CN117746610A - Vehicle scheduling method, device, system, equipment and storage medium - Google Patents

Abstract

The disclosure provides a vehicle dispatching method, device, system, equipment and storage medium, relates to the technical field of artificial intelligence, and particularly relates to the field of automatic driving. The specific implementation scheme is as follows: according to the running information of the vehicle, determining a conflict node of the running conflict of the vehicle from the path intersection nodes of the vehicle; determining the priority of the vehicle according to the operation information of the vehicle; and determining the scheduling information of the vehicle at the conflict node according to the priority. The vehicle operation efficiency is improved.

Description

Vehicle scheduling method, device, system, equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence, and in particular, to the field of automatic driving, and more particularly, to a vehicle scheduling method, apparatus, system, device, and storage medium.

Background

With the development of technology, the application of autopilot technology is becoming more and more widespread. How to schedule multiple autonomous vehicles has also become a popular research problem.

Disclosure of Invention

The disclosure provides a vehicle dispatching method, device, system, equipment and storage medium, which improve vehicle operation efficiency.

According to an aspect of the present disclosure, there is provided a vehicle scheduling method including: according to the running information of the vehicle, determining a conflict node of the running conflict of the vehicle from the path intersection nodes of the vehicle; determining the priority of the vehicle according to the operation information of the vehicle; and determining the scheduling information of the vehicle at the conflict node according to the priority.

According to another aspect of the present disclosure, there is provided a vehicle scheduling apparatus including: the conflict prediction module is configured to determine a conflict node of the vehicle running conflict from the path intersection nodes of the vehicle according to the running information of the vehicle; a priority determining module configured to determine a priority of the vehicle based on the job information of the vehicle; and the scheduling module is configured to determine scheduling information of the vehicle at the conflict node according to the priority.

According to yet another aspect of the present disclosure, there is provided a vehicle scheduling system including: a server; and a plurality of autonomous vehicles communicatively coupled to the server; the server is used for dispatching a plurality of automatic driving vehicles according to the vehicle dispatching method provided by any embodiment of the disclosure, and sending dispatching instructions to the automatic driving vehicles; the plurality of autonomous vehicles receive the dispatching instructions sent by the server and run according to the dispatching instructions.

According to still another aspect of the present disclosure, there is provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle scheduling method provided by any one of the embodiments of the present disclosure.

According to yet another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the vehicle scheduling method provided by any one of the embodiments of the present disclosure.

According to yet another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the vehicle scheduling method provided by any of the embodiments of the present disclosure.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is an exemplary system architecture diagram to which the present disclosure may be applied;

FIG. 2 is a flow chart of one embodiment of a vehicle scheduling method according to the present disclosure;

FIG. 3 is a flow chart of another embodiment of a vehicle scheduling method according to the present disclosure;

FIG. 4 is a flow chart of yet another embodiment of a vehicle scheduling method according to the present disclosure;

FIG. 5 is a schematic diagram of one embodiment of a mapping of path junction nodes of the present disclosure in planning paths;

FIG. 6 is a schematic structural view of one embodiment of a vehicle scheduler of the present disclosure;

FIG. 7 (a) is a schematic diagram of one embodiment of a vehicle dispatch system of the present disclosure;

FIG. 7 (b) is an application scenario diagram of one embodiment of a vehicle dispatch system of the present disclosure;

fig. 8 is a block diagram of an electronic device for implementing a vehicle scheduling method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

FIG. 1 illustrates an exemplary system architecture 100 to which embodiments of the vehicle scheduling methods or apparatus of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include autonomous vehicles 101, 102, a network 103, and a server 104. The network 103 is a medium used to provide a communication link between the autonomous vehicles 101, 102 and the server 104. The network 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, etc., and in some embodiments, the network 103 may also be a network communication link that enables communication based on roadside devices.

The autonomous vehicles 101, 102 interact with the server 104 through the network 103, and interaction between the autonomous vehicles 101, 102 may also be accomplished via the server 104. Various client applications, such as navigation applications and the like, may be installed on the autonomous vehicles 101, 102.

Server 104 may provide various vehicle dispatch services. For example, the server 104 may analyze the travel data acquired by the autonomous vehicles 101, 102, determine that the vehicles have conflicting nodes, and generate scheduling information for the vehicles at the conflicting nodes.

The server 104 may be hardware or software. When the server 104 is hardware, it may be implemented as a distributed server cluster formed by a plurality of servers, or as a single server. When server 104 is software, it may be implemented as multiple software or software modules (e.g., to provide distributed services), or as a single software or software module. The present invention is not particularly limited herein.

It should be noted that, the vehicle dispatching method provided in the embodiment of the disclosure is generally executed by the server 104, and accordingly, the vehicle dispatching device is generally disposed in the server 104.

It should be understood that the number of autonomous vehicles, networks, and servers in fig. 1 is merely illustrative. There may be any number of autonomous vehicles, networks, and servers, as desired for implementation.

