CN113240907B - Vehicle scheduling method, system, electronic device and storage medium based on C-V2X - Google Patents
Vehicle scheduling method, system, electronic device and storage medium based on C-V2X Download PDFInfo
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Abstract
The invention provides a vehicle scheduling method, a vehicle scheduling system, electronic equipment and a storage medium based on C-V2X, wherein the method comprises the following steps: when the distance between the first vehicle and the target intersection is smaller than or equal to a preset distance, detecting whether a vehicle passing through the target area range exists through a vehicle-mounted unit of the first vehicle; if yes, respectively acquiring the running information of the first vehicle and the passing vehicle; sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles; and controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence. The method controls all vehicles in the target area range to carry out information interaction through a C-V2X communication technology, and controls all vehicles to sequentially, orderly and safely pass through the target intersection according to the intersection passing sequence obtained after vehicle sequencing is carried out according to the running information of all vehicles, so that efficient vehicle meeting dispatching in the area with poor network signal coverage is realized, the communication and dispatching cost is reduced, and the vehicle transportation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of vehicle scheduling and energy-saving management, in particular to a vehicle scheduling method and system based on C-V2X, electronic equipment and a storage medium.
Background
Mining trucks (mine trucks for short) are important transportation vehicles in the mining industry, the loading capacity is large, the oil consumption is high, traffic lights are usually not arranged at intersections of roads in mining areas, a first-come first-advance traffic rule is adopted by default, and the traffic rule causes that the speed of the mine trucks needs to be reduced before the mine trucks pass through the intersections, or the mine trucks need to stop to observe the conditions of the intersections and wait for other vehicles to pass through during idling. The stop and restart of the mine card, the speed reduction driving or the irregular waiting time of the mine card all affect the transportation efficiency of the mine card and increase the oil consumption of the mine card. Therefore, how to balance the transportation efficiency and the energy consumption cost of the mine cards becomes a main problem in the field of mine card transportation management. In the modern days with rapid development of unmanned automatic driving technology, unmanned automatic driving of mine cards has also become the mainstream trend of the current development. Under the scene, not only the problem of how to balance the transportation efficiency and the energy consumption cost of the mine cards needs to be considered, but also the problem of how to effectively and cooperatively schedule a plurality of automatically-driven mine cards in a meeting state needs to be considered. That is, in the transportation metering system in the field of digital mine operation, how to efficiently cooperate with a plurality of mine cards meeting each other for an automatically driven mine card, and at the same time, to improve the transportation efficiency of the mine card and save the energy consumption cost thereof becomes an important issue to be solved in the industry at present.
The working environment of the mine card is a mine area and is mostly a surface mine, the communication environment is poor, and the condition that the network signal is not good or the networking cannot be performed due to no signal often occurs, so that the data transmission work cannot be performed. If a 4G/5G network cable and network facilities are separately installed in a mine area, an additional investment of millions or even tens of millions is required. Neither the mine owner nor the service provider that undertakes the digital reconstruction is burdened with such high construction costs. Therefore, it is desirable to find a method for implementing data communication between mine cards under the existing communication environment.
Disclosure of Invention
The invention provides a vehicle scheduling method, a vehicle scheduling system, electronic equipment and a storage medium based on C-V2X, which are used for solving the problems of poor network signal coverage and no traffic signal lamp intersection vehicle meeting scheduling in the prior art, realizing vehicle driving information interaction in a target intersection region range under low communication cost and solving the intersection vehicle meeting scheduling problem, thereby improving vehicle passing efficiency, further reducing vehicle energy consumption and improving transportation efficiency.
The invention provides a vehicle dispatching method based on C-V2X, which comprises the following steps:
When the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, a vehicle-mounted unit of the first vehicle detects whether a passing vehicle exists in a target area range;
if the passing vehicle exists, respectively acquiring the running information of the first vehicle and the passing vehicle;
sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of each vehicle;
and controlling the vehicles to sequentially pass through the target intersection based on the intersection passing sequence.
According to the vehicle scheduling method based on the C-V2X, the driving information comprises at least one of preset priority, preset steering and time required by the vehicle to reach the target intersection, wherein the time required by the vehicle to reach the target intersection can be obtained by calculation based on the preset vehicle speed and the distance between the vehicle and the target intersection.
According to the vehicle scheduling method based on C-V2X provided by the invention, the sequencing strategy for sequencing vehicles based on the running information of all vehicles comprises the following steps: and at least one of sorting according to the preset priority, sorting according to the time required by the vehicle to reach the target intersection and sorting according to the preset steering.
According to the vehicle scheduling method based on C-V2X provided by the invention, when the sequencing strategy comprises the following steps: when sequencing is carried out according to the preset priority and sequencing is carried out according to the time required by the vehicles to reach the target intersection, sequencing is carried out based on the running information of all the vehicles so as to obtain the intersection passing sequence of all the vehicles, and the method comprises the following steps:
performing first sequencing according to the time required by the vehicles to reach the target intersection, so as to obtain a first sequencing sequence of the vehicles, wherein the sequencing of the vehicles with short required time is in front;
and adjusting the sequence of the vehicles with the time required by the vehicles to reach the target intersection being greater than the preset time in the first sequencing sequence according to the preset priority of each vehicle, wherein the vehicles with the high preset priority are sequenced before the vehicles with the low preset priority, and the sequence of the vehicles with the time required by the vehicles to reach the target intersection being less than or equal to the preset time in the first sequencing sequence is kept unchanged, so as to obtain the intersection passing sequence of all the vehicles.
