CN113611131A - Vehicle passing method, device, equipment and computer readable storage medium - Google Patents
Vehicle passing method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle passing method, a device, equipment and a computer readable storage medium, wherein the vehicle passing method comprises the following steps: when a plurality of vehicles are detected to enter a preset virtual fence, detecting whether the vehicles interfere with each other in a crossing area in the virtual fence; if the mutual interference exists, determining the target priority of each vehicle according to the interference result of the mutual interference; and sequentially controlling the vehicles to pass through the intersection area according to the target priority. The invention improves the unmanned use degree of vehicles, so that a plurality of vehicles equipped with different unmanned terminals or the same unmanned terminal without scheduling function can smoothly pass when meeting at the intersection.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle passing method, device, and apparatus, and a computer-readable storage medium.
Background
Vehicles in a factory, such as unmanned logistics vehicles, mostly adopt a single-vehicle intelligent technology, namely, the vehicles acquire external state data through equipment such as radars and cameras, and the data are transmitted to a vehicle-mounted unmanned terminal for judgment. When the remote control instruction is received, the vehicle starts to the destination according to the fixed route, stops running when meeting the obstacle in the running process, and continues running after the obstacle leaves.
However, when unmanned logistics vehicles equipped with different unmanned terminals or the same type of unmanned terminals without scheduling function meet at an intersection, the conditions that the meeting unmanned logistics vehicles interfere with each other and cannot smoothly pass through the intersection can occur due to the fact that the scheduling functions of the terminals conflict or the terminals do not have the scheduling function.
Therefore, how to improve the unmanned use degree of the unmanned logistics vehicles so that a plurality of unmanned logistics vehicles equipped with different unmanned terminals or the same unmanned terminal without scheduling function can smoothly complete passing without interference when meeting at intersections becomes a problem to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide a vehicle passing method, a vehicle passing device, vehicle passing equipment and a computer readable storage medium, and aims to solve the technical problem that multiple vehicles provided with different unmanned terminals or the same unmanned terminal without a scheduling function can interfere when meeting at a crossing, so that the vehicles cannot pass normally.
In order to achieve the above object, the present invention provides a vehicle passing method, comprising the steps of:
when a plurality of vehicles are detected to enter a preset virtual fence, detecting whether the vehicles interfere with each other in a crossing area in the virtual fence;
if the mutual interference exists, determining the target priority of each vehicle according to the interference result of the mutual interference;
and sequentially controlling the vehicles to pass through the intersection area according to the target priority.
Optionally, the step of detecting whether the vehicles interfere with each other in the intersection area within the virtual fence includes:
determining the position information of each vehicle in the virtual fence, and calculating the real-time distance between the vehicles according to the position information;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of whether the real-time distance is greater than the preset safety distance.
Optionally, the step of detecting whether the vehicles interfere with each other in the intersection area in the virtual fence further includes:
determining actual driving routes of all vehicles in the virtual fence, and detecting whether all the actual driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the actual driving lines intersect or not.
Optionally, the step of detecting whether the vehicles interfere with each other in the intersection area in the virtual fence further includes:
determining the driving directions of the vehicles in the virtual fence, determining predicted driving routes corresponding to the driving directions, and detecting whether the predicted driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the predicted driving lines intersect or not.
Optionally, the step of determining the target priority of each vehicle according to the interference result of the mutual interference includes:
detecting whether the interference result of the mutual interference is matched with a preset emergency scene;
if not, determining all target vehicles which are interfered with each other in each vehicle;
and acquiring the time sequence of each target vehicle entering the virtual fence, and taking the time sequence as the target priority.
Optionally, after the step of detecting whether the interference result of the mutual interference matches a preset emergency scenario, the method includes:
and if so, determining the actual driving routes of the vehicles in the virtual fence, acquiring the route priority corresponding to the actual driving routes, and taking the route priority as the target priority.