With continued reference to fig. 2, a flow 200 of one embodiment of a vehicle scheduling method according to the present disclosure is shown. The vehicle scheduling method comprises the following steps:

step 201, determining a conflict node of vehicle running conflict from the path intersection nodes of the vehicles according to the running information of the vehicles.

In the present embodiment, the execution subject of the vehicle scheduling method (e.g., the server 104 shown in fig. 1) may acquire the travel information of the vehicle (e.g., the autonomous vehicles 101, 102 shown in fig. 1), and the vehicle may transmit its own travel information to the server through the roadside apparatus, for example. The running information of the vehicle may include a current position of the vehicle and a vehicle speed map, or the running information of the vehicle may further include a current position of the vehicle, a speed, an acceleration, a jerk, a path limiting factor, and the like. After the server acquires the running information of the vehicles, judging whether the vehicles are about to collide at the path intersection node according to the running information, and if the vehicles are about to collide at the path intersection node, determining the path intersection node as a collision node.

Step 202, determining the priority of the vehicle according to the operation information of the vehicle.

In this embodiment, the vehicles have priorities, which are generally related to the importance of the vehicles, and the priorities of the vehicles are determined by the operation information of the vehicles.

In an alternative implementation of this embodiment, the operation information of the vehicle may include a traffic phase of the vehicle, for example, the traffic phase of the vehicle may include a vehicle entrance to the operation area and a vehicle exit from the operation area. The different traffic phases correspond to different priorities, it being understood that in order to ensure that the vehicle is not congested, the priority of the drive-out of the work area is typically higher than the priority of the drive-in of the work area, and in another alternative implementation, the traffic phases of the vehicle may further include a vehicle loading phase and a vehicle unloading phase, and the priority of the vehicle loading phase may be set higher than the priority of the vehicle unloading phase.

In another alternative implementation of this embodiment, the job information of the vehicle may further include a remaining load capacity of the vehicle, and the greater the remaining load capacity, the higher the priority of the vehicle.

In addition, in this embodiment, the vehicle is further provided with a fixed priority, which refers to a priority inherent to the vehicle before the operation, which is not changed by the actual operation condition of the vehicle, and the fixed priority of the vehicle is preset, for example, the fixed priority of the vehicle may be set according to the number of the vehicle. In order to ensure that mutual deadlock does not occur between vehicles, the influence of the priority corresponding to the operation information of the vehicles is larger than the fixed priority of the vehicles, for example, for the vehicles i and j, the vehicle i is in a driving-away stage and is numbered 001, the priority corresponding to the operation information of the vehicle i can be 200, and the fixed priority can be 1; when the vehicle j is in the driving-in stage and the number of the vehicle j is 002, the priority corresponding to the job information of the vehicle j may be 100, and the fixed priority may be 2. It can be calculated that the priority of vehicle i is 200+1=201 and the priority of vehicle j is 100+2=102.

Correspondingly, the step 202 may specifically include: determining the service priority of the vehicle according to the service stage; acquiring a fixed priority of a vehicle; and determining the priority of the vehicle according to the service priority and the fixed priority.

According to the method and the device, the service priority of the vehicle is determined based on the service stage of the vehicle, the final priority of the vehicle is further determined by combining the fixed priority of the vehicle, and various aspects affecting the priority of the vehicle are fully considered, so that the subsequently determined vehicle scheduling information is more accurate.

And 203, determining the scheduling information of the vehicle at the conflict node according to the priority.

In this embodiment, after determining the conflict node of the vehicle and the priority of the vehicle, the execution body of the vehicle scheduling method determines, according to the priority of the vehicle, scheduling information of the vehicle at the conflict node, where the scheduling information may specifically include passing or forbidden.

According to the vehicle scheduling method provided by the embodiment of the disclosure, firstly, a conflict node of vehicle running conflict is determined from path intersection nodes of vehicles according to the running information of the vehicles, then the priority of the vehicles is determined according to the operation information of the vehicles, and finally the scheduling information of the vehicles at the conflict node is determined according to the priority. By pre-judging whether the collision exists on the running vehicle and scheduling the vehicle at the collision node based on the priority of the vehicle, the phenomenon that the rear vehicle and the front vehicle are mutually deadlocked is avoided, and therefore the vehicle working efficiency is improved.

With further continued reference to fig. 3, a flow 300 of another embodiment of a vehicle scheduling method according to the present disclosure is shown. The vehicle scheduling method comprises the following steps:

step 301, determining a conflict node of the vehicle running conflict from the path intersection nodes of the vehicle according to the running information of the vehicle.

In this embodiment, the specific operation of step 301 is described in detail in step 201 in the embodiment shown in fig. 2, and will not be described herein.

Step 302, determining the priority of the vehicle according to the operation information of the vehicle.