According to the vehicle scheduling method based on C-V2X provided by the invention, the control of each vehicle to sequentially pass through the target intersection based on the intersection passing sequence comprises the following steps: all vehicles sequentially obtain the right of way at the intersection according to the order of the way at the intersection; the vehicle obtaining the right of way at the intersection can pass through the target intersection;
And when a new passing vehicle is detected to be added in the target area range, reordering based on the driving information of the vehicles in the target area range to obtain a new crossing passing sequence, wherein the vehicles which have obtained the crossing passing right do not participate in the reordering.
According to the vehicle dispatching method based on the C-V2X, the vehicle-mounted unit supports C-V2X direct communication or is provided with a PC5 interface.
According to the vehicle scheduling method based on C-V2X provided by the invention, the vehicle is controlled to sequentially pass through the target intersection based on the intersection passing sequence, and the method further comprises the following steps:
and after the vehicle obtaining the right of passage at the intersection passes through the target intersection, respectively sending intersection safety prompt information to each vehicle through the vehicle-mounted unit.
According to the vehicle dispatching method based on C-V2X provided by the invention, the method for detecting whether the passing vehicle exists in the target area range through the vehicle-mounted unit of the first vehicle comprises the following steps:
the first vehicle broadcasts the running information of the first vehicle in the detection target area range through an on-board unit;
and judging whether a passing vehicle exists in the detection target area range or not according to the driving information fed back by the passing vehicle, which is obtained by the first vehicle.
The invention also provides a vehicle dispatching system based on C-V2X, comprising:
the detection module is used for controlling the first vehicle to detect whether a passing vehicle exists in the range of the target area through the vehicle-mounted unit when the distance between the first vehicle and the target intersection is smaller than or equal to the preset distance;
the acquisition module is used for respectively acquiring the driving information of the first vehicle and the passing vehicle if the passing vehicle exists;
the sequencing module is used for sequencing the vehicles based on the running information of all the vehicles so as to obtain the crossing passing sequence of all the vehicles;
and the passing control module is used for controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
According to the vehicle scheduling system based on the C-V2X provided by the invention, the running information at least comprises a preset priority and time required by the vehicle to reach the target intersection, and when the sorting module adopts a sorting strategy of sorting according to the preset priority and sorting according to the time required by the vehicle to reach the target intersection, the sorting module comprises:
the sequencing module is used for carrying out first sequencing according to the time required by the vehicles to reach the target intersection, so as to obtain a first sequencing sequence of the vehicles, wherein the sequencing of the vehicles with short required time is forward;
And the sequence adjusting module is used for adjusting the sequence of the vehicles with the time required by the vehicles to reach the target intersection being greater than the preset time in the first sequence according to the preset priority of each vehicle, the vehicles with the high preset priority are sequenced before the vehicles with the low preset priority, and the sequence of the vehicles with the time required by the vehicles to reach the target intersection being less than or equal to the preset time in the first sequence is kept unchanged so as to obtain the intersection passing sequence of all the vehicles.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize all or part of the steps of the C-V2X-based vehicle dispatching method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements all or part of the steps of the C-V2X based vehicle scheduling method as recited in any one of the above.
The invention provides a C-V2X-based vehicle scheduling method, a C-V2X-based vehicle scheduling system, electronic equipment and a storage medium, wherein the method is used for controlling information interaction and identification detection among vehicles in a target area range without installing a complex and expensive 4G/5G communication network facility, can perform data interaction communication among mine vehicles under the existing communication condition without an infrastructure network facility or poor network signals, and can control the vehicles to sequentially and safely pass through a target intersection according to an intersection passing sequence obtained after vehicle sequencing is performed according to the running information of all the vehicles, so that efficient scheduling of vehicles meeting each other is realized, particularly, when the scheduling method is used for the mine vehicles working in a mine area, effective scheduling of the mine vehicles can be realized, high energy consumption caused by the fact that the mine vehicles need to be decelerated or stopped for waiting time at the target intersection can be avoided, the mine card transportation efficiency is improved, and balanced optimization of reducing the mine card cost and improving the mine card transportation efficiency is realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a C-V2X-based vehicle scheduling method provided by the present invention;
FIG. 2 is a second schematic flow chart of the C-V2X-based vehicle dispatching method provided by the present invention;
FIG. 3 is a schematic diagram of an application scenario of the C-V2X-based vehicle scheduling method provided by the present invention;
FIG. 4 is a schematic diagram of a C-V2X-based vehicle dispatching system provided by the invention;
FIG. 5 is a second schematic structural diagram of a C-V2X-based vehicle dispatching system provided by the present invention;
FIG. 6 is a schematic diagram of an electronic device provided by the present invention;
reference numerals:
310: a first vehicle; 320: a vehicle number two; 330: a vehicle number three;
340: vehicle number four; 410: a detection module; 420: an acquisition module;
430: a sorting module; 440: a passage control module; 431: a sequence module;
432: a sequence adjusting module; 610: a processor; 620: a communication interface;
630: a memory; 640: a communication bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Mining trucks (mine trucks for short) are important transportation tools in the mining industry, the loading capacity is large, the oil consumption is high, and all the currently applied mine trucks are unmanned and automatically driven mine trucks. Also, each intersection on the mine road where the mine card is traveling typically has no traffic lights. The following vehicle scheduling method, system, electronic device and storage medium based on C-V2X are all considered to be applied to a vehicle crossing scheduling scene of a plurality of automatically driven mine cards at target intersections without traffic lights on the roads of a mining area.
