CN115866006A

CN115866006A - Vehicle passage control method, electronic device and computer-readable storage medium

Info

Publication number: CN115866006A
Application number: CN202211586821.9A
Authority: CN
Inventors: 孙雁宇; 王里; 胡缓; 王超; 张天雷
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-03-28

Abstract

The embodiment of the application provides a vehicle traffic control method, electronic equipment and a computer readable storage medium, which can be applied to business scenes such as ports, port, road freight, city delivery, mines, airports and the like, and comprises the following steps: the method comprises the steps that a vehicle receives first indication information sent by a server, the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the vehicle runs on the basis of the first running authority information in the first region, when the vehicle reaches the boundary line, the vehicle is switched to the boundary line which is used for running on the basis of the second running authority information in the second region and indicates the vehicle to switch the running authority information through the server, and the vehicle is enabled to switch the running authority information when the vehicle reaches the boundary line, so that the vehicle runs in different regions in a mode of being matched with the current region, and the requirements of the different regions on the running of the vehicle are met.

Description

Vehicle passage control method, electronic device and computer readable storage medium

Technical Field

The present invention relates to the field of intelligent driving technologies, and in particular, to a vehicle passing control method, an electronic device, and a computer-readable storage medium.

Background

With the increasing maturity of artificial intelligence technology and 5G technology, the automatic driving landing of the vehicle becomes possible. Currently, during the travel of a vehicle, the aspects of the travel rules, the travel methods, and the like of trucks that may be required to travel for some areas are different from those in other areas. However, how to adjust the driving state of the vehicle has not been a related solution at present.

Disclosure of Invention

The embodiment of the application provides a vehicle passing control method, electronic equipment and a computer readable storage medium, which are used for solving the problem that vehicles adopt different driving strategies in different regions.

In a first aspect, an embodiment of the present invention provides a vehicle passage control method, including:

the vehicle receives first indication information sent by a server, wherein the first indication information is used for indicating a boundary line; the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different;

the vehicle travels in a first region based on the first travel authority information, and travels in a second region based on the second travel authority information when the vehicle reaches the boundary line.

In this way, the server indicates the boundary line for switching the driving authority information to the vehicle, so that the vehicle switches the driving authority information when reaching the boundary line, and the vehicle can drive in different areas in a manner of matching with the current area, thereby meeting the requirements of different areas on vehicle driving.

Optionally, the first driving authority information or the second driving authority information includes at least one of:

the driving information includes driving rule information of the vehicle, right-of-way information of the vehicle, management authority information of the vehicle, position information of the vehicle, or driving mode information of the vehicle.

Therefore, the driving authority information is distinguished, so that the vehicle can meet the requirements of different areas on vehicle driving in the driving process.

As an optional implementation manner, when the vehicle reaches the boundary line, the vehicle travels based on the second travel authority information, and the method includes:

and when the vehicle reaches the boundary line, the vehicle receives second indication information sent by a server, and switches the first driving authority information into the second driving authority information according to the second indication information.

In this way, the server instructs the vehicle to switch the driving authority information, which is beneficial for the server to control whether the vehicle switches the driving authority information.

As another optional embodiment, when the vehicle reaches the boundary line, the vehicle travels based on the second travel authority information, including:

and when the vehicle reaches the boundary line, the vehicle switches the first driving authority information into the second driving authority information according to the indication of the first indication information.

Thus, the communication between the vehicle and the server can be reduced, and the steps of the scheme can be simplified.

Optionally, the method further comprises:

the vehicle dynamically determines a quarantine area according to self size information and a preset quarantine position;

and the vehicle runs to the quarantine area and is used for carrying out epidemic prevention and killing on the vehicle.

Optionally, the vehicle travels to the quarantine area to be used for epidemic prevention and disinfection of the vehicle, and specifically includes:

when the head of the vehicle reaches the boundary of the quarantine area, the vehicle touches a killing device to carry out epidemic prevention killing on the vehicle; or the like, or, alternatively,

when the center line of the vehicle body position of the vehicle is overlapped with the center line of the quarantine area, the vehicle stops for a preset time to carry out epidemic prevention and disinfection.

Therefore, the efficiency of the quarantine work can be improved, and the automation of the quarantine work is convenient to realize.

In a second aspect, based on the same inventive concept, an embodiment of the present invention further provides a vehicle passage control method, including:

the server sends first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for the vehicle to drive in a first region based on the first driving authority information, and the second driving authority information is used for the vehicle to drive in a second region based on the second driving authority information.

In a third aspect, based on the same inventive concept, an embodiment of the present invention further provides a vehicle passage control method, including:

the second server sends second indication information to the vehicle; wherein the second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information; the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle on the basis of the first driving authority information when the vehicle is in a first region, and the second driving authority information is used for driving the vehicle on the basis of the second driving authority information when the vehicle is in a second region.

In a fourth aspect, based on the same inventive concept, an embodiment of the present invention further provides an electronic device, including:

the first indication information receiving module is used for receiving first indication information sent by the server; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different;

and the driving module is used for driving in a first region based on the first driving authority information, and switching to driving in a second region based on the second driving authority information when the boundary line is reached.