In this embodiment, the specific operation of step 302 is described in detail in the embodiment shown in fig. 2, and will not be described herein.

Step 303, determining a target vehicle from a plurality of vehicles, and for each conflict node, executing any one of the following scheduling determination operations in steps 304-306 from the current position of the target vehicle to the end direction of the planned path of the target vehicle.

In this embodiment, when determining the scheduling information of the vehicle at the collision node according to the priority, determining the target vehicle, and for each target vehicle, performing scheduling determination operation on each collision node in turn from the current position of the target vehicle to the end direction of the planned path of the target vehicle, so as to implement sequential traversal of the vehicle, and ensure that the scheduling information of all vehicles can be determined.

In an alternative implementation of this embodiment, the determination of the target vehicle is determined sequentially in order of vehicle priority from high to low. For example, the vehicle with the highest priority is determined as the first target vehicle, the vehicle with the highest priority is determined as the second target vehicle, and the target vehicle is determined according to the priority of the vehicles, so that the vehicle with the highest priority can determine the scheduling information of the conflict node first, and the work efficiency of the whole motorcade can be further improved.

And 304, in response to determining that the scheduling state of the conflict node is not arbitrated, determining that the vehicle with high priority passes through the conflict node according to the priorities of vehicles meeting other paths corresponding to the conflict node by the target vehicle.

In this embodiment, when determining the scheduling information of the target vehicle at the collision node according to the priority, the scheduling states of the collision node are considered, and the scheduling states of the collision node include three types: unexerased, claimed and abandoned; wherein, the non-arbitration means that all the vehicles meeting the paths corresponding to the conflict node do not confirm the scheduling information at the conflict node; the claimed method is that the vehicles with the paths corresponding to the conflict nodes are confirmed in the position of the conflict nodes, and the confirmed dispatching information is passing; the giving up means that the vehicles with the paths corresponding to the conflict node confirm that the dispatching information is forbidden at the conflict node, or that the vehicles with the paths confirm that the dispatching information is passing, but the passing authority of the conflict node is given up because the vehicles with the paths cannot be parked before the next node of the conflict node.

In this embodiment, when determining that the scheduling state of the collision node is not arbitrated, the execution body of the vehicle scheduling method compares the priorities of the target vehicles and vehicles meeting other paths corresponding to the collision node, determines that the scheduling information of the target vehicles at the collision node is passing if the priority of the target vehicles is high, determines that the scheduling information of the target vehicles at the collision node is forbidden if the priority of the target vehicles is low, and can further improve the vehicle working efficiency by determining the scheduling information of the vehicles at the collision node through the priority.

Step 305, in response to determining that the scheduling status of the conflicting node is declared, determining that the target vehicle is disabled in front of the conflicting node.

In this embodiment, when determining the schedule information of the target vehicle at the collision node according to the priority, the collision node may be already confirmed by the other path intersection vehicles, that is, the collision node is already arbitrated, and the result of the arbitration is to confirm that the other path intersection vehicles pass at the collision node, where the confirmation target vehicle is forbidden before the collision node.

Step 306, in response to determining that the scheduling status of the conflicting node is relinquish, determining that the target vehicle passes the conflicting node.

When the execution main body of the vehicle dispatching method confirms that the dispatching state of the conflict node is abandoned, the method confirms that other path intersection vehicles do not acquire the passing authority of the conflict node, and therefore the target vehicle is confirmed to acquire the passing authority of the conflict node.

The embodiment of the disclosure fully considers the scheduling state of the node when confirming the vehicle scheduling information, so that the confirmed vehicle scheduling information is more accurate.

In an application scenario of the embodiments of the present disclosure, the path intersection nodes of the vehicles may be relatively close together, which may cause the vehicles to fail to park between the two path intersection nodes that are relatively close together, referring to fig. 5, fig. 5 is a schematic diagram of one embodiment of the mapping of the path intersection nodes of the present disclosure on the planned path, as shown in fig. 5, if the vehicles park before the node 2, the vehicles occupy the position of the node 1 due to the length of the vehicles being greater than the position length between the node 2 and the node 1, thereby affecting the other vehicles passing through the node 1. Thus, the parking occupancy of the target vehicle should also be considered when confirming that the target vehicle is disabled before the conflicting node.

Correspondingly, in an optional implementation manner of this embodiment, determining that the target vehicle is forbidden before the collision node may specifically include: determining the parking occupation of the target vehicle in front of the conflict node; determining a target intersection node from the path intersection node before the conflict node in response to the position conflict of the parking occupancy and the previous path intersection node of the conflict node, wherein the parking occupancy of the target vehicle before the target intersection node does not have the position conflict with other path intersection nodes; and determining that the target vehicle parks in front of the target intersection.

