CN112735162A

CN112735162A - Vehicle scheduling method, device, system, equipment and storage medium

Info

Publication number: CN112735162A
Application number: CN202011535912.0A
Authority: CN
Inventors: 丁磊; 储林波
Original assignee: Human Horizons Shanghai Autopilot Technology Co Ltd
Current assignee: Human Horizons Shanghai Autopilot Technology Co Ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-04-30
Also published as: WO2022134365A1

Abstract

The application provides a vehicle scheduling method, a device, a system, equipment and a storage medium, wherein the method comprises the steps of obtaining a scheduling request aiming at a vehicle; the scheduling request includes a start location and a destination location of the vehicle; determining a driving track and navigation data for driving from a starting position to a destination position; dividing the driving track into a plurality of track segments according to the navigation data, and generating a scheduling control task of each track segment; and sending the scheduling control task of each track segment to the vehicle so that the vehicle executes the scheduling control task of each track segment. According to the technical scheme of the embodiment of the application, the dispatching control efficiency of the vehicle can be effectively improved.

Description

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

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a vehicle scheduling method, apparatus, system device, and storage medium.

Background

At present, in a traditional automatic driving control mode of the internet of vehicles, the automatic driving control of the vehicles mainly comprises the steps that the vehicles acquire a high-precision map from a cloud server through a mobile communication network, a scheduling control instruction is generated in real time by combining road environment information sensed by a vehicle-mounted sensor and navigation information, and the vehicles are automatically driven and controlled based on the scheduling control instruction. The scheduling control command is generated in real time in the vehicle scheduling process, and the generation speed of the scheduling control command is limited by the processing capacity of the vehicle, so that the scheduling control efficiency is low.

Disclosure of Invention

The embodiment of the application provides a vehicle scheduling method, a vehicle scheduling device, a vehicle scheduling system device and a storage medium, which are used for solving the problems in the related art, and the technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a vehicle scheduling method, which is applied to a first MEC server, where the first MEC server corresponds to a first service scope, and the first service scope includes a start position of a vehicle, and the method includes:

obtaining a scheduling request for the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

determining a travel track and navigation data for traveling from the starting location to the destination location;

dividing the driving track into a plurality of track segments according to the navigation data, and generating a scheduling control task of each track segment;

and sending the scheduling control task of each track segment to the vehicle so that the vehicle executes the scheduling control task of each track segment.

In a second aspect, an embodiment of the present application provides another vehicle scheduling method, which is applied to a second MEC server, and the method includes:

receiving a scheduling control task of the vehicle on a second track segment, which is sent by the first MEC server; wherein, the scheduling control task is generated according to the method of the above embodiment;

receiving a second execution result of the scheduling control task of the vehicle on the second track segment;

adjusting the scheduling control task of the vehicle on the second track segment under the condition that the second execution result is execution failure;

and sending the adjusted scheduling control task to the vehicle.

In a third aspect, an embodiment of the present application provides another vehicle scheduling method, which is applied to a vehicle, and includes:

establishing a connection with a first MEC server so that the first MEC server obtains a scheduling request aiming at the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

receiving a scheduling control task of each track segment between the starting position and the destination position; the scheduling control task is generated according to the method of any one of the above embodiments;

and executing the scheduling control tasks of the track segments in sequence.

In a fourth aspect, an embodiment of the present application provides a vehicle scheduling apparatus, applied to a first MEC server, where the first MEC server corresponds to a first service scope, and the first service scope includes a start position of a vehicle, the apparatus includes:

the first acquisition module is used for acquiring a scheduling request aiming at the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

the determining module is used for determining a driving track and navigation data for driving from the starting position to the destination position;

the task generation module is used for dividing the driving track into a plurality of track segments according to the navigation data and generating a scheduling control task of each track segment;

and the first sending module is used for sending the scheduling control task of each track segment to the vehicle so as to enable the vehicle to execute the scheduling control task of each track segment.

In a fifth aspect, an embodiment of the present application provides another vehicle scheduling apparatus, which is applied to a second MEC server, and the apparatus includes:

the first receiving module is used for receiving a scheduling control task of the vehicle on a second track segment, which is sent by the first MEC server; wherein, the scheduling control task is generated according to the method of the above embodiment;

the second receiving module is used for receiving a second execution result of the scheduling control task of the vehicle on the second track segment;

the task adjusting module is used for adjusting the scheduling control task of the vehicle on the second track segment under the condition that the second execution result is execution failure;

and the first sending module is used for sending the adjusted scheduling control task to the vehicle.

In a sixth aspect, an embodiment of the present application provides another vehicle scheduling apparatus, which is applied to a vehicle, and includes:

the communication connection establishing module is used for establishing connection with a first MEC server so that the first MEC server can obtain a scheduling request aiming at the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

the first receiving module is used for receiving the scheduling control task of each track segment between the starting position and the destination position; the scheduling control task is generated by the method of any one of the above embodiments;

and the first execution module is used for sequentially executing the scheduling control tasks of the track segments.

In a seventh aspect, an embodiment of the present application provides a vehicle dispatching system, including:

a first MEC server comprising the apparatus provided in the fourth aspect above;

a second MEC server comprising the apparatus provided in the fifth aspect above;

a vehicle comprising the apparatus provided in the sixth aspect above.

In an eighth aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above aspects.

In a ninth aspect, embodiments of the present application provide a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed on a computer, the method in any one of the above-mentioned aspects is executed.