In a fifth aspect, based on the same inventive concept, an embodiment of the present invention further provides an electronic device, including:

the first indication information sending module is used for sending first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle in a first region based on the first driving authority information, and the second driving authority information is used for driving the vehicle in a second region based on the second driving authority information.

In a sixth aspect, based on the same inventive concept, an embodiment of the present application further provides an electronic device, including:

the second indication information sending module is used for sending second indication information to the vehicle; wherein the second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information; the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle on the basis of the first driving authority information when the vehicle is in a first region, and the second driving authority information is used for driving the vehicle on the basis of the second driving authority information when the vehicle is in a second region.

In a seventh aspect, based on the same inventive concept, an embodiment of the present invention further provides an electronic device, including: a processor and a memory for storing processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the vehicle passage control method according to the first aspect, or to implement the vehicle passage control method according to the second aspect, or to implement the vehicle communication control method according to the third aspect.

In an eighth aspect, based on the same inventive concept, embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is used to implement the vehicle passage control method according to the first aspect, or implement the vehicle passage control method according to the second aspect, or implement the vehicle communication control method according to the third aspect.

In a ninth aspect, based on the same inventive concept, the present application also provides a computer program product, which includes computer program code for implementing the vehicle passage control method according to the first aspect, or implementing the vehicle passage control method according to the second aspect, or implementing the vehicle communication control method according to the third aspect.

The invention has the following beneficial effects:

according to the vehicle passing control method, the electronic device and the computer readable storage medium, the server indicates the boundary line for switching the driving authority information to the vehicle, so that the vehicle switches the driving authority information when reaching the boundary line, and the vehicle can drive in different areas in a mode of being matched with the current area, and therefore the requirements of the different areas on vehicle driving are met.

Drawings

Fig. 1 is a flowchart of a port vehicle passage control method provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a road according to an embodiment of the present application;

fig. 3 is a second flowchart of a port vehicle passage control method according to an embodiment of the present application;

fig. 4 is a third flowchart of a port vehicle passage control method provided in the embodiment of the present application;

fig. 5 is a communication diagram of a port vehicle traffic control method according to an embodiment of the present application;

fig. 6 is a second communication method diagram of the port vehicle traffic control method according to the embodiment of the present application;

FIG. 7 is a schematic diagram of the location of a quarantine area according to an embodiment of the present application;

FIG. 8 is a fourth flowchart of a port vehicle traffic control method according to an embodiment of the present disclosure;

fig. 9 is a fifth flowchart of a port vehicle passage control method according to an embodiment of the present application;

fig. 10 is a sixth flowchart of a port vehicle passage control method according to an embodiment of the present application;

fig. 11 is a seventh flowchart of a port vehicle passage control method provided in the embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 13 is a second schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 14 is a third schematic structural diagram of an electronic apparatus according to an embodiment of the present application;

fig. 15 is a fourth schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words expressing the position and direction described in the present invention are illustrated in the accompanying drawings, but may be changed as required and still be within the scope of the present invention. The drawings of the present invention are for illustrative purposes only and do not represent true scale.

It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The scope of the present application is to be considered as defined by the appended claims.

The application scenario of the embodiment of the present application specifically includes, but is not limited to, a scenario in which a vehicle needs to be controlled according to different authority information, such as a port, a road freight, a city delivery, a mine, and an airport. For example, the embodiment of the application can be applied to a scene that different policy systems are implemented and goods are transported between two adjacent regions across the border, and corresponding policies of vehicles when the vehicles run in the two regions are different. For another example, the present application may be applied to a scenario where a truck transports goods between a factory floor and a public road, and the respective strategies for vehicles traveling on the public road are different inside the factory floor. It should be noted that the technical solutions in the embodiments of the present application, such as obtaining, storing, using, and processing data, all conform to relevant regulations of laws and regulations in the area where the technical solutions of the present invention are implemented.

The port vehicle passage control method, the electronic device, and the computer-readable storage medium provided in the embodiments of the present application are described below with reference to the accompanying drawings as examples.

The embodiment of the application provides a method for controlling passage of vehicles on a port, as shown in fig. 1, the method comprises the following steps:

s11, the vehicle receives the first indication information sent by the server.

Wherein the first indication information is used for indicating a boundary line. The boundary line is used for dividing the first driving authority information and the second driving authority information. The first driving authority information and the second driving authority information are different.

In a specific implementation process, the position of the boundary line can be set as the boundary position of two regions for cross-border transportation of the import and export.

And S12, the vehicle runs based on the first running authority information.

And S13, when the vehicle reaches the boundary line, the vehicle is switched to run based on the second running authority information.

In a specific implementation process, the first driving authority information corresponds to a first region on one side of the boundary line, and the second driving authority information corresponds to a second region on the other side of the boundary line. In the present embodiment, the terms "first region" and "second region" do not refer to a certain region, but are merely used to distinguish the two regions from each other.

In a concrete implementation, the determination condition that the vehicle reaches the boundary line may include any one of:

(1) The head of the vehicle coincides with the boundary line.

Accordingly, the vehicle can always travel based on the first travel authority information when the leading end of the vehicle does not reach the boundary line, and then switch to travel based on the second travel authority information when the leading end of the vehicle coincides with the boundary line. Alternatively, the vehicle may always travel based on the first travel authority information when the vehicle head does not reach the boundary line, and then switch to travel based on the second travel authority information for a preset duration when the vehicle head coincides with the boundary line. And is not limited herein.