In the embodiment of the disclosure, when it is determined that the target vehicle is forbidden before the conflict node, a parking space of the target vehicle before the conflict node is determined, where the parking space may be represented by a body length of the target vehicle, when it is determined that a parking space of the target vehicle is greater than a position length between the conflict node and a path intersection node before the conflict node (see fig. 5), it is determined that the target vehicle cannot park before the conflict node, at this time, a path intersection node suitable for parking of the target vehicle should be found again, specifically, a path intersection node before the conflict node may be traversed in sequence from the conflict node to a direction of planning a path start point, it is determined whether the position length between two adjacent path intersection nodes allows the target vehicle to park, and after it is determined that the target intersection node can determine that the target vehicle parks before the target intersection node, it may be determined that the target vehicle parks before the target intersection node. It should be noted that, in the embodiment of the present disclosure, in response to determining that the target vehicle parks in front of the target intersection, that is, confirming that the target vehicle gives up the right of passage of all the path intersection nodes between the collision node that has been acquired and the target intersection node.

According to the method and the device for parking the target vehicle, the parking occupation is confirmed before the forbidden conflict node, so that the problem that the target vehicle is directly parked to block the front path intersection node can be avoided, and smooth running of the vehicle is guaranteed.

Step 307, after all target vehicles determine that they pass the scheduling information of each conflict node, for any vehicle, traversing the path intersection node on the planned path thereof, and determining that the vehicle passes the path intersection node in response to determining that the scheduling state of the path intersection node is abandoned.

In this embodiment, since in the process of traversing the target vehicle in the first round, those target vehicles in the subsequent round may give up the nodes that have already obtained the traffic right due to the inability to park in front of the collision nodes, after confirming the schedule information of the collision nodes for the target vehicles sequentially determined in the order of higher priority to lower priority, the path nodes on the planned path of the vehicle are traversed again, and by traversing again, the vehicle can confirm the schedule information again for the nodes that have given up the traffic right, thereby ensuring that all the collision nodes can be declared by the vehicle and ensuring that the vehicle runs smoothly.

According to the vehicle scheduling method, when the scheduling information of the vehicle at the conflict node is determined according to the priority, the scheduling state of the conflict node is also considered, and the vehicle is subjected to confirmation of the scheduling information by combining the scheduling state of the conflict node and the priority of the vehicle, so that the scheduling information determined by the vehicle at each conflict node is more accurate; and after the dispatching information of a round of vehicles is confirmed, the path intersection nodes of the vehicles are traversed again, so that the problem that nodes giving up rights are missed due to the vehicle parking problem is avoided, all conflict nodes can be claimed by the vehicles, and the vehicles are ensured to run smoothly.

With further continued reference to fig. 4, a flow 400 of yet another embodiment of a vehicle scheduling method according to the present disclosure is shown. The vehicle scheduling method comprises the following steps:

step 401, acquiring a planned path of a vehicle, and determining intersection points of the planned paths of a plurality of vehicles as path intersection points.

In this embodiment, the execution body of the vehicle scheduling method may acquire a planned path of a vehicle, calculate a junction of the planned path of each vehicle according to the planned path, and determine the junction as a path junction. According to the method and the device, the path intersection nodes are generated according to the planned path of the vehicle, so that the generated path intersection nodes are more accurate and are more fit with the running plan of the vehicle, and the conflict nodes determined later are more accurate.

In an alternative implementation manner of this embodiment, the vehicle generates a planned path in response to receiving a job instruction sent by an execution subject of the vehicle scheduling method, and uploads the planned path to the execution subject. The operation instruction can include starting position information and end position information of the vehicle, and the vehicle automatically generates a planned path based on the starting position information and the end position information according to an automatic driving strategy built in the vehicle. In an alternative implementation, the planned path is represented as vehicle trajectory information (x, y, θ, s, v), where x and y represent the abscissa and ordinate of the vehicle position, s represents the linear distance traveled by the vehicle, θ represents the angle of orientation of the vehicle, and v represents the speed of the vehicle.

Step 402, determining a predicted time period for the vehicle to pass through the path junction on the planned path according to the running information of the vehicle and the position information of the path junction.

In this embodiment, the vehicle may transmit its own travel information to the execution subject of the vehicle scheduling method at a preset first frequency. Similarly, the execution body determines a predicted time period for the vehicle to pass through each path intersection node on the planned path according to the running information of the vehicle and the position information of the path intersection node according to a preset second frequency, wherein the preset first frequency and the preset second frequency can be the same or different, for example, the preset first frequency is 10HZ, and the preset second frequency is 5HZ or 10HZ.

In an alternative implementation of the present embodiment, the running information of the vehicle may include a current position of the vehicle and a speed map of the vehicle; the speed map of the vehicle can be calculated according to the information of the vehicle, such as the position information of the vehicle, the speed, the acceleration, the jerk, the path limiting factor and the like. Of course, in some embodiments, the speed map of the vehicle may be obtained by uploading information such as the position information of the start point, the speed, the acceleration, the jerk, the path limitation factor, and the like of the vehicle to the execution subject of the vehicle scheduling method, and then calculating the information by the execution subject, which is not limited in this application.