The advantages or beneficial effects in the above technical solution at least include: when receiving a scheduling request for a vehicle, a first MEC server determines a driving track and navigation data of the vehicle from a starting position to a destination position, divides the driving track into a plurality of track sections according to the navigation data, generates a scheduling control task of each track section and sends the scheduling control task to the vehicle so as to perform scheduling control on the vehicle, and enables the vehicle to realize automatic driving. Therefore, on one hand, the first MEC server generates the scheduling control task, so that the operation processing of the vehicle can be reduced, the vehicle can intensively execute the scheduling control task, and the scheduling control efficiency of the vehicle is improved. On the other hand, before the vehicle is subjected to dispatching control, the first MEC server is used for carrying out global planning on the dispatching control of the vehicle on the driving track in advance, so that the calculation in the dispatching control process can be reduced, and the dispatching control efficiency can be improved.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

FIG. 1 illustrates a network architecture diagram of a conventional Internet of vehicles;

FIG. 2 illustrates an application scenario diagram according to an embodiment of the application;

FIG. 3 is a first flowchart illustrating a vehicle scheduling method according to an embodiment of the present application;

FIG. 4 is a schematic flowchart of step S302 in FIG. 3;

FIG. 5A is a schematic flowchart of step S303 in FIG. 3;

FIG. 5B is a diagram illustrating contents included in a scheduling control task according to an embodiment of the present application;

FIG. 6 shows a second flowchart of a vehicle scheduling method according to an embodiment of the present application;

FIG. 7 shows a third flowchart of a vehicle scheduling method according to an embodiment of the present application;

FIG. 8 shows a schematic flow diagram of a vehicle scheduling method according to another embodiment of the present application;

FIG. 9 is a first flowchart illustrating a vehicle scheduling method according to yet another embodiment of the present application;

FIG. 10 shows a second flowchart of a vehicle scheduling method according to yet another embodiment of the present application;

FIG. 11 shows a third flowchart of a vehicle dispatch method in accordance with yet another embodiment of the present application;

fig. 12 is a block diagram showing a configuration of a vehicle scheduling apparatus according to an embodiment of the present application;

fig. 13 is a block diagram showing a configuration of a vehicle scheduling apparatus according to another embodiment of the present application;

fig. 14 is a block diagram showing a configuration of a vehicle scheduling apparatus according to still another embodiment of the present application;

FIG. 15 illustrates a block diagram of a vehicle dispatch system in accordance with an embodiment of the subject application;

fig. 16 is a block diagram of an electronic device for implementing a vehicle scheduling method according to an embodiment of the present application.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 shows a schematic diagram of a network architecture of a conventional internet of vehicles. As shown in fig. 1, in a conventional vehicle networking, a vehicle 11 accesses a base station 121 as a wireless access point to a mobile communication network 12, and establishes a communication connection with a cloud server 13 through the base station 121, a bearer network 122 and a core network 123 in the mobile communication network 12, so as to download a high-precision electronic map from the cloud server 13, and further generate a scheduling control instruction in real time based on the high-precision electronic map and road condition information and positioning information acquired by a vehicle-mounted sensor, thereby implementing automatic driving control of the vehicle 11. Since the scheduling control command is generated in real time during the scheduling of the vehicle 11, the generation speed of the scheduling control command is limited by the processing capability of the vehicle 11, and thus there is a problem that the scheduling control efficiency is low.

Fig. 2 shows a schematic diagram of an application scenario according to an embodiment of the present application. As shown in fig. 2, in the application scenario, an MEC (mobile Edge computing) server 21 is deployed at the Edge of the mobile communication network, and a service range 21A of the MEC server 21 is a serving cell corresponding to the MEC server 21. The deployment interval of the MEC server 21 may be 30km to 100km, so as to ensure real-time data transmission.

The vehicle 11 may be communicatively connected to the MEC server 21 via a base station 121 or a roadside device 22 (RSU). When the vehicle 11 enters the service range 21A, the MEC server 21 may acquire the position information of the vehicle 11 from the base station 121 or the roadside apparatus 22 to determine that the vehicle 11 enters the service range 21A, and then the MEC server 21 may perform data interaction with the vehicle 11 through the base station 121 or the roadside apparatus 22.

Wherein the Vehicle 11 may be a steer-by-wire Vehicle with steering, braking and throttle steer-by-wire capability, the steer-by-wire Vehicle further configured with a C-V2X (Carrier Vehicle To Evaryting) module and a T-BOX (telematics BOX) module To communicate with roadside devices or base stations; the C-V2X module is a V2X module based on a cellular network.

The roadside device includes, but is not limited to, a camera, a radar, and the like, and the embodiment of the present application does not limit the specific type of the roadside device.

Further, the MEC server 21 may acquire a scheduling request of the vehicle 11 from the base station 121 or the roadside apparatus 22, determine a travel track and navigation data for traveling from a start position to a destination position according to a start position and a destination position in the scheduling request, divide the travel track into a plurality of track segments according to the navigation data, and generate a scheduling control task for each track segment. In this way, the calculation processing of the vehicle 11 can be reduced, the efficiency of the vehicle 11 executing the scheduling control task can be improved, the scheduling control of the vehicle 11 is not limited by the processing capability of the vehicle 11, and before the scheduling control of the vehicle 11, the MEC server 21 performs global planning on the scheduling control of the vehicle 11 on the travel track in advance, so that the calculation in the scheduling control process can be reduced, and the scheduling control efficiency can be improved.

The technical solution of the present application will be described in detail below with specific examples.

Fig. 3 shows a first flowchart of a vehicle scheduling method according to an embodiment of the present application. The vehicle scheduling method may be applied to a first MEC server corresponding to a first service scope including a start position of a vehicle. As shown in fig. 3, the vehicle scheduling method may include:

s301, acquiring a scheduling request for a vehicle; the scheduling request includes a start location and a destination location of the vehicle;

s302, determining a driving track and navigation data from a starting position to a destination position;

s303, dividing the running track into a plurality of track segments according to the navigation data, and generating a scheduling control task of each track segment;

and S304, sending the scheduling control task of each track segment to the vehicle so that the vehicle can execute the scheduling control task of each track segment.