(2) And the distance between the head of the vehicle and the boundary line is less than or equal to a preset distance. In a specific implementation, the predetermined distance may be set to a small value, for example, 1 meter.

Accordingly, the vehicle may travel based on the first travel authority information when the leading end of the vehicle does not reach the boundary line and the distance from the boundary line is greater than a preset distance, move to the boundary line by inertia of the vehicle when the leading end of the vehicle does not reach the boundary line and the distance from the boundary line is equal to or less than a preset distance, and then switch to travel based on the second travel authority information when the leading end of the vehicle coincides with the boundary line.

According to the method and the device, the server indicates the boundary line for switching the driving authority information to the vehicle, so that the vehicle switches the driving authority information when reaching the boundary line, the vehicle can conveniently drive in different areas in a mode of being matched with the current area, and the requirements of the different areas on the driving of the vehicle are met.

Specifically, the first driving authority information or the second driving authority information includes at least one of:

(1) And running rule information of the vehicle.

For example, in a scenario where goods cross a border, enter and exit, the driving rules are different between M and H areas adjacent to each other. The driving rule of the M zone is that the vehicle drives to the right, and the driving rule of the H zone is that the vehicle drives to the left. Then, the travel rule information (right travel) adopted by the vehicle in the M area is different from the travel rule information (left travel) adopted by the vehicle in the H area.

(2) Road right information of the vehicle.

For example, in a cargo cross-border import and export scene, the port vehicles loaded with different cargos have different road right information, specifically, the port vehicles loaded with cold chain fresh cargos have the highest road right priority, and other port vehicles loaded with cargos required by general logistics have lower road right priority. During driving, if the number of lanes is small, the port vehicles with low road right priority need to perform operations including but not limited to lane avoidance and lane giving, temporary stop and lane giving and the like for the port vehicles with high road right priority.

(3) Management authority information of the vehicle.

For example, in a scenario of goods crossing into and out of a border, a vehicle may communicate with different servers in different regions, and receive management of the different servers. The relevant contents will be explained later, and are not shown here.

(4) Position information of the vehicle.

(5) Driving mode information of the vehicle.

For example, in a scenario where goods are imported and exported across borders, the policy for specifying the relevant goods in the adjacent C area and V area is different between the two areas. Zone C currently allows autonomous vehicles to travel on designated public road ranges, while zone V currently does not allow autonomous vehicles to travel on public roads. Then, the driving mode information (unmanned autonomous driving) adopted by the port vehicle in the C zone is different from the driving mode information (manned driving) adopted in the V zone.

At present, the imports and exports of goods are largely realized by road transportation.

Specifically, as shown in fig. 2, fig. 2 is a schematic road diagram of a cargo entrance/exit according to an embodiment of the present invention, and since the road arrangement layout of the exit area and the entrance area is substantially the same, fig. 2 shows only the entrance area on the boundary line side as a schematic diagram.

As for the current cross-border cargo transferring process, as shown in fig. 3, the process specifically includes the following steps:

s101, an exit side truck positioned in an exit area transports goods to an operation position of exit port transfer equipment on an exit port of the exit area.

S102, unloading the goods from the outlet square truck by outlet port transfer equipment.

And S103, driving the port vehicle to the operation position of the port transfer equipment.

And S104, loading the cargoes onto the port vehicles by the port transferring equipment.

And S105, the port vehicle runs from the operation position of the first transfer equipment to the operation position of the inlet port transfer equipment at the inlet area port.

And S106, unloading the goods from the port vehicle by the port transshipment equipment.

And S107, driving the inlet side truck positioned in the inlet area to the operation position of the inlet port transfer equipment.

And S108, loading the goods onto an inlet square truck by inlet port transfer equipment.

And S109, transporting the goods to other areas of the import area by the import side truck.

In the specific implementation process, the exit side truck/entrance side truck can be an automatic driving truck or a manned truck, and the exit side truck and the entrance side truck are mainly manned trucks limited by factors such as technology, cost, regulation policy and the like at present. The outlet port transfer device/inlet port transfer device may be a crane, a forklift, or the like, and is not limited thereto.

The following describes a vehicle passing control method provided in the embodiment of the present application in conjunction with a primary cargo import and export process. The first region is an exit region corresponding to the goods, and the first driving authority information is driving authority information of the exit region; the second area is an import area corresponding to the goods, and the second driving authority information is driving authority information of the import area. Then, as shown in fig. 4, the following steps may be specifically included:

s200, the port vehicle receives the first indication information sent by the server.

In a specific implementation process, the step S200 may be executed at a suitable time (for example, before the step S204 described below, here, the step S201 described below is taken as an example) or simultaneously with the suitable step described below (for example, the departure instruction described below is simultaneously an instruction including the first indication information).

S201, the port vehicle receives a loading instruction sent by the server, and runs to the operation position of the port transfer equipment based on the exit area running authority information according to the instruction of the loading instruction.

S202, the port vehicle sends a loading permission instruction to the server.

And then, the server informs the port transfer equipment of loading the cargos onto the port vehicles according to the received loading permission instruction, and sends a departure instruction to the port vehicles after the loading is finished.