After acquiring the running information of the vehicle, the execution body of the vehicle scheduling method may calculate a predicted time period for the vehicle to pass through the path junction node on the planned path according to the following steps 4021 to 4024:

step 4021, determining a corresponding position section of the path junction node on the planned path of the vehicle.

With continued reference to fig. 5, the planned path of each vehicle is expanded according to the width of the vehicle to obtain a path traveling area, and a path intersection area (a shadow area on the planned path in fig. 5) is obtained by intersecting the path traveling area of other vehicles, and the path intersection node is a map (the path intersection areas corresponding to node 1 and node 3, node 2 are not shown in fig. 5) of the path intersection area on the planned path of the vehicle, and the map corresponds to a position section of the path intersection node on the planned path of the vehicle.

In an alternative implementation of the present disclosure, determining a corresponding location section of a path junction node on a planned path of a vehicle includes: calculating a first distance between the starting position of the path intersection node and the path starting point of the planned path; calculating a second distance between the termination position of the path intersection node and the path starting point of the planned path; a location section is determined based on the first distance and the second distance. With continued reference to fig. 5, the first distance is the distance of the start position of node 2 from the start of the path and the second distance is the distance of the end position of node 2 from the start of the path.

In a further alternative embodiment, for driving safety, a buffer distance is added to the vehicle on the basis of the first distance and the second distance when determining the position section. Correspondingly, determining the corresponding location section of the path junction node on the planned path of the vehicle includes: calculating a first distance between the starting position of the path intersection node and the path starting point of the planned path; calculating a second distance between the termination position of the path intersection node and the path starting point of the planned path; and calculating the difference between the first distance and the buffer distance to obtain a third distance, calculating the sum of the second distance and the buffer distance to obtain a fourth distance, and determining the position section according to the third distance and the fourth distance.

Step 4022, calculating an absolute time period when the vehicle passes through the corresponding position section according to the vehicle speed map.

The speed planning chart is a corresponding relation between the running distance and time of the vehicle, and the corresponding position section of the vehicle on the planned path comprises the running distance from the starting point of the planned path to the path intersection node, so that the absolute time period of the position section corresponding to the path intersection node, through which the vehicle passes, of the vehicle can be determined, and the absolute time period represents the time interval of the vehicle running from the starting point of the planned path to the position section corresponding to the path intersection node.

Step 4023, calculating a reference time point corresponding to the current position of the vehicle according to the current position and the speed map of the vehicle.

The current position of the vehicle represents the running distance of the vehicle running from the starting point of the planned path to the current moment, and according to the running distance and the speed planning chart, the time taken by the vehicle to run from the starting point of the planned path to the current position can be calculated, and the time is confirmed to be the reference time point corresponding to the current position of the vehicle.

Step 4024, determining a prediction time period according to the absolute time period and the reference time point.

After the absolute time period and the reference time point are calculated, the predicted time period when the vehicle passes through the path junction from the current position can be obtained by utilizing the difference between the endpoint time of the absolute time period and the reference time point.

Step 403, determining a path junction node as a vehicle collision node in response to time collisions in a plurality of predicted time periods corresponding to the path junction node.

In this embodiment, each path intersection node corresponds to at least two path intersection vehicles passing through, each path intersection vehicle correspondingly calculates a predicted time period passing through the path intersection node, and when time conflicts exist in multiple predicted time periods, it is indicated that there will be a conflict between the path intersection vehicles at the path intersection node, so as to determine that the path intersection node is a conflict node.

Step 404, determining the priority of the vehicle according to the operation information of the vehicle.

And step 405, determining the scheduling information of the vehicle at the conflict node according to the priority.

In this embodiment, the specific operations of steps 404-405 are described in detail in the embodiment shown in fig. 2 and steps 202-203 are not described herein.

According to the vehicle scheduling method, when the conflict node of the vehicle is determined, the prediction time period of the vehicle passing through the path intersection node is estimated based on the running information of the vehicle, and whether the path intersection node is the conflict node is determined based on the prediction time period, so that the node of the vehicle which is about to conflict can be more accurately predicted, and the vehicle can be more accurately scheduled based on the conflict node conveniently.

With further reference to fig. 6, as an implementation of the above illustrated methods, the present disclosure provides an embodiment of a vehicle dispatching apparatus, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various electronic devices.

As shown in fig. 6, the vehicle scheduling apparatus 600 of the present embodiment may include a collision prediction module 601, a priority determination module 602, and a scheduling module 603. The conflict prediction module 601 is configured to determine a conflict node of the vehicle running conflict from the path intersection nodes of the vehicle according to the running information of the vehicle; a priority determination module 602 configured to determine a priority of the vehicle based on the job information of the vehicle; the scheduling module 603 is configured to determine scheduling information of the vehicle at the collision node according to the priority.