Optionally, the step of sequentially controlling each vehicle to pass through the intersection region according to the target priority includes:
determining the vehicle with the highest target priority in each vehicle and all other vehicles except the vehicle with the highest target priority, controlling the vehicle with the highest target priority to pass through the intersection area, stopping the other vehicles from passing until the vehicle with the highest target priority exits the virtual fence, and recovering the passing of the other vehicles according to the target priority.
Further, to achieve the above object, the present invention also provides a vehicle passing apparatus comprising:
the detection module is used for detecting whether each vehicle is interfered with each other in a crossing area in a virtual fence or not when a plurality of vehicles are detected to enter the preset virtual fence;
the determining module is used for determining the target priority of each vehicle according to the interference result of the mutual interference if the vehicles are mutually interfered;
and the control module is used for sequentially controlling the vehicles to pass through the intersection area according to the target priority.
In addition, in order to achieve the above object, the present invention also provides a vehicle passing apparatus including a memory, a processor, and a vehicle passing program stored on the memory and operable on the processor, the vehicle passing program when executed by the processor implementing the steps of the vehicle passing method as described above.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having a vehicle passage program stored thereon, the vehicle passage program implementing the steps of the vehicle passage method as described above when executed by a processor.
According to the invention, when a plurality of vehicles are detected to enter the virtual fence and interfere with each other in the crossing area in the virtual fence, the target priority of all vehicles can be determined according to the interference result, and then the vehicles are sequentially controlled to pass through the crossing area according to the target priority, so that the phenomenon that the plurality of vehicles equipped with different unmanned terminals or unmanned terminals with no scheduling function in the prior art can interfere with each other when crossing meet and can not normally pass is avoided. And the unmanned use degree of the vehicles is improved, so that a plurality of vehicles equipped with different unmanned terminals or the same unmanned terminal without a dispatching function can smoothly pass when meeting at the intersection.
Drawings
FIG. 1 is a schematic diagram of a terminal \ device structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the vehicle passing method of the present invention;
FIG. 3 is a schematic view of a device module of the vehicle passing apparatus according to the present invention;
fig. 4 is a schematic view of a vehicle passing scene in the vehicle passing method of the invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention is vehicle passing equipment.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that turns off the display screen and/or the backlight when the terminal device is moved to the ear. Of course, the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle passage program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the vehicle transit program stored in the memory 1005 and perform the following operations:
when a plurality of vehicles are detected to enter a preset virtual fence, detecting whether the vehicles interfere with each other in a crossing area in the virtual fence;
if the mutual interference exists, determining the target priority of each vehicle according to the interference result of the mutual interference;
and sequentially controlling the vehicles to pass through the intersection area according to the target priority.
Referring to fig. 2, the present invention provides a vehicle passing method, in a first embodiment of the vehicle passing method, including the steps of:
step S10, when a plurality of vehicles are detected to enter a preset virtual fence, detecting whether the vehicles interfere with each other in the crossing area in the virtual fence;
in this embodiment, the vehicle may be an unmanned logistics vehicle, and different unmanned logistics vehicles are equipped with different unmanned terminals or the same kind of unmanned terminals without dispatch functions. In the present embodiment, only the unmanned logistics vehicle is illustrated, but the vehicle in the present embodiment is not limited to the unmanned logistics vehicle. Virtual fencing uses a virtual fence to enclose a virtual geographic boundary. When an unmanned logistics vehicle enters, leaves or moves within the area of a preset virtual fence provided at an intersection, an associated terminal or device corresponding to the virtual fence may receive automatic notification and warning. In this embodiment, the preset virtual fence may be generated according to an input trigger condition, where the trigger condition includes the point of interest information and/or the interest plane information. Moreover, the interest points generally refer to all geographic objects which can be abstracted as points, such as a house, a shop, a bus station and the like, and each interest point at least comprises four items of basic information: name, address, category, latitude and longitude coordinates. The interest planes are mainly used for expressing regional geographic entities such as a residential quarter, a college, a hospital, a general market and the like in an electronic map, and each interest plane also contains four items of basic information.