The V2X technology (Vehicle to evolution) is a communication technology for exchanging information between vehicles and the outside, and includes information interaction communication between vehicles, between vehicles and pedestrians, between vehicles and road infrastructure, and between vehicles and cloud platforms. The C-V2X technology is an interactive communication technology developed further on the basis of the V2X technology, which is based on the global unified communication technology 3GPP and includes LTE-V2X technology, 5G-V2X technology, and subsequent evolution technology. At the present stage, under the continuous push of institutions such as scientific research institute and standard organization, a complete C-V2X technology industry operation chain is gradually mature: communication chip manufacturers provide C-V2X chips, and integrate communication modules by module terminal manufacturers to develop corresponding finished vehicle end, road end and communication base station products; then integrating C-V2X terminal products at the whole vehicle end and the road end, and performing vehicle-road cooperative management through respective data perception and analysis capabilities; and further, the operation and the service of mature C-V2X technology are gradually developed from local technology test verification. However, the current C-V2X technology is only applied to the fields of vehicle-road cooperative management and vehicle positioning, and cannot be successfully applied to the fields of vehicle meeting judgment and scheduling. The C-V2X technology is introduced to carry out data interaction communication among the mine cards, namely the C-V2X technology is applied to a meeting scheduling scene of a target intersection without traffic lights on a mine road of a plurality of automatically-driven mine cards, so that each mine card can carry out data interaction under the condition of no infrastructure network facilities or poor network signals.
The following describes in detail a vehicle scheduling method, system, electronic device and storage medium based on C-V2X according to the present invention with reference to fig. 1 to 6.
The invention provides a vehicle dispatching method based on C-V2X, and FIG. 1 is one of the flow diagrams of the vehicle dispatching method based on C-V2X, as shown in FIG. 1, the method comprises:
100. when the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, detecting whether a vehicle passing through the target area range exists through a vehicle-mounted unit of the first vehicle;
200. if the passing vehicle exists, respectively acquiring the running information of the first vehicle and the passing vehicle;
300. sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles;
400. and controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
Each of the automatically driven mine cards is provided with a vehicle-mounted unit (OBU), and the OBU can be independently installed on the mine card and also can exist as a part of an integrated vehicle-mounted terminal (Telematics-Box, T-BOX for short). And each automatically-driven mine card is provided with a high-precision positioner containing high-precision map data so as to effectively identify and monitor the distance between the mine card and a target intersection and calculate the time required by the vehicle of the mine card to reach the target intersection by combining with the preset vehicle speed. A preset distance for each mine card to reach a corresponding target intersection is preset according to related driving information such as the actual vehicle type of the mine card, and the safety distance for effective braking is guaranteed.
One mine card is selected as the first vehicle, and one mine card can be randomly selected. When the distance between the first vehicle and the target intersection is monitored to be smaller than or equal to the preset distance, the first vehicle is controlled to detect whether other passing vehicles exist in the range of the target area through the vehicle-mounted unit of the first vehicle, and one or more other passing vehicles can exist. The working principle of the vehicle-mounted unit is as follows: the OBU on the first vehicle and the OBUs on any other mine card perform information interaction to identify each other, and a terminal direct connection communication technology of C-V2X communication is utilized. Therefore, the mine inter-card vehicle-mounted unit adopts the C-V2X technology to carry out direct communication, effectively realizes identification authentication and information interaction between vehicles on a vehicle running path, saves a plurality of complex and expensive 4G/5G communication foundation laying cost, and is convenient and rapid to operate.
After detection, if the passing vehicles exist, the running information of the first vehicle and each passing vehicle is respectively obtained, wherein the running information is various information related to the running condition of each mine vehicle, such as the time required by the vehicle to reach a target intersection, the preset priority of the vehicle, the preset vehicle speed, the preset steering and the like. After the driving information of all vehicles is acquired, all vehicles are sequenced according to the driving information of all vehicles, so that the crossing passing sequence of all vehicles to the target crossing is obtained.
Of course, after detection, if there is no other passing vehicle, only the mine card of the first vehicle needs to pass through the target intersection, and there is no meeting interference, so the first vehicle can pass through the target intersection smoothly and safely according to the preset vehicle speed and the preset steering.
The invention provides a C-V2X-based vehicle dispatching method, which is characterized in that information interaction and identification detection are carried out among vehicles in a target area range through a vehicle-mounted unit based on a C-V2X communication technology, a complex and expensive 4G/5G communication network facility is not required to be installed, data interaction communication among vehicles (such as mine trucks) can be carried out under the existing communication condition without an infrastructure or poor network signals, and the vehicles are controlled to sequentially and safely pass through a target intersection according to an intersection passing sequence obtained after vehicle sequencing is carried out according to the running information of all the vehicles, so that efficient dispatching of the vehicles meeting is realized, high energy consumption caused by the fact that the vehicles need to be decelerated or stop for waiting time at the target intersection due to vehicle meeting can be avoided, the transportation efficiency of the vehicles is improved, and the balance optimization of reducing energy consumption cost and improving the transportation efficiency is realized.