In this embodiment, the specific processes of the collision prediction module 601, the priority determination module 602, and the scheduling module 603 in the vehicle scheduling apparatus 600 and the technical effects thereof may refer to the relevant descriptions of steps 201-203 in the corresponding embodiment of fig. 2, and are not repeated here.

In some alternative implementations of the present embodiment, the scheduling module 603 includes: a determination unit configured to determine a target vehicle from among a plurality of vehicles; and the scheduling unit is configured to sequentially determine the scheduling information of the target vehicle at each conflict node according to the priority from the current position of the target vehicle to the end point direction of the planned path of the target vehicle.

In some optional implementations of the present embodiment, the scheduling unit is further configured to perform a scheduling decision operation for each collision node separately, wherein the scheduling decision operation includes: in response to determining that the scheduling state of the conflict node is not arbitrated, determining that the vehicle with high priority passes through the conflict node according to the priorities of other paths corresponding to the conflict node and the target vehicle; otherwise, the operation is forbidden.

In some optional implementations of the present embodiment, the determining operation further includes: responsive to determining that the scheduling state of the conflicting node is declared, determining that the target vehicle is disabled in front of the conflicting node; in response to determining that the scheduling status of the conflicting node is relinquish, it is determined that the target vehicle passes through the conflicting node.

In some optional implementations of this embodiment, the scheduling unit further includes: a parked vehicle determination subunit configured to determine a parked occupancy of the target vehicle in front of the conflict node; a target intersection determination subunit configured to determine a target intersection from the path intersection preceding the collision node in response to a parking occupancy having a position collision with a preceding path intersection of the collision node, wherein a parking occupancy of the target vehicle preceding the target intersection has no position collision with other path intersections; a parking subunit configured to determine that the target vehicle is parked in front of the target junction.

In some optional implementations of the present embodiment, the conflict prediction module 601 further includes a time prediction unit and a conflict determination unit; the time prediction unit is configured to determine a prediction time period for the vehicle to pass through the path intersection node on the planned path according to the running information of the vehicle and the position information of the path intersection node; and a collision determination unit configured to determine one of the path intersection nodes as a vehicle collision node in response to time collisions in a plurality of predicted time periods corresponding to the path intersection node.

In some alternative implementations of the present embodiment, the travel information includes a current location and speed map; the temporal prediction unit further includes: a location section determination subunit configured to determine a location section of the path junction corresponding on the planned path of the vehicle; a first calculation subunit configured to calculate an absolute time period for the vehicle to pass through the corresponding location section according to a speed map of the vehicle; a second calculation subunit configured to calculate a reference time point corresponding to the current position of the vehicle according to the current position and the speed map of the vehicle; and a third calculation subunit configured to determine a prediction time period according to the absolute time period and the reference time point.

In some optional implementations of the present embodiment, wherein the temporal prediction unit is further configured to: calculating a first distance between the starting position of the path intersection node and the path starting point of the planned path; calculating a second distance between the termination position of the path intersection node and the path starting point of the planned path; the location section is determined from the first distance and the second distance.

In some optional implementations of the present embodiment, the determining unit further includes: and determining the target vehicles in sequence according to the order of the priority from high to low.

In some optional implementations of the present embodiment, the scheduling module 603 further includes a re-traversal unit; the re-traversing unit is configured to, after all target vehicles have determined that they have passed the scheduling information for each conflicting node, traverse, for any vehicle, a path junction on their planned path, and in response to determining that the scheduling status of the path junction is abandoned, determine that the vehicle has passed the path junction.

In some alternative implementations of the present embodiment, the job information includes a business phase of the vehicle; the priority determination module further includes: a first determining unit configured to determine a traffic priority of the vehicle according to the traffic phase; a second determination unit configured to acquire a fixed priority of the vehicle; and a third determining unit configured to determine the priority of the vehicle according to the service priority and the fixed priority.

In some optional implementations of the present embodiment, the vehicle scheduling apparatus 600 further includes a path planning module configured to obtain a planned path of the vehicle; a junction of the planned paths of the plurality of vehicles is determined as a path junction.

With further reference to fig. 7 (a), the present disclosure also provides one embodiment of a vehicle dispatch system. As shown in fig. 7 (a), the vehicle dispatching system 700 of the present embodiment includes a server 701 and a plurality of autonomous vehicles 702 communicatively connected to the server 701; the server 701 is configured to schedule a plurality of autonomous vehicles 702 according to the vehicle scheduling method provided in any of the above embodiments of the present disclosure, and send a scheduling instruction to the autonomous vehicles; the plurality of autonomous vehicles 702 receive the scheduling instruction transmitted from the server 701 and travel according to the scheduling instruction.

In some alternative implementations of the present embodiment, the scheduling instructions include pass and disable.