The scheduling request can be generated in one of the following ways:

the first generation mode is generated based on the input of the destination position operation of the vehicle to the vehicle-mounted terminal; the method is suitable for application scenes that the vehicle is a shared taxi;

the second generation mode is that the destination position of the vehicle is input based on the input device of the first MEC server; the method is suitable for application scenes that the vehicle is an automatic driving bus or a logistics vehicle;

the third generation mode is generated based on the destination position of the vehicle input to the mobile equipment terminal or the scheduling intention operation of the input vehicle, and the mobile equipment terminal sends a scheduling request to the cloud server; wherein the scheduling intention is the place that the user wants to go, such as going home, going to a company, etc.; the method is suitable for application scenarios that the vehicle is a shared taxi or the vehicle carries out automatic parking.

In the above-described manner of generating the scheduling request, the home position of the vehicle is the current position of the vehicle acquired in response to the input operation.

Accordingly, the first MEC server obtaining the scheduling request for the vehicle includes one of the following ways:

corresponding to the first generation mode, when the vehicle-mounted terminal sends the scheduling request to the base station in the first service range, the scheduling request is distributed to the first MEC server through the bearing network, so that the first MEC server receives the scheduling request; when the vehicle-mounted terminal sends the scheduling request to the road side equipment within the first service range, the road side equipment sends the scheduling request to the first MEC server so that the first MEC server receives the scheduling request;

corresponding to the second generation mode, the first MEC server may directly receive the scheduling request input by the input device;

corresponding to the third generation mode, the cloud server sends the scheduling request to the first MEC server through the core network and the bearer network, so that the first MEC server receives the scheduling request.

Before step S101, the method may further include: receiving position information sent by a vehicle; and determining that the vehicle enters the first service range according to the position information of the vehicle. Thus, the first MEC server can perform data interaction with the vehicle through the base station or the road side equipment.

According to the scheduling control method, when a scheduling request for a vehicle is received by a first MEC server, firstly, a driving track and navigation data of the vehicle from a starting position to a destination position are determined, then the driving track is divided into a plurality of track sections according to the navigation data, and then a scheduling control task of each track section is generated and sent to the vehicle, so that the vehicle is scheduled and controlled, and automatic driving of the vehicle is achieved. Therefore, on one hand, the first MEC server generates the scheduling control task, so that the operation processing of the vehicle can be reduced, the vehicle can intensively execute the scheduling control task, and the scheduling control efficiency of the vehicle is improved. On the other hand, before the vehicle is subjected to dispatching control, the first MEC server is used for carrying out global planning on the dispatching control of the vehicle on the driving track in advance, so that the calculation in the dispatching control process can be reduced, and the dispatching control efficiency can be improved.

Further, since the schedule control task is generated in the first MEC server, the requirements for the configuration of the vehicle internal network and the processor performance can be reduced, and therefore, the method is suitable for the automatic driving control with low vehicle configuration.

In one embodiment, as shown in fig. 4, step S302 may include:

s401, determining a target service range needing to be passed from a starting position to a destination position;

s402, acquiring an electronic map of a target service range;

and S403, determining the driving track and navigation data of the vehicle based on the electronic map of the target service range.

In an application scenario, the destination location may be located within the first service range, and then the target service range may be determined as the first service range in step S401. In step S402, the first MEC server acquires an electronic map of the first service scope from the cache. In step S403, the travel track and the navigation data of the vehicle are determined based on the electronic map of the first service range.

In another application scenario, if the destination location may be outside the first service range, step S401 may determine that the target service range is the first service range and a second service range located between the first target service range and the destination location, where the second service range may include the destination location of the vehicle, or may be a service range located between the first service range and the destination location.

In step S402, the first MEC server obtains an electronic map of the first service scope from the cache, and obtains an electronic map of the second service scope from the second MEC server corresponding to the second service scope.

In step S403, the travel track and the navigation data of the vehicle are determined based on the electronic map of the first service range and the electronic map of the second service range.

The second service range may be one or multiple, and this is not limited in this embodiment of the application. When the second service range is one, the second service range may be a neighboring service range of the first service range. When the second service scope is multiple, the multiple second service scopes may be regarded as being sequentially connected to the first service scope.

The electronic map of the first service range and the electronic map of the second service range may be high-precision electronic maps or other types of electronic maps as long as they can be used to generate a scheduling control task to perform scheduling control on a vehicle, and the types of the electronic maps are not limited in the embodiments of the present application.

The electronic map of the first service scope may be obtained by the first MEC server downloading from the cloud server in advance, and the electronic map of the second service scope may be obtained by the second MEC server downloading from the cloud server in advance.

Based on this, in the generation process of the scheduling control task, the electronic map can be directly obtained from the first MEC server and/or the second MEC server, the corresponding electronic map does not need to be downloaded from the cloud server, the remote transmission of large data volume can be reduced, the scheduling control task rollback caused by long return delay of the cloud server is prevented, and therefore the efficiency and the reliability of scheduling control are improved. In addition, the generation of the scheduling control task does not depend on a telecommunication wireless network, so that the data transmission fee in the vehicle scheduling control process can be reduced, and the scheduling control cost of automatic vehicle driving can be effectively reduced.

In one embodiment, the navigation data includes a plurality of guidance points, and the dividing the travel track into a plurality of track segments according to the navigation data in step S303 includes:

the travel track is divided into a plurality of track segments according to the position relationship between the guide point and the travel track, so that one guide point is located on one track segment.

The guidance point can be used for representing a point where the vehicle needs to perform an action, and the action which the guidance point needs to perform includes at least one action, such as lane change control, steering control, starting control, stopping control, speed limit control, brake control, straight-ahead control and the like.