The virtual fence may be generated by receiving fence setting information sent by the server or the third-party application, where the fence setting information includes a trigger condition, and generating the virtual fence according to the trigger condition. Virtual fences include one or more of the following types, point-of-interest fences/surface-of-interest fences: such as "airports", "scenic spots", "shopping malls", "restaurants", "cafes", "movie theaters", etc.; roads classified by category: such as "high speed", "national road", "rural road", etc.; a road designated by name; such as "Hongtai Dong street"; a series of specific routes; such as "route taken home"; event fence containing specified characteristic information: the designated characteristic information may include, but is not limited to, a time period, a designated activity state (still, walking, running, cycling, driving, etc.), a price, an evaluation, etc. of a designated location, among others.
In this embodiment, when it is detected that there are multiple vehicles, such as an unmanned vehicle, running on a road and entering a virtual fence set in advance, it is detected whether the vehicles interfere with each other at an intersection in the virtual fence, and different operations are performed according to different detection results. Wherein, the intersection region is an intersection in the virtual fence. The scene in which the vehicle enters the virtual fence can be as shown in fig. 4.
The mutual interference may be that the unmanned logistics vehicles stop moving forward at the intersection, for example, when two unmanned logistics vehicles respectively located on two roads and having the same or different unmanned terminals without intersection scheduling function approach the intersection, the unmanned logistics vehicles stop before passing through the intersection due to the detection of the obstacle in front, and the other unmanned logistics vehicles pass through the intersection first.
The mutual interference may also be the situation of mutual scraping, collision, and the like during the traveling process, for example, when two unmanned logistics vehicles respectively located on two roads and having different types of unmanned terminals with intersection scheduling functions are traveling in opposite directions through an intersection, the scraping, collision, and the like still occur when the two vehicles pass through the intersection due to the deviation set for the data of the passing conditions.
Step S20, if the interference is caused, determining the target priority of each vehicle according to the interference result of the mutual interference;
when the judgment shows that the vehicles are mutually interfered in the intersection area in the virtual fence, the driving priority of the vehicles, namely the target priority, can be directly determined according to the interference result of the mutual interference.
The target priority can be determined according to the arrangement sequence of vehicles, such as unmanned logistics vehicles entering a preset virtual fence, when passing through a crossing, the unmanned logistics vehicles arranged at the front have high target priority, and the unmanned logistics vehicles arranged at the back have low target priority. The sequence can be tracked and acquired in real time through a camera, a sensor, a radar, a GPS navigator and the like. The determination may also be made in other ways. If the vehicles do not interfere with each other, the states of the vehicles are kept unchanged.
And step S30, sequentially controlling the vehicles to pass through the intersection area according to the target priority.
When the target priority of each vehicle is determined, the vehicles can be controlled to pass through the intersection area in sequence according to the target priority, the vehicle corresponding to the first-level target priority is released at one time, and after the vehicle with the higher target priority completely leaves the virtual fence, the vehicle with the lower target priority is controlled to pass through the intersection area. That is, in this embodiment, the vehicle reports the state data in real time, determines whether the vehicles meet each other according to the positioning, route, and traveling direction of the vehicles in the virtual fence, and performs priority matching according to the meeting conditions, where the vehicle with a low priority stops at the intersection, the vehicle with a high priority passes through the intersection, and the vehicle with a low priority passes through the intersection again after the vehicle with a high priority leaves the virtual fence. On the basis, the problem that unmanned logistics vehicles provided with different unmanned terminals or the same type of unmanned terminals without scheduling functions meet at intersections and influence each other can be avoided.
In this embodiment, when it is detected that a plurality of vehicles enter the virtual fence and interfere with each other at the intersection area in the virtual fence, the target priorities of all the vehicles are determined according to the interference result, and then the vehicles are sequentially controlled to pass through the intersection area according to the target priorities, so that the phenomenon that the plurality of vehicles equipped with different unmanned terminals or unmanned terminals with no scheduling function in the prior art interfere with each other at the intersection and cannot pass normally is avoided. And the unmanned use degree of the vehicles is improved, so that a plurality of vehicles equipped with different unmanned terminals or the same unmanned terminal without a dispatching function can smoothly pass when meeting at the intersection.