With further reference to fig. 7 (b), fig. 7 (b) shows a schematic view of an application scenario of an embodiment of a vehicle scheduling system. The application scene is suitable for the operation scene of the strip mine cards, and if the strip mine cards with the automatic driving system cannot be effectively scheduled during operation, serious congestion among vehicles can be caused, so that the operation efficiency is affected.

As shown in fig. 7 (b), the application scenario includes a vehicle 710 and a dispatching system 720, where the vehicle 710 is a strip mine card with an automatic driving system, the dispatching system 720 may be deployed in a server, the vehicle 710 sends a vehicle state and a planned path to the dispatching system 720, and after the dispatching system 720 receives the vehicle state and the planned path, the following steps are executed: s701, generating nodes according to the planned paths; s702, judging whether the node has space-time conflict or not; s703, arbitrating space-time conflict nodes; s704, sending a scheduling instruction.

The scheduling system 720 determines whether the nodes have space-time conflict according to the planned path, determines that the nodes have space-time conflict, then arbitrates the nodes with space-time conflict, and sends corresponding scheduling instructions to the vehicles 710, so that the vehicles 710 can determine whether to pass or not pass at the nodes with space-time conflict based on the scheduling instructions after receiving the scheduling instructions, thereby realizing effective scheduling among a plurality of vehicles 710, avoiding congestion and improving the working efficiency.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 8 illustrates a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.

Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as a vehicle scheduling method. For example, in some embodiments, the vehicle scheduling method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 802 and/or communication unit 809. When the computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of the vehicle scheduling method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the vehicle scheduling method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (26)

1. A vehicle scheduling method, comprising:

according to the running information of the vehicle, determining a conflict node of the running conflict of the vehicle from the path intersection nodes of the vehicle;

determining the priority of the vehicle according to the operation information of the vehicle;

And determining the scheduling information of the vehicle at the conflict node according to the priority.

2. The method of claim 1, wherein the determining scheduling information for the vehicle at the conflicting node based on the priority comprises:

determining a target vehicle from a plurality of vehicles;

and determining the scheduling information of the target vehicle at each conflict node in sequence according to the priority from the current position of the target vehicle to the end point direction of the planned path of the target vehicle.

3. The method of claim 2, wherein the sequentially determining the schedule information of the target vehicle at each collision node according to the priorities comprises:

and respectively executing scheduling judgment operation for each conflict node, wherein the scheduling judgment operation comprises the following steps:

and in response to determining that the scheduling state of the conflict node is not arbitrated, determining that the vehicle with high priority passes through the conflict node according to the priority of the vehicles intersected by other paths corresponding to the conflict node by the target vehicle.

4. The method of claim 3, wherein the scheduling decision operation further comprises:

responsive to determining that the scheduling state of the conflicting node is declared, determining that the target vehicle is prohibited before the conflicting node;

In response to determining that the scheduling status of the conflicting node is relinquish, determining that the target vehicle passes the conflicting node.

5. The method of claim 4, wherein the determining that the target vehicle is disabled before the conflicting node comprises:

determining a parking occupation of the target vehicle in front of the conflict node;

determining a target intersection node from the path intersection nodes before the conflict node in response to the position conflict of the parking occupation and the previous path intersection node of the conflict node, wherein the parking occupation of the target vehicle before the target intersection node does not have the position conflict with other path intersection nodes;

and determining that the target vehicle parks in front of the target intersection node.

6. The method according to any one of claims 1-5, wherein the determining a collision node of the vehicle travel collision from the path junction nodes of the vehicle according to the travel information of the vehicle includes:

determining a predicted time period for the vehicle to pass through the path intersection node on a planned path according to the running information of the vehicle and the position information of the path intersection node;

in response to a time conflict exists for a plurality of predicted time periods corresponding to a path junction, the path junction is determined to be a vehicle conflict node.

7. The method of claim 6, the travel information comprising a current location and speed map;

the determining a predicted time period for the vehicle to pass through the path intersection node on the planned path according to the running information of the vehicle and the position information of the path intersection node comprises the following steps:

determining a corresponding position section of the path intersection node on a planned path of the vehicle;

calculating an absolute time period when the vehicle passes through the corresponding position section according to the speed planning diagram of the vehicle;

calculating a reference time point corresponding to the current position of the vehicle according to the current position and the speed planning diagram of the vehicle;

and determining the prediction time period according to the absolute time period and the reference time point.

8. The method of claim 7, wherein the determining a corresponding location segment of the path junction node on a planned path of a vehicle comprises:

calculating a first distance between the starting position of the path intersection node and the path starting point of the planned path;

calculating a second distance between the termination position of the path intersection node and the path starting point of the planned path;

the location section is determined from the first distance and the second distance.

9. The method of any of claims 2-8, wherein the determining a target vehicle from a plurality of the vehicles comprises:

and determining the target vehicles in sequence according to the order of the priority from high to low.