In one example, the guidance point is usually arranged on the travel track, and the travel track may be divided from the guidance point according to the position information of the guidance point, so that the guidance point is located at the start position of the corresponding track segment, which facilitates taking the guidance point as the trigger point of the scheduling control information, so that the vehicle automatically executes the scheduling control information required to be executed by the corresponding track segment according to the position information of the guidance point.

In one embodiment, as shown in fig. 5A, the step S303 of generating the scheduling control task for each track segment includes:

s501, determining running design domain information and scheduling control information of the vehicle on the corresponding track segment according to the guiding information of the guiding point on the corresponding track segment;

s502, setting the running design domain information and the scheduling control information into scheduling control tasks of corresponding track segments.

As shown in fig. 5A and 5B, the Operation Design Domain (ODD) information is an applicable range of the schedule control information, that is, the vehicle can execute the schedule control information only when the driving condition of the vehicle satisfies the condition defined by the operation Design Domain information. For example, the operation design region information may include traveling within a preset traveling range, traveling on a vehicle-dedicated road having two or more lanes with a central isolation zone and a guardrail, traveling speed lower than 60km/h, and the like.

In one example, a correspondence relationship between the guidance information of the guidance point and the operation design domain information may be set in advance, and then the corresponding operation design domain information may be determined based on the guidance information of the guidance point in step S501. Thus, the generation efficiency of the scheduling control task can be improved.

Further, the determining the corresponding operation design domain information in step S501 may include: and setting the task number and name of the operation design domain information to identify the operation design domain information to form scheduling task basic information.

It should be noted that, the specific content of the operation design domain information and the corresponding relationship between the guidance information of the guidance point and the operation design domain information may be selected and adjusted according to actual needs, which is not limited in this embodiment of the present application.

In another example, guidance information of the guidance point may be used to indicate that the vehicle needs to perform an action, and the schedule control information may include a plurality of action sequences, wherein each action sequence includes an action id (identity document), an action name, a trigger condition, a process control, an end condition, and a safety exit. Step S501 may include: determining an action sequence required to be executed by the corresponding track segment according to the guiding information of the guiding point; the action sequence is set to scheduling control information.

For example, when the guidance information of the guidance point is a right-hand lane change, it may be determined that the sequence of actions to be performed on the corresponding track segment includes:

01. turning on a right steering lamp, driving to a guide point, controlling the right steering lamp to flicker for a preset number of times, turning off when the preset number of times is reached, and safely exiting;

02. decelerating, driving to a guide point, increasing the brake value of a brake pad, finishing when the vehicle speed is reduced to a preset vehicle speed, and safely exiting;

03. steering to the right, driving to a guide point, controlling a steering wheel to rotate to the right by a preset angle, finishing when a preset part of a vehicle body is positioned in a right lane, and safely exiting.

Wherein, the action sequence can be defined by using the association signal, so that the action ID, the action name, the trigger condition, the process control, the end condition and the safe exit in the action sequence have an association relationship. In addition, the sequence of the action sequence may also be defined by using the association signal, for example, the action sequence corresponding to action ID 01 may be preferentially executed, and the action sequences corresponding to action IDs 02 and 03 may be executed simultaneously after the action sequence corresponding to action ID 01 is executed.

Wherein setting the action sequence to the scheduling control information may be setting the action sequence to an order list. For example, the operation sequences corresponding to the operation IDs 01 to 03 are set in the same sequence table.

Further, the scheduling control information may further include track segment identification information, and the step S501 may further include: and marking the corresponding track segment to generate track segment identification information, so that the vehicle determines whether to drive to the corresponding track segment according to the track segment identification information. Marking the corresponding track segment may include marking the corresponding track segment with a name, a type, a number, and a track point sequence.

Still further, the scheduling control information may further include guidance point identification information, and the scheduling control information that is determined to be executed by the vehicle in the corresponding track segment in step S501 may further include: the position information of the guidance point is marked to generate guidance point identification information so that the vehicle determines whether to travel to the guidance point according to the guidance point identification information. Wherein marking the location information of the guidance point may include marking a longitude, a latitude, an altitude, a yaw angle, and the like of the guidance point.

Step S502 may include: and setting VIN (Vehicle Identification Number) and T-BOX (Vehicle Identification Number) numbers of the target vehicles aiming at the operation design domain information and the dispatching control information of the corresponding track sections so as to generate Identification information of the target vehicles. Therefore, when the vehicle determines that the local VIN is matched with the VIN of the target vehicle and the local T-BOX number is matched with the T-BOX number of the target vehicle, whether the driving condition of the vehicle is matched with the condition defined by the operation design domain information in the scheduling task basic information can be judged, and the scheduling control information is executed under the condition of judging the matching, so that the safety of the scheduling control can be improved.

In one embodiment, the target service scope includes a first service scope, and the track segment includes a first track segment located in the first service scope, as shown in fig. 6, the method may further include:

s601, receiving a first execution result of a scheduling control task of a vehicle on a first track segment;

s602, acquiring road condition information of the first track section under the condition that the first execution result is execution failure;

s603, updating the scheduling control task of the first track segment according to the road condition information;

and S604, sending the updated scheduling control task to the vehicle.

In step S602, the road condition information of the first track segment may be obtained from a road side device located in the first track segment, or may be obtained from a vehicle-mounted camera device of the vehicle.

Specifically, according to the position information of the first track segment, target road side equipment is determined from road side equipment located in the first service range; and acquiring road condition information of the first track section from the target road side equipment. Or sending an acquisition instruction to the vehicle, so that the vehicle sends the road condition information of the first track segment shot by the vehicle-mounted camera device.

