

stations

57, 59, 82, 84 and release station 58;

third, it is detected that the station 58 has been released, and

stations

58, 59, 60, 61, 62 are assigned to the vehicle No. 3 403, and the station 83 is released, so that the vehicle No. 3 403 continues to travel according to the planned route;

fourth, it is detected that the station 83 has been released, and the

stations

83, 97, 98, 99, 100 are allocated to the vehicle No. 2 402, and the vehicle No. 2 402 can return to the station 58 from the

stations

57, 59, 82, 84 of the second step on the original route, and travel to the allocation station; it is also possible to travel directly from

stations

57, 59, 82, 84 to the distribution station.

Of course, it is also possible to detect whether the vehicle No. 3 403 has a travelable station in the first step and dynamically unlock the vehicle according to the above steps.

In addition, vehicle number 2 402 may also be controlled to reverse one or more stations, such as to station 93, following the planned path, releasing station 58.

Stations

58, 59, 60, 61, 62 are then assigned to vehicle number 3, 403, such that vehicle number 3, 403, continues to travel along the planned path. When it is detected that the stations 58 and 83 are released, the vehicle No. 2 402 is controlled to travel to the station 58 in advance, and the

stations

83, 97, 98, 99, 100 are allocated to the vehicle No. 2 402, so that the vehicle No. 2 402 continues to travel according to the planned route.

Further, vehicle number 3 403 may also be controlled to back one or more stations following the planned path to release station 83 to allow vehicle number 2 402 to travel following the planned path, thereby relieving the deadlock.

In the foregoing embodiments, the method for removing deadlock is provided, and in practical application, the scheduling control center may select the method for removing deadlock according to the idea of whether to save system resources or whether to cause new deadlock.

According to the method and the device for detecting the conflict areas, on one hand, the conflict areas are marked, so that the process that a dispatching control center detects all areas in a map is simplified, and the cost of system resources is saved; on the other hand, whether the collision area has deadlock or not is identified by comparing the number of the vehicles in the collision area with the preset number, so that the vehicles in the collision area are prevented from deadlock operation, the occurrence of deadlock is prevented, and the transportation efficiency of the vehicles is effectively improved; on the other hand, by executing the target operation on the target vehicle, the vehicle with deadlock can be dynamically unlocked, the time of the vehicle is shortened, and the logistics transportation efficiency is improved.

The following describes an embodiment of an apparatus of the present disclosure that may be used to perform the vehicle scheduling method described above in the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the vehicle scheduling method described above in the present disclosure.

Fig. 8 schematically illustrates a block diagram of a vehicle scheduling apparatus according to one embodiment of the present disclosure.

Referring to fig. 8, a vehicle dispatching apparatus 800 according to an embodiment of the present disclosure includes:

a marking module 801, configured to obtain planned paths of a plurality of vehicles, and mark conflict areas with the planned paths;

a comparison module 802, configured to obtain the number of vehicles in the collision area, and compare the number of vehicles with a preset number;

an operation module 803 is executed for determining a target vehicle according to the comparison result and executing a target operation on the target vehicle.

The specific details of each vehicle dispatching device are described in detail in the corresponding vehicle dispatching method, so that the details are not repeated here.

It should be noted that although in the above detailed description several modules or units of a device for performing are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.

An electronic device 900 according to such an embodiment of the invention is described below with reference to fig. 9. The electronic device 900 shown in fig. 9 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 9, the electronic device 900 is embodied in the form of a general purpose computing device. Components of electronic device 900 may include, but are not limited to: the at least one processing unit 910, the at least one storage unit 920, a bus 930 connecting the different system components (including the storage unit 920 and the processing unit 910), and a display unit 940.

Wherein the storage unit stores program code that is executable by the processing unit 910 such that the processing unit 910 performs steps according to various exemplary embodiments of the present invention described in the above-described "exemplary methods" section of the present specification. For example, the processing unit 910 may perform step S210 as shown in fig. 2: acquiring planning paths of a plurality of vehicles, and marking conflict areas according to the planning paths; step S220: the number of vehicles in the conflict area is obtained, and the number of the vehicles is compared with the preset number; step S230: and determining a target vehicle according to the comparison result, and executing target operation on the target vehicle.