And S203, the port vehicle receives the departure instruction and drives to the boundary line based on the exit area driving authority information.

And S204, when the port vehicle reaches the boundary line, switching the driving based on the driving authority information of the exit area to the driving based on the driving authority information of the entrance area.

And S205, the port vehicle drives to the operation position of the port transfer equipment based on the driving authority information of the inlet area.

And S206, the port vehicle sends a discharging permission instruction to the server.

The server then notifies the import port transfer facility to offload the cargo from the port vehicle based on the received allow offload instruction.

Thereafter, the port vehicle may proceed through other steps as needed. For example:

(1) And after the import port transfer equipment finishes unloading, the port vehicles are driven back to the export area. Then, the method may specifically include the following steps:

and S207, the port vehicle receives the unloading completion instruction sent by the server, and runs to the boundary line based on the driving authority information of the entrance area.

And S208, when the port vehicle reaches the boundary line, switching the driving based on the driving authority information of the entrance area to the driving based on the driving authority information of the exit area.

And S209, the port vehicle drives to the specified position to stop based on the driving authority information of the exit area. The designated locations include preset parking locations of port vehicles, service work locations, refueling locations (for fuel vehicles)/charging locations (for electric vehicles), etc., and may be specifically set (e.g., determined by a server and indicated to port vehicles) according to actual needs, and will not be described herein.

(2) And after the inlet port transfer equipment finishes unloading, loading the port vehicles from the inlet area and transporting the port vehicles to the outlet area for unloading. The process is equivalent to the interchange of import and export areas in the above process, and then the corresponding implementation can be performed after the corresponding adjustment is performed with reference to the above contents, which is not described herein again.

At present, the driver driving the truck to transport the goods in and out is not convenient to carry out cross-border flow due to the influence of relevant legal and legal policies, quarantine and other factors, and the cross-border transportation of the goods is adversely affected.

In response to this problem, optionally, the vehicle automatically travels based on the first travel authority information, and/or the vehicle automatically travels based on the second travel authority information.

Thus, by applying the embodiment of the application to port vehicles for transferring goods in and out between adjacent import and export areas, unmanned transportation of goods can be realized on at least one side between the import and export areas (further unmanned transportation of goods can be realized in the import and export areas), so that cross-border flow of drivers is not needed.

In a specific implementation process, if the vehicle runs in an unmanned automatic driving manner in a specified area, as an optional implementation manner, the vehicle acquires automatic driving sensing information in real time, generates an automatic driving control instruction based on driving authority information corresponding to the specified area according to the automatic driving sensing information, and executes the automatic driving control instruction to realize unmanned automatic driving. Specifically, the automatic driving sensing information includes position information, traveling speed information, traveling direction information, obstacle distance information, and the like of the vehicle; the autopilot control commands may include, but are not limited to, acceleration, deceleration, braking, steering, etc. control commands.

If the vehicle runs in the designated area in an unmanned automatic driving mode, as another optional implementation mode, the vehicle acquires automatic driving sensing information in real time and reports the automatic driving sensing information to the server, the server generates an automatic driving control instruction based on the running authority information corresponding to the designated area and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction to realize unmanned automatic driving. Specifically, the automatic driving sensing information includes position information, traveling speed information, traveling direction information, obstacle distance information, and the like of the vehicle; the autopilot control commands may include, but are not limited to, acceleration, deceleration, braking, steering, etc. control commands.

Furthermore, the vehicle may acquire the position information through a Satellite Positioning technology such as Global Positioning System (GPS), compass, galileo, GLONASS (Global Navigation Satellite System), real-time kinematic (RTK) technology, inertial Navigation technology, road Side Unit (RSU) Positioning technology, and the like, without limitation.

Wherein the designated area includes at least one area on both sides of the boundary line. If the specified region is a first region, the driving authority information corresponding to the specified region is the first driving authority information; and if the designated area is a second area, the driving authority information corresponding to the designated area is the second driving authority information. Specifically, for a scenario of goods crossing an entrance and an exit, if the designated area is an exit area, the driving authority information corresponding to the exit area is the driving authority information of the exit area; and if the designated area is an import area, the driving authority information corresponding to the export area is the driving authority information of the import area.

In a specific implementation, the server in the above steps may be a server (as shown in fig. 5). In order to comply with the requirements of different regulations and policies applied in different regions, for example, for goods crossing into or out of a transportation port, a server may be respectively installed in a first region and a second region, a first server installed in the first region may interact with the vehicle when the vehicle is located in the first region, and a second server installed in the second region may interact with the vehicle when the vehicle is located in the second region (as shown in fig. 6). If the servers are respectively arranged in the two places, the first server and the second server need to be communicated with each other to determine whether to initiate operations such as cargo import and export processes. Then, the first server and the second server can communicate with each other in a homomorphic encryption manner to ensure that the original data between the two servers are not visible.

Correspondingly, if the vehicle runs in an unmanned automatic driving mode in both a first area and a second area, the vehicle collects automatic driving sensing information in real time, the vehicle is determined to be located in the first area, the automatic driving sensing information is reported to a first server, the first server generates an automatic driving control instruction based on the first driving authority information and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction; the vehicle collects the automatic driving sensing information in real time, when the vehicle is determined to be located in the second region, the automatic driving sensing information is reported to a second server, the second server generates an automatic driving control instruction based on the second driving authority information and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction. Specifically, the automatic driving sensing information includes position information, traveling speed information, traveling direction information, obstacle distance information, and the like of the vehicle; the autopilot control commands may include, but are not limited to, acceleration, deceleration, braking, steering, etc. control commands.