In step S603, the scheduling control task of the first track segment is updated, which may be to adjust a parameter in the scheduling control information. For example, the initial scheduling control information is a first preset angle turned to the right, the updated scheduling control information is a second preset angle turned to the right, and the second preset angle is larger than the first preset angle.

In this embodiment, when the first MEC server tracks that the first execution result is the execution failure, the scheduling control task of the first track segment is updated based on the road condition information of the first track segment, and the updated scheduling control task is sent to the vehicle, so that the local dynamic adjustment and optimization can be performed on the scheduling control task of the vehicle in the first track segment, which is beneficial to improving the accuracy of the scheduling control. Moreover, the first MEC server only locally updates the scheduling control task of the first track segment, so that the operation in the scheduling control process can be reduced, and the method is suitable for a large-scale scheduling control application scene with a large number of vehicles.

In an embodiment, the target service range includes a second service range, where the second service range is a service range located between the first service range and the destination location, or the second service range is a service range located at the destination location, and the track segment includes a second track segment located in the second service range, as shown in fig. 7, the method may further include:

and S701, sending the scheduling control task of the second track segment to a second MEC server positioned in a second service range, so that the second MEC server adjusts the scheduling control task of the vehicle in the second service range according to a second execution result of the scheduling control task of the vehicle on the second track and road condition information in the second service range.

In this embodiment, the scheduling control task of the second track segment is sent to the second MEC server located in the second service range, so that the second MEC server can perform local dynamic adjustment and optimization on the scheduling control task of the second track according to a second execution result of the scheduling control task of the vehicle on the second track and road condition information in the second service range, which is beneficial to improving the accuracy of scheduling control.

Fig. 8 is a flowchart illustrating a vehicle scheduling method according to another embodiment of the present application. The vehicle scheduling method may be applied to the second MEC server, and the vehicle scheduling method may include:

s801, receiving a scheduling control task of a vehicle on a second track segment, which is sent by a first MEC server; the scheduling control task is generated according to the method of the embodiment;

s802, receiving a second execution result of the scheduling control task of the vehicle on the second track segment;

s803, under the condition that the second execution result is that the execution fails, adjusting a scheduling control task of the vehicle on a second track segment;

and S804, sending the adjusted scheduling control task to the vehicle.

The first MEC server and the second MEC server can be respectively connected with the bearing network through optical fibers, so that the bearing network can shunt the scheduling control task on the second track segment generated by the first ECM server to the second MEC server, and the second MEC server receives and prestores the scheduling control task on the second track segment.

In one example, when the vehicle travels to the second service range, the vehicle executes the scheduled control task for the second track segment and sends a second execution result of the scheduled control task for the second track to the second MEC server through the base station or the roadside device within the second service range.

Accordingly, the second MEC server may perform the steps of:

in step S802, the second MEC server receives a second execution result of the scheduling control task of the vehicle for the second track segment;

in step S803, if the second execution result is that the execution fails, obtaining, by the road side device, the road condition information of the second track segment, and then updating the scheduling control task of the second track segment according to the road condition information of the second track segment;

in step S804, the scheduling control task of the second trajectory segment is transmitted to the vehicle.

Based on this, the second MEC server receives the scheduling control task of the vehicle on the second track segment sent by the first MEC server, so that when the vehicle executes the scheduling control task on the second track segment, the second MEC server can track the second execution result of the vehicle in the second service range, and locally and dynamically adjust and optimize the scheduling control task of the vehicle on the second track segment by using the tracked second execution result, which is beneficial to improving the accuracy of scheduling control. Moreover, the second MEC server only locally updates the scheduling control task of the second track segment, so that the calculation amount in the scheduling control process can be reduced, and the method is suitable for a large-scale scheduling control application scene with a large number of vehicles.

In one embodiment, before step S801, the method may further include: and sending the electronic map of the second service range to the first MEC server.

In one example, when a first MEC server determines that a destination location of a vehicle is within a second service range, then a map retrieval instruction is sent to a corresponding second MEC server.

Correspondingly, when the second MEC server receives the map acquisition instruction, the electronic map of the second service range is sent to the first MEC server. The electronic map of the second service range may be obtained by downloading the second MEC server from the cloud server in advance.

Based on this, through shunting in advance the electronic map of second service range and prestore to in the second MEC server, make the second MEC server can send the electronic map of second service range to first MEC server, the generation of dispatch control task can not rely on the transmission of high in the clouds server to the electronic map through mobile communication network like this, and then can avoid the high in the clouds server of uncontrollable best effort transmission characteristics, make the transmission network quality of vehicle dispatch control have the controllability, be favorable to improving the performance of vehicle remote dispatch control.

Fig. 9 shows a schematic flow chart of a vehicle dispatching method according to a further embodiment of the present application. The vehicle scheduling method can be applied to a vehicle, and the method can comprise the following steps:

s901, establishing connection with a first MEC server to enable the first MEC server to acquire a scheduling request aiming at a vehicle; the scheduling request includes a start location and a destination location of the vehicle;

s902, receiving a scheduling control task of each track segment between the starting position and the destination position; the scheduling control task is generated by the method of any one of the above embodiments;

and S903, sequentially executing the scheduling control tasks of the track segments.

The manner in which the first MEC server acquires the scheduling request in step S901 may refer to the same manner as the acquisition manner in step S301, and is not described herein again.

In one example, the vehicle may receive the scheduled control tasks of all track segments and then sequentially execute the scheduled control tasks of each track segment. Therefore, the data transmission quantity in the vehicle dispatching control process can be reduced, the execution efficiency of the dispatching control task is improved, and the dispatching control efficiency is further improved.

In an example, the scheduling control task includes running design domain information and scheduling control information, where the contents of the running design domain information and the scheduling control information and the execution process of the scheduling control task may refer to corresponding contents in steps S501 to S502, which are not described herein again.