According to the vehicle scheduling method based on the C-V2X, the driving information comprises at least one of preset priority, preset steering and time required by the vehicle to reach the target intersection, wherein the time required by the vehicle to reach the target intersection can be obtained by calculation based on the preset vehicle speed and the distance between the vehicle and the target intersection.
The driving information is various information related to the driving condition of each mine card, such as the vehicle type, the preset vehicle speed, the preset steering, the preset priority of the mine card, the distance between the vehicle and the target intersection, the time required for the vehicle to reach the target intersection and the like, wherein the time required for the vehicle to reach the target intersection can be obtained through calculation based on the preset vehicle speed and the distance between the vehicle and the target intersection. And the numerical value of the preset distance from the first vehicle to the target intersection, the preset vehicle speed and the preset steering in the driving information can be initialized and configured in advance through a software configuration system, and the preset steering is one of straight running, left turning and right turning.
According to the vehicle scheduling method based on C-V2X provided by the invention, the sequencing strategy for sequencing vehicles based on the running information of all vehicles comprises the following steps: and at least one of sorting according to the preset priority, sorting according to the time required by the vehicle to reach the target intersection and sorting according to the preset steering.
And sequencing all the mine cards needing to pass through the target intersection based on the driving information of all the mine cards so as to obtain the intersection passing sequence of each mine card. The specific sorting strategy may include at least one of sorting according to the preset priority, sorting according to the time required for the vehicle to reach the target intersection, and sorting according to the preset steering. Of course, any two of the three sorting strategies may be integrated, and all the three sorting strategies may be integrated for sorting, which is specifically adjusted according to the actual situation of the application scenario, and is not limited here. According to the vehicle scheduling method based on C-V2X provided by the invention, when the sequencing strategy comprises the following steps: when sorting is performed according to the preset priority and sorting is performed according to the time required by the vehicle to reach the target intersection, fig. 2 is a second schematic flow chart of the vehicle scheduling method based on C-V2X provided by the present invention, as shown in fig. 2, on the basis of the embodiment shown in fig. 1, the step 300 of sorting is performed based on the driving information of all the vehicles to obtain the intersection passing order of all the vehicles, which specifically includes:
301. performing first sequencing according to the time required by the vehicles to reach the target intersection to obtain a first sequencing sequence of the vehicles, wherein the vehicles with short required time are sequenced in the front;
302. And adjusting the sequence of the vehicles with the time required by the vehicles to reach the target intersection being greater than the preset time in the first sequencing sequence according to the preset priority of each vehicle, wherein the vehicles with the high preset priority are sequenced before the vehicles with the low preset priority, and the sequence of the vehicles with the time required by the vehicles to reach the target intersection being less than or equal to the preset time in the first sequencing sequence is kept unchanged, so as to obtain the intersection passing sequence of all the vehicles.
Specifically, when the ranking policy includes: when the vehicle is ranked according to the preset priority and the vehicle is ranked according to the time required for reaching the target intersection, it is understood that the vehicle ranking is performed by combining two ranking strategies, and the step 300 is performed by ranking based on the driving information of all the vehicles to obtain the intersection passing order of each vehicle, and then the vehicle ranking can be performed by combining two conditions, namely, the time required for the vehicle to reach the target intersection and the preset priority, so the step 300 can specifically include the following steps:
301. and sequencing the vehicles for the first time according to the time required by the vehicles to reach the target intersection, or the sequence of the time required by the vehicles to reach the target intersection, so as to obtain a first sequencing sequence of the vehicles, wherein the vehicles with shorter required time or the vehicles with earlier time to reach the target intersection are sequenced in front. For example, a, b, and c are three mine cards that need to pass through the same target intersection, and the time required for the three to reach the target intersection is 8min, 1min, and 10min, respectively, then after sorting according to the arrival time, the first sorting order is: b, A and C.
302. On the basis of the first sequencing sequence, according to the preset priority of each vehicle, the sequence of each vehicle in the first sequencing sequence, wherein the time required for the vehicle to reach the target intersection is longer than the preset time, and the sequence of each vehicle in the first sequencing sequence, wherein the time required for the vehicle to reach the target intersection is shorter than or equal to the preset time, is still kept unchanged. The preset time refers to the limitation of a time threshold required for reaching the target intersection, and a specific numerical value of the preset time can be set according to an actual application scenario, which is not specifically limited here. The significance of the setting is as follows: if the time required by a certain mine card to reach the intersection is only 1min, the mine card can directly pass through the target intersection after being very close to the intersection, and the situation that other mine cards give way due to the fact that the preset priority of the vehicle is lower than that of other mine cards is not needed, and if the vehicle very close to the target intersection is allowed to stop and give way, the vehicle can be more likely to be more in oil consumption for stopping. Thus, further sequencing adjustments need only be made for each vehicle that still requires more than a preset time to reach the target intersection. For example, the preset time is set to 5min, and the first sequencing sequence: in the second, the first and the third vehicles, the second only needs 1min when reaching the target intersection, and is less than 5min, therefore, the sequence is kept unchanged, the sequence of the first and the third vehicles is adjusted according to the preset priority of the first and the third vehicles, if the preset priority of the third vehicle is higher than the first vehicle, the third vehicle is sequenced before the first vehicle, and finally the intersection passing sequence of all the vehicles is formed: b, C and A.