Furthermore, if the first server and the second server are both the automatic driving control commands generated based on the machine learning model, in order to comply with the requirements of different regulatory policies implemented in different regions and avoid the cross-border flow of real automatic driving sensing information, the machine learning model of the first server and the machine learning model of the second server may be trained in the federal learning manner.

Optionally, in step S13, when the vehicle reaches the boundary line, the vehicle switches to travel based on the second travel permission information, and the method includes any one of the following embodiments:

(1) And when the vehicle reaches the boundary line, the vehicle receives second indication information sent by a server, and switches the first driving authority information into the second driving authority information according to the second indication information.

In a specific implementation process, the first indication information and the second indication information may be generated by the same server and sent to the vehicle.

Or the first indication information and the second indication information are generated by different servers and are sent to the vehicle. The first indication information is generated by the first server and is sent to the vehicle, and the second indication information is generated by the second server and is sent to the vehicle when the head of the vehicle reaches the boundary line.

Further, as an optional implementation manner, after the second indication information is that the vehicle reaches the boundary line and an authority switching request is sent to the second server, the second server generates the second indication information according to the received authority switching request and sends information of the vehicle.

Or, as another optional implementation manner, when the vehicle reaches the boundary line, the second indication information is position information sent to a first server, after the first server determines that the vehicle head of the vehicle reaches the boundary line according to the received position information, and sends an authority switching request to a second server, the second server generates the second indication information according to the received authority switching request, and sends information of the vehicle.

(2) And when the vehicle reaches the boundary line, the vehicle switches the first driving authority information into the second driving authority information according to the indication of the first indication information.

Optionally, after the vehicle switches to travel based on the second travel authority information when the vehicle reaches the boundary line at the step S3, the method further includes (not shown in the figure):

and the vehicle judges whether the switching is successful or not to be based on the second driving authority information, and if the switching is not successful, the vehicle stops driving or returns to the first area based on the first driving authority information.

Thus, it is possible to avoid the occurrence of danger due to an error in the traveling permission information when the vehicle travels in the second region.

In a specific implementation process, the timing for performing the determination may be that the determination is performed after the vehicle travels to the boundary line for a preset time period, or may be that the determination is performed after the centerline of the vehicle body position of the vehicle enters the second region, or may be that the determination is performed after all the vehicles enter the second region, which is not limited herein.

In addition, in the cross-border driving process of the vehicle, besides the driving authority information is switched according to the position, the interactive program of the vehicle facing the user can also be switched correspondingly according to different areas. For example, when the vehicle is located in a first region, the vehicle provides the user with an interactive program corresponding to the language and content of the first region, and when the vehicle reaches the boundary line, the vehicle switches to an interactive program corresponding to the language and content of the second region. Further, in the process that the vehicle travels from the first region to the second region, when the boundary line is reached, the Over The Air (OTA) technology is used to update the interactive program corresponding to the language and content of the second region, specifically, the OTA update may be actively triggered by the server, the vehicle requests the server for the OTA update, and the like, and the description is not repeated here.

For the scenarios such as cargo cross-border import and export, optionally, the method further comprises (not shown in the figure):

and S14, dynamically determining a quarantine area by the vehicle according to the self size information and a preset quarantine position.

And S15, the vehicle runs to the quarantine area and is used for carrying out epidemic prevention and killing on the vehicle.

Further, the step S15 of driving the vehicle to the quarantine area for performing epidemic prevention and killing on the vehicle specifically includes any one of the following manners:

(1) And when the head of the vehicle reaches the boundary of the quarantine area, the vehicle touches the killing device to carry out epidemic prevention and killing on the vehicle.

(2) When the center line of the vehicle body position of the vehicle is overlapped with the center line of the quarantine area, the vehicle stops for a preset time to carry out epidemic prevention and disinfection.

In a specific implementation process, the implementation mode of the vehicle when the vehicle travels to the quarantine area is similar to that described above, that is, the vehicle travels based on the first driving authority information when located in the first area and travels based on the second driving authority information when located in the second area, and the description is not repeated here. The steps can be flexibly set according to the position of the preset quarantine position, for example, when the imported region quarantines imported goods as required and the preset quarantine position is set in the port of the imported region, the steps are executed before the vehicle drives to the operation position of the import port transfer equipment after being switched to drive based on the driving authority information of the imported region, and the vehicle continues to drive to the operation position of the import port transfer equipment based on the driving authority information of the imported region after the epidemic prevention and disinfection are finished. For another example, as shown in fig. 7, when the import-export area is provided with a common preset quarantine location at the boundary line, the step is performed before the vehicle is driven to the operation location of the import port transfer facility after switching to the driving based on the driving authority information of the import area, and the vehicle is continuously driven to the operation location of the import port transfer facility based on the driving authority information of the import area after the completion of the epidemic prevention and disinfection. For another example, when the import/export areas are respectively provided with preset quarantine positions in respective ports, the steps are performed once before the vehicle travels from the operation position of the export port transfer equipment to the boundary line based on the export area travel authority information, and continues to travel to the boundary line based on the export area travel authority information after the completion of the epidemic prevention and disinfection, and the vehicle is performed before the vehicle travels to the operation position of the import port transfer equipment after switching to travel based on the import area travel authority information, and continues to travel to the operation position of the import port transfer equipment based on the import area travel authority information after the completion of the epidemic prevention and disinfection.