The storage unit 920 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 9201 and/or cache memory 9202, and may further include Read Only Memory (ROM) 9203.

The storage unit 920 may also include a program/utility 9204 having a set (at least one) of program modules 9205, such program modules 9205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The bus 930 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 900 may also communicate with one or more external devices 1100 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a viewer to interact with the electronic device 900, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 900 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 950. Also, electronic device 900 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 960. As shown, the network adapter 960 communicates with other modules of the electronic device 900 over the bus 930. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 900, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.

Referring to fig. 10, a program product 1000 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle scheduling method, characterized by comprising:

acquiring planning paths of a plurality of vehicles, and marking conflict areas according to the planning paths;

the number of vehicles in the conflict area is obtained, and the number of the vehicles is compared with a preset number;

determining a target vehicle according to a comparison result, and executing target operation on the target vehicle;

the determining a target vehicle according to the comparison result, and executing a target operation on the target vehicle, includes:

if the number of the vehicles exceeds the preset number, taking the vehicles in the conflict area as the target vehicles, and judging whether the target vehicles form deadlock or not;

the determining whether the target vehicle forms a deadlock includes:

acquiring the current state of the target vehicle;

and when the current state of the target vehicle is a static state, judging whether the target vehicle forms a deadlock or not according to the number of tasks in a task queue corresponding to the target vehicle.

2. The vehicle scheduling method according to claim 1, characterized in that determining a target vehicle based on the comparison result, and performing a target operation on the target vehicle, comprises:

and if the number of the vehicles does not exceed the preset number, taking the vehicles in the conflict area as the target vehicles, and distributing the stations in the conflict area to the target vehicles so that the stations are not preempted by other vehicles.

3. The vehicle scheduling method according to claim 1, wherein determining whether the target vehicle forms a deadlock according to the number of tasks in the task queue corresponding to the target vehicle includes:

acquiring the task number;

and when the number of the tasks is zero, judging that the target vehicle forms deadlock.

4. The vehicle scheduling method according to claim 1, characterized in that the method further comprises:

when the target vehicle forms a deadlock, the deadlock is relieved by changing a planned path of the target vehicle.

5. The vehicle dispatching method of claim 4, wherein the target vehicle comprises at least a first vehicle and a second vehicle,

removing deadlock by changing a planned path of the target vehicle, comprising:

detecting whether a drivable station exists on the first vehicle;

if so, controlling the first vehicle to travel to the drivable station so that the second vehicle passes through a deadlock point;

if not, the first vehicle is controlled to back one or more stations along the planned path so that the second vehicle passes through the deadlock point.

6. The vehicle scheduling method of claim 5, wherein the drivable station includes a station that is unoccupied and adjacent to a station at which the first vehicle is currently located in any direction.

7. The vehicle scheduling method according to claim 1, characterized in that marking the conflict area according to the plurality of planned paths includes:

determining a target planning path from the plurality of planning paths, and acquiring a driving area corresponding to the target planning path;

when the width of the travel area is between the width of one vehicle and the sum of the widths of two vehicles, the travel area is marked as the collision area.

8. A vehicle dispatching device, characterized by comprising:

the marking module is used for obtaining planning paths of a plurality of vehicles and marking conflict areas according to the planning paths;

the comparison module is used for acquiring the number of vehicles in the conflict area and comparing the number of the vehicles with a preset number;

the execution operation module is used for determining a target vehicle according to the comparison result and executing target operation on the target vehicle;

the execution operation module is specifically configured to:

the execution operation module is also specifically configured to:

acquiring the current state of the target vehicle;

9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the vehicle scheduling method according to any one of claims 1-7.

10. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the vehicle scheduling method of any one of claims 1-7 via execution of the executable instructions.