Further, a second embodiment of the vehicle passing method according to the present invention is proposed based on the first embodiment of the present invention, and in this embodiment, the step S10 of the above embodiment is a refinement of the step of detecting whether the vehicles interfere with each other at the intersection area in the virtual fence, and the refinement includes:
step a, determining the position information of each vehicle in the virtual fence, and calculating the real-time distance between each vehicle according to each position information;
in this embodiment, a time interval may be set first, and the location information reported in real time by all vehicles may be received at every other time interval. For example, when the vehicles are unmanned logistics vehicles, the position information of each unmanned logistics vehicle can be obtained by a positioning device, and the positioning device comprises: the at least two communication units are arranged on each unmanned logistics vehicle and used for receiving signals of the plurality of signal transmitting units, and a distance is reserved between the at least two communication units; a processing unit to: determining coordinates of each of the at least two communication units according to the time when the each communication unit receives the signal of each of the plurality of signal transmitting units and the coordinates of each signal transmitting unit; and determining the position of each unmanned logistics vehicle according to the coordinates of each communication unit. The positioning device comprises one of a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, a vehicle speed sensor, a wheel rotation angular speed sensor and an inertial sensor.
And after acquiring the position information of all vehicles, calculating the real-time distance between all vehicles, wherein the real-time distance can be the distance between the vehicles. The real-time distance may be calculated by (1) measuring the height H of the camera: when the camera is installed or fixed, measuring the vertical height of the camera relative to the ground;
(2) measuring a camera tilt angle a: when the camera is installed or fixed, the camera area of the camera is inclined to a target area, the camera inclination angle a is an included angle between a connecting line formed by the farthest distance point of the camera to the position of the camera and the horizontal ground, if the distance of a front vehicle is measured, the camera inclination angle a is inclined towards the ground in front, so that the target can be better tracked, and the camera inclination angle a can be obtained through measurement;
(3) calculating a visual angle theta from the vehicle body to the camera: imaging through a camera, capturing a front vehicle characteristic point from an imaging picture, calculating a deviation angle beta from the front vehicle characteristic point to an optical axis of the camera, and calculating to obtain a visual angle theta from a vehicle body to the camera by utilizing a camera inclination angle a and the deviation angle beta from the front vehicle characteristic point to the optical axis of the camera; the captured characteristic points of the front vehicle can be obvious characteristic points such as a license plate of the tail of the front vehicle or/and a brake tail lamp of the front vehicle, the capturing mode is that an original picture of a camera image is converted into a digital gray scale image, then the digital gray scale data of the license plate and the digital gray scale image of the image are subjected to blurring and searching matching, a pixel coordinate point of the characteristic points of the front vehicle in an imaging image is found and calculated, according to coordinate values of the coordinate point (x, y), an offset angle beta of the point relative to an optical axis of the camera is calculated, and then the offset angle beta is summed with a tilting angle a of the camera to obtain a visual angle theta from a vehicle body to the camera;
(4) and (3) calculating the vehicle distance D: and calculating the vertical distance from the vehicle body to the horizontal plane of the camera according to the height day of the position of the camera and the visual angle theta from the vehicle body to the camera by using a geometrical trigonometric relation, namely calculating the value D of the vehicle distance to be H/tan theta.
And b, determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of whether the real-time distance is greater than the preset safety distance.
When all the real-time distances are acquired, whether each real-time distance is larger than a preset safety distance or not is detected in sequence, and if all the real-time distances are larger than the preset safety distances, it can be determined that all vehicles do not interfere with each other in intersection areas in the virtual fence and can normally pass. And if the target real-time distance greater than the preset safety distance exists in each real-time distance, determining that vehicles corresponding to the target real-time distance interfere with each other in the intersection area in the virtual fence. The preset safety distance may be any distance set in advance by a user.