And the specific strategy for adjusting the sequence of each vehicle in the first sequence order, in which the time required for the vehicle to reach the target intersection is greater than the preset time, is as follows: the vehicles with high preset priority are ranked before the vehicles with low preset priority. Certainly, the attribute values of the preset priority of each mine card can be pre-assigned, so that the level of the preset priority is determined according to the magnitude of the attribute values of the preset priority, and the higher the attribute value of the priority is, the higher the priority is, and the higher the priority order is. And the specific adjustment strategy can be further understood as: calculating the difference value of the attribute values of the preset priority of different mine cards, wherein the difference value is used as a condition for changing the first sequencing order, for example, the mine card can be correspondingly moved forwards or backwards by corresponding bit number according to the difference value.
Fig. 3 is a schematic view of an application scenario of the vehicle scheduling method based on C-V2X provided by the present invention, and as shown in fig. 3, there are four mine cards for a current target intersection within a target area: vehicle number one, vehicle number two, vehicle number three and vehicle number four. The first vehicle is regarded as the first vehicle, namely three passing vehicles, namely a second vehicle, a third vehicle and a fourth vehicle, are detected in the target area range through the vehicle-mounted unit of the first vehicle. After the driving information of each mine card is respectively obtained in step 200, vehicles are comprehensively ranked according to the time required by the vehicles to reach the target intersection and the preset priority. Specifically, first vehicle sequencing is performed according to the time required by the vehicle to reach the target intersection, and a first sequencing sequence of each vehicle is obtained. For example, the time required for the vehicle of the first vehicle, the second vehicle, the third vehicle and the fourth vehicle to reach the target intersection is respectively as follows: 16min, 10min, 15min and 20min, the first sequence of each vehicle is as follows according to the required time from short to long: vehicle number two, vehicle number three, vehicle number one and vehicle number four.
And on the basis of the first sequencing sequence, continuously adjusting the sequence of each vehicle with the time required by the vehicle to reach the target intersection being more than the preset time in the first sequencing sequence according to the preset priority of each vehicle, for example, the preset time still takes 5min, and the time required by the vehicle I, the vehicle II, the vehicle III and the vehicle IV to reach the target intersection is more than 5min, so that the four mine cards participate in sequencing adjustment. Namely, the preset priorities of the four mine cards are used as the condition for changing the first sequencing order. For example, the attribute values of the preset priorities of the first vehicle, the second vehicle, the third vehicle and the fourth vehicle are respectively: 1. 3, 4 and 2. Since the higher the value of the priority attribute, the higher the priority and the higher the priority ranking. In the first sorting sequence, the difference value of the attribute values of the preset priority of the third vehicle and the second vehicle is calculated firstly, the difference value =4-3=1, the difference value is a positive value of 1, namely the priority of the third vehicle is higher than that of the second vehicle by 1, so that the third vehicle is sorted forward by 1, and is arranged in front of the second vehicle to form a middle sorting sequence: vehicle number three, vehicle number two, vehicle number one and vehicle number four. And calculating the difference value of the attribute values of the preset priorities of the first vehicle and the second vehicle, wherein the difference value =1-3= -2, the difference value is a negative value of-1, and in the opposite direction, namely the priority of the second vehicle is higher than that of the first vehicle by 2 orders, and the second vehicle should be sequenced at two orders before the first vehicle, and at the moment, the middle sequencing order can be kept unchanged, and the first vehicle can also be directly sequenced backwards by 2 orders. For example, the middle sorting order is kept unchanged, and the difference between the attribute values of the preset priorities of the vehicle number one and the vehicle number four is calculated, where the difference =1-2= -1, and the difference is negative-1, and in the opposite direction, that is, the priority of the vehicle number four is higher than that of the vehicle number one by 1, and the vehicle number four should be sorted one before the vehicle number one, so the vehicle number four is sorted forward by 1.
The intersection passing sequence of all the vehicles is finally obtained as follows: (1) the third vehicle, (2) the second vehicle, (3) the fourth vehicle, and (4) the first vehicle, as shown in fig. 3 by the serial numbers (1) - (2) - (3) - (4) beside each mine card. According to the obtained intersection passing sequence, the third vehicle at the first sequencing position firstly obtains the intersection passing right. And finally, controlling each mine card to orderly and safely pass through the target intersection according to the intersection passing sequence shown by the determined sequence numbers (1) - (2) - (3) - (4). The third vehicle which obtains the right of way at the intersection can firstly pass through the target intersection preferentially, and then other vehicles obtain the right of way at the intersection and pass through the target intersection in sequence after the front vehicle safely passes through the intersection according to the determined sequence of the order of the way at the intersection until all vehicles safely pass through the target intersection.