In one embodiment, the track segment includes a first track segment located in the first service scope, as shown in fig. 10, the method may further include:

s1001, sending a first execution result of a scheduling control task of a first track segment to a first MEC server;

s1002, receiving the updated scheduling control task; the updated scheduling control task is generated based on the road condition information of the first track segment by the first MEC server under the condition that the first execution result is the execution failure;

and S1003, executing the updated scheduling control task in the first track segment.

In step S1001, there may be a plurality of first track segments, and if the first execution result of the scheduling control task of the current first track segment sent to the first MEC server is successful, the vehicle continues to execute the scheduling control task of the next first track segment; and if the first execution result of the scheduling control task of the current first track segment sent to the first MEC server is execution failure, the first MEC server updates the scheduling control task based on the road condition information of the current first track segment.

In step S1003, the updated scheduling control task is executed on the current first track segment.

Based on this, the vehicle can feed back the first execution result of the scheduling control task of the first track section to the first MEC server in real time, so that the first MEC server tracks the first execution result in real time, and then based on the first execution result and the road condition information of the first track section, the scheduling control task of the first track section is locally and dynamically adjusted, so that the vehicle flexibly adjusts the driving track, and the obstacle avoidance and the congestion avoidance are facilitated, and the automatic driving efficiency is improved.

In one embodiment, the track segment includes a second track segment located in a second service range, as shown in fig. 11, the method may further include:

s1101, sending a second execution result of the scheduling control task of the second track segment to a second MEC server;

s1102, receiving the adjusted scheduling control task; the adjusted scheduling control task is generated based on the road condition information of the second track segment by the second MEC server under the condition that the second execution result is the execution failure;

and S1103, executing the adjusted scheduling control task on the second track segment.

In step S1101, when the vehicle travels to the second service range, a communication connection is established with the second MEC server, so that the vehicle can transmit a second execution result of the scheduling control task for the second track segment to the second MEC server.

In step S1102, the second MEC server may obtain the road condition information of the second track segment from the corresponding roadside device based on the position of the second track segment when the second execution result is that the execution fails, update the scheduling control task of the second track segment according to the road condition information of the second track segment, and then send the updated scheduling control task to the vehicle through the base station or the roadside device, so that the vehicle receives the updated scheduling control task.

Based on this, the vehicle sends the second execution result of the scheduling control task of the second track segment to the second MEC server, so that the second MEC server can track the second execution result in real time, and the scheduling control task of the second track segment is locally and dynamically adjusted based on the second execution result and the road condition information of the second track segment, so that the vehicle flexibly adjusts the driving track, and the obstacle avoidance, congestion avoidance and the like are performed, and the automatic driving efficiency is improved.

Fig. 12 is a block diagram showing a configuration of a vehicle scheduling apparatus according to an embodiment of the present application. The apparatus may be applied to a first MEC server corresponding to a first service scope including a start position of a vehicle, as shown in fig. 12, and may include:

a first obtaining module 1210 for obtaining a scheduling request for a vehicle; the scheduling request includes a start location and a destination location of the vehicle;

a determining module 1220 for determining a driving track and navigation data for driving from a start position to a destination position;

the task generating module 1230 is configured to divide the travel track into a plurality of track segments according to the navigation data, and generate a scheduling control task for each track segment;

the first sending module 1240 is configured to send the scheduling control task of each track segment to the vehicle, so that the vehicle executes the scheduling control task of each track segment.

In one embodiment, the determining module 1220 may include:

the first determining submodule is used for determining a target service range needing to be passed from the starting position to the destination position;

the acquisition submodule is used for acquiring an electronic map of a target service range;

and the second determining submodule determines the driving track and the navigation data of the vehicle based on the electronic map of the target service range.

In one embodiment, the navigation data includes a plurality of guidance points, and the task generating module 1230 may include:

and the dividing submodule is used for dividing the running track into a plurality of track segments according to the position relation between the guide point and the running track so as to enable one guide point to be positioned on one track segment.

In one embodiment, the task generating module 1230 may include:

the second determining submodule is used for determining running design domain information and scheduling control information of the vehicle on the corresponding track section according to the guiding information of the guiding point on the corresponding track section;

and the setting submodule is used for setting the operation design domain information and the scheduling control information into scheduling control tasks of corresponding track segments.

In one embodiment, the target service scope includes a first service scope, and the track segment includes a first track segment located in the first service scope, and the apparatus may further include:

the receiving module is used for receiving a first execution result of a scheduling control task of the vehicle on the first track segment;

the second acquisition module is used for acquiring the road condition information of the first track section under the condition that the first execution result is execution failure;

the updating module is used for updating the scheduling control task of the first track segment according to the road condition information;

and the second sending module is used for sending the updated scheduling control task to the vehicle.

In one embodiment, the target service scope includes a second service scope, the second service scope being a service scope located between the first service scope and the destination location, and the track segment includes a second track segment located in the second service scope, and the apparatus may further include:

and the third sending module is used for sending the scheduling control task of the second track segment to a second MEC server positioned in a second service range, so that the second MEC server adjusts the scheduling control task of the vehicle in the second service range according to a second execution result of the scheduling control task of the vehicle on the second track and the road condition information in the second service range.

Fig. 13 is a block diagram showing a configuration of a vehicle scheduling apparatus according to another embodiment of the present application. The apparatus may be applied to a second MEC server, and may include:

a first receiving module 1310, configured to receive a scheduling control task of a vehicle on a second track segment sent by a first MEC server; wherein the scheduling control task is generated according to the method of claim 6;

a second receiving module 1320, configured to receive a second execution result of the scheduling control task of the second track segment by the vehicle;

the task adjusting module 1330, configured to adjust the scheduling control task of the vehicle on the second track segment if the second execution result is that the execution fails;

a first sending module 1340, configured to send the adjusted scheduling control task to the vehicle.