Correspondingly, the embodiment of the present application further provides a vehicle passage control method implemented by one server, as shown in fig. 8, including:

s21, the server sends first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle on the basis of the first driving authority information when the vehicle is in a first region, and the second driving authority information is used for driving the vehicle on the basis of the second driving authority information when the vehicle is in a second region.

Optionally, at least one of the first driving authority information and the second driving authority information is used for automatic driving of the vehicle.

Optionally, the method further comprises:

and S22, when the server determines that the vehicle reaches the boundary line, the server sends second indication information to the vehicle. The second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information.

(1) The driving rule information of the vehicle.

(2) Road right information of the vehicle.

(3) Management authority information of the vehicle.

(4) Location information of the vehicle.

(5) Driving mode information of the vehicle.

In a specific implementation process, a cargo import and export process is combined, (where the first region is an export region corresponding to a cargo, the first driving authority information is driving authority information of the export region, the second region is an import region corresponding to the cargo, and the second driving authority information is driving authority information of the import region.) as shown in fig. 9, the method may specifically include the following steps:

s300, the server sends first indication information to the port vehicle.

In a specific implementation process, the step S300 may be executed at a suitable time (for example, before the step S304 described below, here, before the step S301 described below, as an example), or may be executed simultaneously with the suitable step described below (for example, the departure instruction described below is simultaneously an instruction including the first indication information).

S301, when determining that goods need to be imported and exported, the server sends a loading instruction to the port vehicle. The loading instructions are used to instruct the port vehicles to travel to the operation locations of the port transfer equipment based on the exit area travel authority information.

S302, the server receives a loading permission instruction sent by the port vehicle and informs the port transfer equipment of loading the cargo onto the port vehicle.

S303, the server determines that the cargo loading is finished and sends a departure instruction to the port vehicle. The departure instruction is used for instructing the port vehicle to travel to the boundary line based on the exit area travel authority information.

As an optional implementation, the steps further include: s304, when the server determines that the port vehicle reaches the boundary line, the server sends second indication information to the port vehicle. And the second indication information is used for indicating the port vehicle to switch the driving authority information of the exit area into the driving authority information of the entrance area.

And then, the port vehicle drives to the operation position of the port transfer equipment based on the driving authority information of the inlet area.

S305, the server receives a discharging permission instruction sent by the port vehicle and informs the port import transfer equipment to discharge the goods from the port vehicle.

And S306, the server determines that unloading is finished and sends an unloading finishing instruction to the port vehicle. The port vehicle can then travel back to the designated location in the export area; or the functions of the import and export areas are exchanged, the second area where the goods are currently located is used as the export area, and the steps similar to the steps are carried out to transport the goods back to the first area. And will not be described further herein.

As an optional implementation manner, when the vehicle reaches the boundary line, the exit area driving authority information is autonomously switched to the entrance area driving authority information according to the first indication information, and then the step does not include the step S304, and the remaining steps are substantially the same, and are not described herein again.

If the vehicle runs in the designated area in an unmanned automatic driving mode, as an optional implementation mode, the vehicle acquires automatic driving sensing information in real time and reports the automatic driving sensing information to the server, the server generates an automatic driving control instruction based on the running authority information corresponding to the designated area and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction to realize unmanned automatic driving. Specifically, the automatic driving sensing information includes position information, traveling speed information, traveling direction information, obstacle distance information, and the like of the vehicle; the autopilot control commands may include, but are not limited to, acceleration, deceleration, braking, steering, etc. control commands.

Wherein the designated area includes at least one area on both sides of the boundary line. If the specified region is a first region, the driving authority information corresponding to the specified region is the first driving authority information; and if the specified area is the second area, the driving authority information corresponding to the specified area is the second driving authority information. Specifically, for a scene of goods crossing an entrance and an exit, if the designated area is an exit area, the driving authority information corresponding to the exit area is the driving authority information of the exit area; and if the designated area is an import area, the driving authority information corresponding to the export area is the driving authority information of the import area.

Correspondingly, the embodiment of the present application further provides a vehicle passage control method, in which a first server disposed in a first region interacts with a vehicle at a port when the vehicle is located in the first region, and a second server disposed in a second region interacts with the vehicle when the vehicle is located in the second region, as shown in fig. 10, including:

s31, the first server sends first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle on the basis of the first driving authority information when the vehicle is in a first region, and the second driving authority information is used for driving the vehicle on the basis of the second driving authority information when the vehicle is in a second region; at least one of the first driving authority information and the second driving authority information is used for automatic driving of the vehicle.

S32, the second server sends second indication information to the vehicle; wherein the second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information; the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle on the basis of the first driving authority information when the vehicle is in a first region, and the second driving authority information is used for driving the vehicle on the basis of the second driving authority information when the vehicle is in a second region.