10. The method of claim 9, after all target vehicles determine their schedule information through each conflicting node, the method further comprising:

traversing path intersection nodes on a planned path of any vehicle;

responsive to determining that the dispatch status of the path junction is abandoned, determining that the vehicle passes through the path junction.

11. The method of any one of claims 1-10, further comprising:

acquiring a planned path of the vehicle;

a junction of planned paths of a plurality of vehicles is determined as the path junction.

12. The method of any of claims 1-11, wherein the job information includes a traffic phase of a vehicle; the determining the priority of the vehicle according to the operation information of the vehicle comprises the following steps:

determining the service priority of the vehicle according to the service stage;

acquiring a fixed priority of a vehicle;

and determining the priority of the vehicle according to the service priority and the fixed priority.

13. A vehicle dispatching device, comprising:

the conflict prediction module is configured to determine a conflict node of the vehicle running conflict from the path intersection nodes of the vehicle according to the running information of the vehicle;

a priority determining module configured to determine a priority of a vehicle according to job information of the vehicle;

and the scheduling module is configured to determine scheduling information of the vehicle at the conflict node according to the priority.

14. The apparatus of claim 13, wherein the scheduling module comprises:

a determining unit configured to determine a target vehicle from a plurality of the vehicles;

and the scheduling unit is configured to sequentially determine the scheduling information of the target vehicle at each conflict node according to the priority from the current position of the target vehicle to the end point direction of the planned path of the target vehicle.

15. The apparatus of claim 14, wherein the scheduling unit is further configured to perform a scheduling decision operation separately for each of the conflicting nodes, wherein the scheduling decision operation comprises:

in response to determining that the scheduling state of the conflict node is not arbitrated, determining that a vehicle with a high priority passes through the conflict node according to the priority of other paths of vehicles intersected by the target vehicle and the conflict node; otherwise, the operation is forbidden.

16. The apparatus of claim 15, wherein the scheduling decision operation further comprises:

responsive to determining that the scheduling state of the conflicting node is declared, determining that the target vehicle is prohibited before the conflicting node;

in response to determining that the scheduling status of the conflicting node is relinquish, determining that the target vehicle passes the conflicting node.

17. The apparatus of claim 16, wherein the scheduling unit further comprises:

a parking space determination subunit configured to determine a parking space of the target vehicle in front of the collision node;

a target intersection determination subunit configured to determine a target intersection from among the path intersections preceding the collision node in response to the parking occupancy having a position collision with a preceding path intersection of the collision node, wherein the parking occupancy of the target vehicle preceding the target intersection has no position collision with other path intersections;

a parking subunit configured to determine that the target vehicle is parked in front of the target junction.

18. The apparatus of claim 13, wherein the conflict prediction module further comprises:

a time prediction unit configured to determine a predicted time period for the vehicle to pass through a path junction node on a planned path thereof according to travel information of the vehicle and position information of the path junction node;

And a collision determination unit configured to determine one of the path intersection nodes as a vehicle collision node in response to time collisions in a plurality of predicted time periods corresponding to the path intersection node.

19. The apparatus of claim 18, the travel information comprising a current location and speed map; the temporal prediction unit further includes:

a location section determination subunit configured to determine a location section of the path junction corresponding on a planned path of the vehicle;

a first calculation subunit configured to calculate an absolute time period for the vehicle to pass through the corresponding location section according to a speed map of the vehicle;

a second calculation subunit configured to calculate a reference time point corresponding to the current position of the vehicle according to the current position and the speed map of the vehicle;

and a third calculation subunit configured to determine the prediction time period according to the absolute time period and the reference time point.

20. The apparatus of claim 14, wherein the determining unit further comprises:

and determining the target vehicles in sequence according to the order of the priority from high to low.

21. The apparatus of claim 20, wherein the scheduling module further comprises a re-traversal unit;

The re-traversing unit is configured to, after all target vehicles determine that they pass the scheduling information of each collision node, traverse the path intersection node on the planned path for any one of the vehicles, and determine that the vehicle passes the path intersection node in response to determining that the scheduling state of the path intersection node is abandoned.

22. The apparatus of any of claims 13-21, wherein the job information includes a traffic phase of a vehicle; the priority determination module further includes:

a first determining unit configured to determine a traffic priority of the vehicle according to the traffic phase;

a second determination unit configured to acquire a fixed priority of the vehicle;

and a third determining unit configured to determine a priority of the vehicle according to the service priority and the fixed priority.

23. A vehicle dispatch system comprising:

a server; and

a plurality of autonomous vehicles communicatively coupled to the server; wherein,

the server is configured to schedule the plurality of autonomous vehicles according to the vehicle scheduling method of any one of claims 1 to 12, and send scheduling instructions to the autonomous vehicles;

And the plurality of automatic driving vehicles receive the scheduling instruction sent by the server and run according to the scheduling instruction.

24. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.

25. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-12.

26. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-12.