In one embodiment, the apparatus may further comprise:

and the second sending module is used for sending the electronic map of the second service range to the first MEC server.

Fig. 14 is a block diagram showing a configuration of a vehicle scheduling apparatus according to still another embodiment of the present application. The apparatus may be applied to a vehicle, and the apparatus may include:

a communication connection establishing module 1410, configured to establish a connection with the first MEC server, so that the first MEC server obtains a scheduling request for a vehicle; the scheduling request includes a start location and a destination location of the vehicle;

a first receiving module 1420, configured to receive a scheduling control task of each track segment located between the start location and the destination location; scheduling control tasks to be generated according to the method of any of claims 1 to 8;

the first executing module 1430 is configured to sequentially execute the scheduling control tasks of the track segments.

In one embodiment, the track segment includes a first track segment located in the first service scope, and the apparatus may further include:

a first sending module, configured to send a first execution result of a scheduling control task of a first track segment to a first MEC server;

the second receiving module is used for receiving the updated scheduling control task; the updated scheduling control task is generated based on the road condition information of the first track segment by the first MEC server under the condition that the first execution result is the execution failure;

and the second execution module is used for executing the updated scheduling control task in the first track segment.

In one embodiment, the track segment includes a second track segment located in a second service area, and the apparatus may further include:

a second sending module, configured to send a second execution result of the scheduling control task of the second track segment to the second MEC server;

the third receiving module is used for receiving the adjusted scheduling control task; the adjusted scheduling control task is generated based on the road condition information of the second track segment by the second MEC server under the condition that the second execution result is the execution failure;

and the third execution module is used for executing the adjusted scheduling control task in the second track segment.

Fig. 15 shows a block diagram of a vehicle dispatching system according to an embodiment of the present application. As shown in fig. 15, the vehicle dispatching system may include: a first MEC server 151, the first MEC server 151 including the apparatus of the above-described one embodiment;

a second MEC server 152, the second MEC server 152 including the apparatus of the another embodiment described above;

a vehicle 153, the vehicle 153 comprising the apparatus of the further embodiment described above.

The first MEC server 151 corresponds to the first service range 151A, and when the vehicle 153 is located within the first service range 151A, the vehicle 153 interacts data with the first MEC server 151 through the base station 121A or the roadside device 154 located within the first service range 151A.

It is understood that the second MEC server 152 corresponds to the second service range 152A, and when the vehicle 153 is located in the second service range 152A, the vehicle 153 interacts data with the second MEC server 152 through the base station 121B or the roadside device 155 located in the second service range 152A.

The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.

Fig. 16 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 16, the electronic apparatus includes: a memory 1610 and a processor 1620, the memory 1610 having stored therein instructions executable on the processor 1620. The processor 1620, when executing the instructions, implements the vehicle scheduling method in the above embodiments. The number of the memory 1610 and the processor 1620 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

The electronic device may further include a communication interface 1630 for communicating with an external device for data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 1620 may process instructions for execution within an electronic device, including instructions stored in or on a memory to display graphical information of a GUI on an external input/output device (such as a display device coupled to an interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 16, but this is not intended to represent only one bus or type of bus.

Alternatively, in an implementation, if the memory 1610, the processor 1620 and the communication interface 1630 are integrated on a chip, the memory 1610, the processor 1620 and the communication interface 1630 may communicate with each other through an internal interface.

It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an Advanced reduced instruction set machine (ARM) architecture.

Embodiments of the present application provide a computer-readable storage medium (such as the memory 1610 mentioned above) storing computer instructions, which when executed by a processor implement the methods provided in embodiments of the present application.

Alternatively, the memory 1610 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device of the vehicle scheduling method, and the like. Further, memory 1610 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1610 may optionally include memory remotely located from the processor 1620, which may be connected to the vehicle dispatch method electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps in the process. And the scope of the preferred embodiments of the present application includes other implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the method of the above embodiments may be implemented by hardware that is configured to be instructed to perform the relevant steps by a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units 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 may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle scheduling method applied to a first MEC server corresponding to a first service scope including a start position of a vehicle, the method comprising:

determining a travel trajectory and navigation data for traveling from the starting location to the destination location;

and sending the scheduling control task of each track segment to the vehicle so as to enable the vehicle to execute the scheduling control task of each track segment.

2. The method of claim 1, wherein determining a travel trajectory and navigation data for traveling from the start location to the destination location comprises:

determining a target service range needing to be passed from the starting position to the destination position;

acquiring an electronic map of the target service range;

and determining the driving track and navigation data of the vehicle based on the electronic map of the target service range.

3. The method of claim 1, wherein the navigation data comprises a plurality of guidance points, and wherein dividing the travel trajectory into a plurality of trajectory segments based on the navigation data comprises:

and dividing the running track into a plurality of track segments according to the position relation between the guide point and the running track, so that one guide point is positioned on one track segment.

4. The method of claim 3, wherein generating a scheduling control task for each of the trajectory segments comprises:

determining running design domain information and scheduling control information of the vehicle on the corresponding track section according to the guiding information of the guiding point on the corresponding track section;

and setting the operation design domain information and the scheduling control information as scheduling control tasks of the corresponding track segments.

5. The method of claim 2, wherein the target service scope comprises the first service scope, wherein the track segment comprises a first track segment located in the first service scope, and wherein the method further comprises:

receiving a first execution result of a scheduling control task of the vehicle on the first track segment;

acquiring the road condition information of the first track section under the condition that the first execution result is execution failure;

updating the scheduling control task of the first track segment according to the road condition information;

and sending the updated scheduling control task to the vehicle.