It should be further added that, in the embodiment of the present invention, each road where the default target intersection is located is a multi-lane road that allows multiple vehicles to pass through in parallel, but the embodiment of the present invention is not limited to be implemented at an intersection of multi-lane roads, and may also be applied to a scene of an intersection with a single-lane road. It should be noted that, if a road in a certain direction at the target intersection is a single-lane road, and the single-lane road runs in the same direction to receive two or more mine cards, it is impossible for the rear vehicle to pass beyond the front vehicle at this time. Therefore, at this time, the sequence of each vehicle on the road is set, the sequence of the time when each vehicle reaches the target intersection is required to be used as a main sequencing basis, and the strategy of sequencing and adjusting the vehicles according to the preset priority of the vehicles is ignored and is considered as the failure of the priority factor of the vehicles. Thus, a vehicle that first reaches a target intersection on the single-lane road preferentially acquires intersection right of way to pass through the target intersection.
According to the vehicle scheduling method based on C-V2X provided by the invention, the control of each vehicle to sequentially pass through the target intersection based on the intersection passing sequence comprises the following steps: all vehicles sequentially obtain the right of way at the intersection according to the order of the way at the intersection; the vehicle obtaining the right of way at the intersection can pass through the target intersection;
and when a new passing vehicle is detected to be added in the target area range, reordering based on the driving information of the vehicles in the target area range to obtain a new crossing passing sequence, wherein the vehicles which have obtained the crossing passing right do not participate in the reordering.
Specifically, when all vehicles are controlled to sequentially pass through the target intersection according to the obtained intersection passing sequence, all vehicles sequentially obtain intersection passing rights according to the intersection passing sequence, the vehicle at the first sequencing position preferentially obtains the intersection passing right, and after the vehicle passes through the intersection, the vehicle at the second sequencing position obtains the intersection passing right better than other vehicles. Wherein, the vehicle obtaining the right of way at the intersection can pass through the target intersection each time.
When a new passing vehicle, such as a vehicle five (not shown in fig. 3), is added into the target detection area, the vehicle five is considered as a newly added vehicle, and at this time, the vehicles in the target detection area need to be reordered based on the running information of all the vehicles in the target detection area, specifically, based on the length of time required for reaching the target intersection in the running information and the preset priority level, so as to obtain a new intersection passing sequence of each vehicle after dynamically updating the ordered sequence. However, it should be noted that the vehicles that have gained right to cross before the time when the new passing vehicle joins the meeting schedule scene do not participate in the re-sequencing, in other words, any newly joining sequenced vehicles cannot influence the vehicles that have gained right to cross.
For example, when a vehicle number five joins in a meeting scheduling scene, the first four vehicles have already been sequenced, and the vehicle number three at the first sequencing position has already acquired the right of way at the intersection but has not yet passed, then at this time, the vehicle number three no longer participates in the re-sequencing, but directly passes through the target intersection with priority according to the acquired right of way at the intersection. The first vehicle, the second vehicle and the fourth vehicle need to participate in the re-sequencing together with the fifth vehicle so as to obtain a new intersection passing sequence, and the vehicle at the first sequencing position in the new sequence is endowed with the intersection passing right again. And if the fifth vehicle joins in the meeting dispatching scene, the third vehicle at the first sequencing position safely passes through the target intersection, and the second vehicle (the vehicle at the first sequencing position) after the third vehicle in sequence obtains the intersection right of passage but does not pass along, at the moment, the third vehicle and the second vehicle do not participate in the re-sequencing any more, the second vehicle directly passes through the target intersection in priority according to the obtained intersection right of passage, and the first vehicle and the fourth vehicle need to participate in the re-sequencing together with the fifth vehicle so as to obtain a new intersection passing sequence.
The method of the invention can be implemented by a vehicle dispatching system, and a cloud management platform is also arranged together with the vehicle dispatching system, the running information of each mine card, the result of sequencing the vehicles each time, the sequencing result of each reordering adjustment and the like are acquired by the vehicle dispatching system and then uploaded to the cloud management platform for cloud storage, and the cloud management platform can play back the running track of each mine card or analyze the data such as the dispatching efficiency of the meeting dispatching scene of each mine card according to the stored data content.
According to the vehicle dispatching method based on the C-V2X, the vehicle-mounted unit supports C-V2X direct communication or is provided with a PC5 interface.
Namely, the vehicle-mounted units on different mine cards utilize a terminal direct communication technology of C-V2X communication, specifically, the direct communication function of LTE-V2X or 5G-V2X is adopted, or a PC5 interface supporting C-V2X communication is adopted to realize C-V2X communication, and the communication mode is simple and convenient.
According to the vehicle scheduling method based on C-V2X provided by the invention, the vehicle is controlled to sequentially pass through the target intersection based on the intersection passing sequence, and the method further comprises the following steps:
And after the vehicle obtaining the right of way at the intersection passes through the target intersection, respectively sending intersection safety prompt information to each vehicle through the vehicle-mounted unit.
After the vehicle obtaining the right of way at the intersection passes through the target intersection, the vehicle-mounted unit respectively sends intersection safety prompt information to each vehicle so as to inform other vehicles of the safety condition of the target intersection, and subsequent vehicles can conveniently continue to pass through the target intersection.