(1) The driving rule information of the vehicle.

(2) Road right information of the vehicle.

(3) Management authority information of the vehicle.

(4) Location information of the vehicle.

(5) Driving mode information of the vehicle.

In a specific implementation process, a cargo import and export process is combined, (where the first region is an export region corresponding to a cargo, the first driving authority information is driving authority information of the export region, the second region is an import region corresponding to the cargo, and the second driving authority information is driving authority information of the import region.) as shown in fig. 11, the method may specifically include the following steps:

s400, the first server sends first indication information to the port vehicle.

In a specific implementation process, the step S400 may be executed at a suitable time (for example, before the step S404 described below, here, before the step S401 described below, as an example), or may be executed simultaneously with a suitable step described below (for example, the departure instruction described below is simultaneously an instruction including the first indication information).

S401, when determining that goods are required to be imported and exported, the first server sends a loading instruction to the port vehicle. The loading instructions are used to instruct the port vehicles to travel to the operational location of the port transfer equipment based on the exit area travel authority information.

S402, the first server receives a loading permission instruction sent by the port vehicle and informs the port transfer equipment of loading the cargo onto the port vehicle.

S403, the first server determines that the goods are loaded, and sends a departure instruction to the port vehicle. The departure instruction is used for instructing the port vehicle to travel to the boundary line based on the exit area travel authority information.

S404, when the second server determines that the port vehicle reaches the boundary line, the second server sends second indication information to the port vehicle. And the second indication information is used for indicating the port vehicle to switch the driving authority information of the exit area into the driving authority information of the entrance area.

In a specific implementation process, the second server may determine that the port vehicle reaches the boundary line according to the notification of the first server, and may also determine that the port vehicle reaches the boundary line according to the notification of the port vehicle, which is not limited herein.

S405, the second server receives a discharging permission instruction sent by the port vehicle and informs the port transfer equipment of discharging the goods from the port vehicle.

And S406, the second server determines that unloading is finished and sends an unloading finishing instruction to the port vehicle. The port vehicle can then travel back to the designated location in the export area; or the functions of the import and export areas are exchanged, the second area where the current area is located is used as the export area, and the steps similar to the steps are carried out to transport the goods back to the first area. And will not be described further herein.

In a specific implementation process, the first server and the second server communicate with each other in a homomorphic encryption mode.

If the vehicle runs in the first area and the second area in an unmanned automatic driving mode, as an optional implementation mode, the vehicle acquires automatic driving sensing information in real time, reports the automatic driving sensing information to a first server when the vehicle is determined to be located in the first area, generates an automatic driving control instruction based on the first driving authority information by the first server and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction; the vehicle collects the automatic driving sensing information in real time, when the vehicle is determined to be located in the second region, the automatic driving sensing information is reported to a second server, the second server generates an automatic driving control instruction based on the second driving authority information and sends the automatic driving control instruction to the vehicle, and the vehicle executes the received automatic driving control instruction. Specifically, the automatic driving sensing information includes position information, traveling speed information, traveling direction information, obstacle distance information, and the like of the vehicle; the autopilot control commands may include, but are not limited to, acceleration, deceleration, braking, steering, etc. control commands.

Furthermore, if the first server and the second server are both the automatic driving control commands generated based on the machine learning model, for the situations such as cross-border import and export of goods, in order to comply with the requirements of different regulations and policies executed in different regions and avoid cross-border flow of real automatic driving sensing information, the machine learning model of the first server and the machine learning model of the second server may be trained in a federal learning manner.

Based on the same inventive concept, an embodiment of the present application further provides an electronic device, as shown in fig. 12, including:

a first indication information receiving module M110, configured to receive first indication information sent by a server; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different;

and the driving module M120 is used for driving in a first region based on the first driving authority information, and switching to driving in a second region based on the second driving authority information when the boundary line is reached.

Optionally, the first or second driving authority information includes at least one of:

the driving information includes driving rule information of the vehicle, road right information of the vehicle, management authority information of the vehicle, position information of the vehicle, or driving mode information of the vehicle.

Optionally, the driving based on the second driving authority information when the boundary line is reached includes:

when the boundary line is reached, receiving second indication information sent by a server, and switching the first driving authority information into the second driving authority information according to the second indication information; or the like, or, alternatively,

and when the boundary is reached, switching the first driving authority information into the second driving authority information according to the indication of the first indication information.

Optionally, the electronic device further comprises:

the quarantine module M130 is used for dynamically determining a quarantine area according to self size information and a preset quarantine position;

and driving the vehicle to the quarantine area for epidemic prevention and killing of the vehicle.

Optionally, the vehicle is driven to the quarantine area to perform epidemic prevention and disinfection on the vehicle, and the method specifically includes:

when the head of the vehicle reaches the boundary of the quarantine area, triggering a killing device to carry out epidemic prevention killing on the vehicle; or the like, or, alternatively,

when the center line of the vehicle body position of the vehicle is overlapped with the center line of the quarantine area, the vehicle is parked for a preset time length to carry out epidemic prevention and disinfection.

Based on the same inventive concept, an embodiment of the present application further provides an electronic device, as shown in fig. 13, including:

a first indication information sending module M210, configured to send first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle in a first region based on the first driving authority information, and the second driving authority information is used for driving the vehicle in a second region based on the second driving authority information.