6. The method of claim 2, wherein the target service scope comprises a second service scope, wherein the second service scope is a service scope located between the first service scope and the destination location, wherein the track segment comprises a second track segment located in the second service scope, and wherein the method further comprises:

and sending the scheduling control task of the second track segment to a second MEC server positioned in the second service range, so that the second MEC server adjusts the scheduling control task of the vehicle in the second service range according to a second execution result of the scheduling control task of the vehicle on the second track and the road condition information in the second service range.

7. A vehicle scheduling method applied to a second MEC server, the method comprising:

receiving a scheduling control task of the vehicle on a second track segment, which is sent by the first MEC server; wherein the scheduling control task is generated according to the method of claim 6;

when the second execution result is that the execution fails, adjusting a scheduling control task of the vehicle on the second track segment;

and sending the adjusted scheduling control task to the vehicle.

8. The method of claim 7, prior to receiving the scheduled control task of the vehicle on the second track segment sent by the first MEC server, further comprising:

and sending an electronic map of a second service range to the first MEC server.

9. A vehicle scheduling method, applied to a vehicle, the method comprising:

establishing a connection with a first MEC server to enable the first MEC server to obtain a scheduling request for the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

receiving a scheduling control task for each track segment located between the start location and the destination location; the scheduling control task is generated according to the method of any one of claims 1 to 8;

and executing the scheduling control tasks of the track segments in sequence.

10. The method of claim 9, wherein the track segment comprises a first track segment located in a first service area, the method further comprising:

sending a first execution result of the scheduling control task of the first track segment to a first MEC server;

receiving the updated scheduling control task; the updated scheduling control task is generated by the first MEC server based on the road condition information of the first track segment under the condition that the first execution result is the execution failure;

and executing the updated scheduling control task in the first track segment.

11. The method of claim 9, wherein the track segment comprises a second track segment located in a second service area, the method further comprising:

sending a second execution result of the scheduling control task of the second track segment to a second MEC server;

receiving the adjusted scheduling control task; the adjusted scheduling control task is generated by the second MEC server based on the road condition information of the second track segment under the condition that the second execution result is the execution failure;

and executing the adjusted scheduling control task on the second track segment.

12. A vehicle scheduling apparatus applied to a first MEC server corresponding to a first service scope including a start position of a vehicle, the apparatus comprising:

a determination module for determining a travel trajectory and navigation data for traveling from the starting location to the destination location;

13. The apparatus of claim 12, wherein the determining module comprises:

the acquisition submodule is used for acquiring an electronic map of the target service range;

14. The apparatus of claim 12, wherein the navigation data comprises a plurality of guidance points, and wherein the task generation module comprises:

15. The apparatus of claim 14, wherein the task generation module comprises:

the second determining submodule is used for determining the running design domain information and the dispatching control information of the vehicle on the corresponding track section according to the guiding information of the guiding point on the corresponding track section;

and the setting submodule is used for setting the operation design domain information and the scheduling control information into the scheduling control task of the corresponding track segment.

16. The apparatus of claim 13, wherein the target service scope comprises the first service scope, wherein the track segment comprises a first track segment located in the first service scope, and wherein the apparatus further comprises:

a receiving module, configured to receive a first execution result of a scheduling control task of the vehicle on the first track segment;

a second obtaining module, configured to obtain road condition information of the first track segment when the first execution result is that execution fails;

17. The apparatus of claim 13, wherein the target service scope comprises a second service scope, wherein the second service scope is a service scope located between the first service scope and the destination location, wherein the track segment comprises a second track segment located in the second service scope, and wherein the apparatus further comprises:

and a third sending module, configured to send the scheduling control task of the second track segment to a second MEC server located in the second service range, so that the second MEC server adjusts the scheduling control task of the vehicle in the second service range according to a second execution result of the scheduling control task of the vehicle on the second track and the road condition information in the second service range.

18. A vehicle scheduling apparatus, applied to a second MEC server, the apparatus comprising:

the first receiving module is used for receiving a scheduling control task of the vehicle on a second track segment, which is sent by the first MEC server; wherein the scheduling control task is generated according to the method of claim 6;

19. The apparatus of claim 18, further comprising:

20. A vehicle dispatching device is characterized in that the device is applied to a vehicle and comprises:

the communication connection establishing module is used for establishing connection with a first MEC server so that the first MEC server obtains a scheduling request aiming at the vehicle; the dispatch request includes a start location and a destination location of the vehicle;

a first receiving module, configured to receive a scheduling control task of each track segment located between the starting location and the destination location; the scheduling control task is generated according to the method of any one of claims 1 to 8;

21. The apparatus of claim 20, wherein the track segment comprises a first track segment located in a first service area, the apparatus further comprising:

a sending module, configured to send a first execution result of the scheduling control task of the first track segment to a first MEC server;

the second receiving module is used for receiving the updated scheduling control task; the updated scheduling control task is generated by the first MEC server based on the road condition information of the first track segment under the condition that the first execution result is the execution failure;

22. The apparatus of claim 20, wherein the track segment comprises a second track segment located in a second service area, the apparatus further comprising:

a third sending module, configured to send a second execution result of the scheduling control task of the second track segment to a second MEC server;

the third receiving module is used for receiving the adjusted scheduling control task; the adjusted scheduling control task is generated by the second MEC server based on the road condition information of the second track segment under the condition that the second execution result is the execution failure;

and a third executing module, configured to execute the adjusted scheduling control task in the second track segment.

23. A vehicle dispatch system, comprising:

a first MEC server comprising the apparatus of any of claims 12-17;

a second MEC server comprising the apparatus of any of claims 18-19;

vehicle comprising an arrangement according to claims 20-22.

24. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

25. A computer readable storage medium having stored therein computer instructions which, when executed by a processor, implement the method of any one of claims 1-11.