According to the vehicle dispatching method based on C-V2X provided by the present invention, in step 100, the controlling the first vehicle to detect whether there is a passing vehicle in the target area range through the on-board unit specifically includes:
401. the first vehicle broadcasts the running information of the first vehicle in the detection target area range through an on-board unit;
402. and judging whether the passing vehicles exist in the detection target area range or not and determining the number of the passing vehicles according to the driving information fed back by the passing vehicles and obtained by the first vehicle. The first vehicle broadcasts the running information of the first vehicle in the detection target area range through the vehicle-mounted unit of the first vehicle based on the C-V2X communication technology, and the first vehicle can also be understood as transmitting the running information of the first vehicle to each passing vehicle through the vehicle-mounted unit of the first vehicle based on the C-V2X communication technology. If the vehicles passing the road exist, the vehicles passing the road can feed back the running information of the vehicles passing the road to the first vehicle, and if the vehicles passing the road do not exist, the first vehicle cannot receive the running information fed back by each vehicle passing the road, or the running information fed back by the first vehicle is empty. If there are a plurality of passing vehicles, each passing vehicle needs to feed back its own driving information to the first vehicle, so the number of passing vehicles can be clearly judged according to the fed-back driving information received by the first vehicle. Specifically, when the first vehicle (host vehicle HV) detects another passing vehicle (far vehicle RV) in the target area range, the first vehicle (host vehicle HV) broadcasts traveling information such as the vehicle position, the vehicle type, the preset vehicle speed, the preset steering, the time required for the vehicle to reach the target intersection, the preset priority and the like of the other passing vehicle (far vehicle RV), and meanwhile, the other passing vehicle (far vehicle RV) needs to faithfully feed back the respective traveling information to complete interactive recognition with the first vehicle (host vehicle HV).
Of course, if a new passing vehicle is added into the detection target area range to cause reordering, the process of driving information interactive identification based on the C-V2X communication technology between the new passing vehicle and other vehicles needs to be performed again in the detection target area range, which is specifically set according to actual conditions.
The C-V2X-based vehicle dispatching system provided by the invention is described below, and the C-V2X-based vehicle dispatching system described below can be understood as a system for executing the C-V2X-based vehicle dispatching method described above, and the application principles of the two systems are consistent and can be referred to correspondingly.
The present invention also provides a vehicle dispatching system based on C-V2X, fig. 4 is one of the schematic structural diagrams of the vehicle dispatching system based on C-V2X provided by the present invention, as shown in fig. 4, the system includes: a detection module 410, an acquisition module 420, a ranking module 430, and a traffic control module 440, wherein,
the detection module 410 is configured to control the first vehicle to detect whether a passing vehicle exists in a target area range through the vehicle-mounted unit when a distance between the first vehicle and the target intersection is smaller than or equal to a preset distance;
the obtaining module 420 is configured to, if the passing vehicle exists, obtain driving information of the first vehicle and the passing vehicle respectively;
The sorting module 430 is configured to perform vehicle sorting based on the driving information of all the vehicles to obtain intersection passing orders of all the vehicles;
the passing control module 440 is configured to control each vehicle to pass through the target intersection sequentially based on the intersection passing sequence.
The invention provides a C-V2X-based vehicle dispatching system, which comprises a detection module 410, an acquisition module 420, a sequencing module 430 and a traffic control module 440, wherein the modules work in a matched manner, so that the system can control all vehicles in a target area range to perform information interaction and identification detection through a vehicle-mounted unit based on a C-V2X communication technology without installing a complex and expensive 4G/5G communication network facility, namely, data interaction communication between mine cards can be performed under the existing communication condition without an infrastructure or poor network signals, and the vehicles are controlled to sequentially and safely pass through a target intersection according to an intersection traffic sequence obtained after vehicle sequencing is performed according to the running information of all vehicles, so that the efficient dispatching of the mine cards of all vehicles is realized, the high energy consumption caused by the fact that all the mine cards need to be decelerated or stopped for waiting time at the target intersection can be avoided, the transportation efficiency of the mine cards is improved, and the balance optimization of reducing the cost of the mine cards and improving the transportation efficiency of the mine cards is realized.
According to the vehicle scheduling system based on the C-V2X provided by the present invention, the driving information at least includes the preset priority and the time required for the vehicle to reach the target intersection, when the sorting module adopts the sorting strategy of sorting according to the preset priority and sorting according to the time required for the vehicle to reach the target intersection, fig. 5 is a second structural schematic diagram of the vehicle scheduling system based on the C-V2X provided by the present invention. As shown in fig. 5, based on the embodiment shown in fig. 4, the sorting module 430 further includes a sequence module 431 and an order-adjusting module, which are connected in sequence, wherein,
the sequence module 431 is configured to perform first sequencing according to the length of time required for the vehicles to reach the target intersection, so as to obtain a first sequencing order of each vehicle, where the vehicle with short required time is sequenced in front;
the sequence adjusting module 432 is configured to adjust, according to the preset priority of each vehicle, a sequence of each vehicle in the first sequence, where the time required for the vehicle to reach the target intersection is greater than a preset time, where the vehicle with the higher preset priority is sequenced before the vehicle with the lower preset priority, and the sequence of each vehicle in the first sequence, where the time required for the vehicle to reach the target intersection is less than or equal to the preset time, remains unchanged, so as to obtain the intersection passing sequence of all the vehicles.
After the vehicles are sorted for the first time by the sequence module 431 and sorted according to the preset priority levels of the vehicles by the sorting module 432, the obtained new intersection passing sequence of each vehicle belongs to a comprehensive sorting result, and can better adapt to the requirements of a plurality of mine truck meeting scheduling scenes.