In the embodiment, the real-time distance is calculated according to the position information of each vehicle, and whether the vehicles interfere with each other is determined according to the real-time distance, so that the accuracy of detecting whether the vehicles interfere with each other is guaranteed.
Further, the step of detecting whether each of the vehicles interferes with each other in the intersection area within the virtual fence further includes:
c, determining the actual driving routes of the vehicles in the virtual fence, and detecting whether the actual driving routes intersect;
in this embodiment, the manner of detecting whether all the vehicles interfere with each other may also be to determine the actual driving route, i.e. the actual driving route, of all the vehicles in the virtual fence. And the actual driving route may be obtained according to map application software loaded on a vehicle end or a mobile terminal. And then detecting whether the actual driving routes of all the vehicles are intersected or not.
And d, determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the actual driving lines intersect or not.
And when all the actual driving lines are not intersected through judgment, determining that all the vehicles do not interfere with each other in the intersection area in the virtual fence. If the actual driving routes which can be intersected exist in all the actual driving routes, it is determined that vehicles which exist in all the vehicles can be mutually interfered in the intersection area in the virtual fence.
In the embodiment, the accuracy of detecting whether the vehicles interfere with each other is ensured by determining the actual running routes of the vehicles and determining whether the vehicles interfere with each other according to the time running routes.
Further, the step of detecting whether each of the vehicles interferes with each other in the intersection area within the virtual fence further includes:
step e, determining the driving directions of the vehicles in the virtual fence, determining predicted driving routes corresponding to the driving directions, and detecting whether the predicted driving routes are intersected;
in this embodiment, the manner of detecting whether all the vehicles interfere with each other may also be to acquire the traveling directions of all the vehicles in the virtual fence, and after acquiring the traveling directions, the subsequent traveling trajectories of all the vehicles may be predicted according to the traveling directions and taken as the predicted traveling routes. That is, the route in which the traveling directions of all the vehicles are located can be taken as the predicted traveling route. And detecting whether the predicted driving routes intersect or not.
And f, determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the predicted driving lines intersect or not.
When the predicted driving routes do not intersect through judgment, it can be determined that all vehicles do not interfere with each other in the intersection area in the virtual fence. However, if the predicted travel routes interfere with each other, it can be determined that the intersection areas of all vehicles in the virtual fence interfere with each other.
In the embodiment, by acquiring the predicted travel route according to the travel direction of each vehicle and determining whether the vehicles interfere with each other according to the predicted travel route, the accuracy of detecting whether the vehicles interfere with each other is ensured.
Further, the step of determining the target priority of each of the vehicles according to the interference result of the mutual interference includes:
step g, detecting whether the interference result of the mutual interference is matched with a preset emergency scene;
step h, if not, determining all target vehicles which are interfered with each other in each vehicle;
and k, acquiring the time sequence of each target vehicle entering the virtual fence, and taking the time sequence as the target priority.
In this embodiment, when it is determined that there is mutual interference of vehicles, it may be first detected whether a mutual interference result matches a preset emergency scenario set in advance, where the preset emergency scenario may be any vehicle interference scenario set in advance by a user.
If the scene of the vehicle interference does not match the preset emergency scene, all vehicles having mutual interference in the interference event can be determined and taken as target vehicles. And then determining the time sequence of all the target vehicles entering the virtual fence, taking the time sequence as a target priority, and controlling all the target vehicles to exit the virtual fence according to the target priority and then controlling the subsequent vehicles to pass.
In this embodiment, when it is determined that the interference result of the mutual interference is not matched with the preset emergency scene, the target priority is determined according to the time sequence of the target vehicle entering the virtual fence, so that the accuracy of the obtained target priority is guaranteed.
Specifically, after the step of detecting whether the interference result of the mutual interference matches a preset emergency scene, the method includes:
and m, if the vehicle priority is matched with the target priority, determining the actual driving route of each vehicle in the virtual fence, acquiring the route priority corresponding to each actual driving route, and taking the route priority as the target priority.