Optionally, the electronic device further comprises:

the second indication information sending module M220 is configured to send second indication information to the vehicle when it is determined that the vehicle reaches the boundary line; the second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information.

Optionally, the electronic device further comprises:

the driving module M230 is used for receiving the automatic driving sensing information acquired by the vehicle in real time, generating an automatic driving control instruction based on driving permission information corresponding to a specified region and sending the automatic driving control instruction to the vehicle, so that the vehicle executes the automatic driving control instruction to realize unmanned automatic driving; the designated region comprises the first region and/or the second region; if the designated area is a first area, the driving authority information corresponding to the designated area is the first driving authority information; and if the designated area is a second area, the driving authority information corresponding to the designated area is the second driving authority information.

Based on the same inventive concept, an embodiment of the present application further provides an electronic device, as shown in fig. 14, including:

a second indication information sending module M310, configured to send second indication information to the vehicle; wherein the second indication information is used for indicating the vehicle to switch the first driving authority information into the second driving authority information; the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle in a first region based on the first driving authority information, and the second driving authority information is used for driving the vehicle in a second region based on the second driving authority information.

Optionally, the electronic device further comprises:

and the driving module M320 is used for receiving the automatic driving sensing information acquired by the vehicle in real time, generating an automatic driving control instruction based on the second driving authority information and sending the automatic driving control instruction to the vehicle so that the vehicle executes the automatic driving control instruction to realize unmanned automatic driving.

It should be understood that the above-described electronic device embodiments are merely illustrative, and that, for example, the division of the modules is merely a logical division, and that in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. Each functional module in the embodiments may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium.

Since the principle of the electronic device for solving the problem is basically consistent with the vehicle passing control method, the implementation of the testing device can refer to the implementation of the vehicle passing control method, and details are not repeated here.

Based on the same inventive concept, an embodiment of the present application further provides an electronic device, as shown in fig. 15, including: a processor 110 and a memory 120 for storing instructions executable by the processor 110; wherein the processor 110 is configured to execute the instructions to implement the vehicle passage control method.

In particular implementations, the devices may vary widely due to configuration or performance differences and may include one or more processors 110, memory 120, computer-readable storage medium 130, with one or more applications 131 or data 132 included in the memory 120 and/or computer-readable storage medium 130. The memory 120 and/or computer-readable storage medium 130 may also include one or more operating systems 133 therein, such as Windows, mac OS, linux, IOS, android, unix, freeBSD, and the like. Memory 120 and computer-readable storage medium 130 may be, among other things, transient storage or persistent storage. The application 131 may include one or more of the modules (not shown in fig. 6), each of which may include a series of instruction operations. Still further, the processor 110 may be configured to communicate with a computer-readable storage medium 130, on which a series of instruction operations in the storage medium 130 are executed. The apparatus may also include one or more power supplies (not shown in FIG. 6); one or more network interfaces 140, the network interfaces 140 comprising a wired network interface 141 and/or a wireless network interface 142; one or more input-output interfaces 143.

Based on the same inventive concept, the embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is used for realizing the vehicle passing control method.

Since the principle of solving the problem by the computer-readable storage medium can be referred to as implementation of the method, repeated descriptions are omitted.

The embodiment of the application also provides a computer program product, and the computer program product comprises computer program codes, and the computer program codes are used for realizing the vehicle passage control method.

Since the principle of solving the problem of the storage medium can be referred to as implementation of the method, repeated descriptions are omitted.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle passage control method characterized by comprising:

2. The method according to claim 1, characterized in that the first driving authority information or the second driving authority information comprises at least one of the following:

3. The method according to claim 1 or 2, wherein the vehicle travels based on the second travel authority information when the vehicle reaches the boundary line, including:

when the vehicle reaches the boundary line, the vehicle receives second indication information sent by a server, and switches the first driving authority information into the second driving authority information according to the second indication information; or the like, or, alternatively,

4. The method of claim 1, further comprising:

5. The method according to claim 4, wherein the vehicle is driven to the quarantine area for epidemic prevention and disinfection of the vehicle, in particular comprising:

when the head of the vehicle reaches the boundary of the quarantine area, the vehicle touches a killing device to carry out epidemic prevention killing on the vehicle; or the like, or a combination thereof,

6. A vehicle passage control method characterized by comprising:

the server sends first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for driving the vehicle in a first region based on the first driving authority information, and the second driving authority information is used for driving the vehicle in a second region based on the second driving authority information.

7. An electronic device, comprising:

8. An electronic device, comprising:

the first indication information sending module is used for sending first indication information to the vehicle; the first indication information is used for indicating a boundary line, the boundary line is used for dividing first driving authority information and second driving authority information, and the first driving authority information and the second driving authority information are different; the first driving authority information is used for the vehicle to drive in a first region based on the first driving authority information, and the second driving authority information is used for the vehicle to drive in a second region based on the second driving authority information.

9. An electronic device, comprising: a processor and a memory for storing processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the vehicle passage control method according to any one of claims 1 to 5 or to implement the vehicle passage control method according to claim 6.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for implementing the vehicle passage control method according to any one of claims 1 to 5, or implementing the vehicle passage control method according to claim 6.