Fig. 6 illustrates a physical structure diagram of an electronic device, and as shown in fig. 6, the electronic device may include: a processor (processor) 610, a communication Interface 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform all or part of the steps of the C-V2X based vehicle dispatch method described in the various embodiments above, the method comprising:
when the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, the first vehicle detects whether a vehicle passing through the target area range exists through a vehicle-mounted unit;
if the passing vehicle exists, respectively acquiring the running information of the first vehicle and the passing vehicle;
sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles;
And controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the C-V2X-based vehicle scheduling method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform all or part of the steps of the C-V2X based vehicle scheduling method provided by the above methods, the method comprising:
When the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, the first vehicle detects whether a vehicle passing through the target area range exists through a vehicle-mounted unit;
if the passing vehicle exists, respectively acquiring the running information of the first vehicle and the passing vehicle;
sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles;
and controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform all or part of the steps of the C-V2X based vehicle scheduling method provided above, the method comprising:
when the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, the first vehicle detects whether a vehicle passing through the target area range exists through a vehicle-mounted unit;
if the passing vehicle exists, respectively acquiring the running information of the first vehicle and the passing vehicle;
sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles;
And controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on such understanding, the technical solutions in essence or part contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the C-V2X based vehicle dispatching method according to various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A C-V2X-based vehicle scheduling method is characterized by comprising the following steps:
when the distance between a first vehicle and a target intersection is smaller than or equal to a preset distance, detecting whether a vehicle passing through the target area range exists through a vehicle-mounted unit of the first vehicle; carrying out information interaction, identification and detection among all vehicles in the target area range through a C-V2X communication technology;
if the passing vehicle exists, respectively acquiring the driving information of the first vehicle and the passing vehicle, wherein the driving information at least comprises a preset priority and the time required for the vehicle to reach a target intersection;
sequencing the vehicles based on the running information of all the vehicles to obtain the crossing passing sequence of all the vehicles;
The ranking based on the driving information of all the vehicles specifically includes: performing first sequencing according to the time required by the vehicles to reach the target intersection, so as to obtain a first sequencing sequence of the vehicles, wherein the sequencing of the vehicles with short required time is in front; according to the preset priority of each vehicle, adjusting the sequence of each vehicle with the time required by the vehicle to reach the target intersection being greater than the preset time in the first sequencing sequence, wherein the vehicle with the high preset priority is sequenced before the vehicle with the low preset priority, and the sequence of each vehicle with the time required by the vehicle to reach the target intersection being less than or equal to the preset time in the first sequencing sequence is kept unchanged;
and controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
2. The C-V2X-based vehicle scheduling method according to claim 1, wherein the driving information further includes a preset turn, and the time required for the vehicle to reach the target intersection is calculated based on a preset vehicle speed and a distance between the vehicle and the target intersection.
3. The C-V2X-based vehicle scheduling method of claim 2, wherein the ranking strategy for vehicle ranking based on travel information of all vehicles further comprises: and sequencing according to the preset steering.
4. The C-V2X-based vehicle scheduling method according to claim 1, wherein said controlling each vehicle to sequentially pass through said target intersection based on said intersection passage order comprises: all vehicles sequentially obtain the right of way at the intersection according to the order of the way at the intersection; the vehicle obtaining the right of way at the intersection can pass through the target intersection;
and when a new passing vehicle is detected to be added in the target area range, reordering based on the driving information of the vehicles in the target area range to obtain a new crossing passing sequence, wherein the vehicles which have obtained the crossing passing right do not participate in the reordering.
5. The C-V2X based vehicle scheduling method of any of claims 1-4, wherein said on board unit supports C-V2X direct communication or has a PC5 interface.
6. A C-V2X based vehicle dispatch system, comprising:
the detection module is used for controlling the first vehicle to detect whether a passing vehicle exists in the range of the target area through the vehicle-mounted unit when the distance between the first vehicle and the target intersection is smaller than or equal to the preset distance; carrying out information interaction, identification and detection among all vehicles in the target area range through a C-V2X communication technology;
The acquisition module is used for respectively acquiring the driving information of the first vehicle and the passing vehicle if the passing vehicle exists, wherein the driving information at least comprises a preset priority and the time required for the vehicle to reach a target intersection;
the sequencing module is used for sequencing the vehicles based on the running information of all the vehicles so as to obtain the crossing passing sequence of all the vehicles;
the sorting module comprises: a sequence module and a sequence adjusting module; the sequencing module is used for carrying out first sequencing according to the time required by the vehicles of each vehicle to reach the target intersection, so as to obtain a first sequencing sequence of each vehicle, wherein the sequencing of the vehicles with short required time is in front; the sequencing module is used for adjusting the sequence of the vehicles with the time required by the vehicles to reach the target intersection being greater than the preset time in the first sequencing sequence according to the preset priority of each vehicle, the vehicles with the high preset priority are sequenced before the vehicles with the low preset priority, and the sequence of the vehicles with the time required by the vehicles to reach the target intersection being less than the preset time in the first sequencing sequence is kept unchanged;
And the passing control module is used for controlling each vehicle to sequentially pass through the target intersection based on the intersection passing sequence.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements all or part of the steps of the C-V2X based vehicle scheduling method according to any one of claims 1 to 5.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements all or part of the steps of the C-V2X based vehicle scheduling method according to any one of claims 1 to 5.
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