If the scene of the vehicle interference is matched with the preset emergency scene, the actual driving routes of all vehicles in the virtual fence need to be determined and are used as the actual driving routes. And then acquiring the traffic priority corresponding to each actual driving route which is set in advance, and taking the traffic priority as the route priority. And then taking the line priority of each actual driving line as the target priority of all vehicles to pass through, and sequentially controlling all vehicles to drive out of the virtual fence according to the target priority.
In the embodiment, when the mutual interference result is determined to be matched with the preset emergency scene, the target priority is determined according to the line priority of the actual driving line of each vehicle, so that the accuracy of the obtained target priority is guaranteed.
Further, the step of sequentially controlling each vehicle to pass through the intersection region according to the target priority comprises:
and n, determining the vehicle with the highest target priority in each vehicle and all other vehicles except the vehicle with the highest target priority, controlling the vehicle with the highest target priority to pass through the intersection area, stopping the other vehicles from passing until the vehicle with the highest target priority exits the virtual fence, and recovering the passing of the other vehicles according to the target priority.
In this embodiment, after the target priority is obtained, it is necessary to determine the vehicle with the highest target priority and other vehicles except the vehicle with the highest target priority in all the vehicles, and then control the vehicle with the highest target priority to pass through the intersection region, at this time, the passage of other vehicles is stopped until the vehicle with the highest target priority exits the virtual fence, and then the passage of all other vehicles is sequentially resumed according to the priority of the target priority. When the virtual fence is a closed graph formed by curves, 2 rays with opposite directions are led from a point P corresponding to the dynamic position of the monitoring end, and the times of intersection of the 2 rays with the boundary when the 2 rays pass through the closed graph are calculated; if the two obtained numbers are odd numbers, the point P is in the closed graph; when the rays are tangent to the boundary, after the point is judged for the first time to be in the closed graph, the rays are subjected to line injection judgment again along two directions forming a certain included angle with the original direction of the rays, and when the judgment results of the two times are both odd numbers, the point is determined to be in the closed graph; if the two judgment results are different, increasing the included angle between each ray and the original direction of each ray to continue the judgment until the ray is vertical to the initial ray, thereby obtaining the virtual fence boundary point coordinates. And calculating and comparing the boundary point coordinates of the virtual fence with the received position coordinates of all vehicles, so as to judge whether the vehicles are in the virtual fence.
In this embodiment, normal passage of each vehicle in the virtual fence is realized by a manner that a vehicle with a high control target priority passes first and other vehicles stop passing.
Further, referring to fig. 3, an embodiment of the present invention further provides a vehicle passing apparatus, including:
the detection module A10 is used for detecting whether the vehicles interfere with each other in the intersection area in the virtual fence or not when a plurality of vehicles are detected to enter the preset virtual fence;
a determining module a20, configured to determine, if the vehicles interfere with each other, a target priority of each of the vehicles according to an interference result of the mutual interference;
and the control module A30 is used for sequentially controlling the vehicles to pass through the intersection area according to the target priority.
Optionally, the detecting module a10 is configured to:
determining the position information of each vehicle in the virtual fence, and calculating the real-time distance between the vehicles according to the position information;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of whether the real-time distance is greater than the preset safety distance.
Optionally, the detecting module a10 is configured to:
determining actual driving routes of all vehicles in the virtual fence, and detecting whether all the actual driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the actual driving lines intersect or not.
Optionally, the detecting module a10 is configured to:
determining the driving directions of the vehicles in the virtual fence, determining predicted driving routes corresponding to the driving directions, and detecting whether the predicted driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the predicted driving lines intersect or not.
Optionally, the determining module a20 is configured to:
detecting whether the interference result of the mutual interference is matched with a preset emergency scene;
if not, determining all target vehicles which are interfered with each other in each vehicle;
and acquiring the time sequence of each target vehicle entering the virtual fence, and taking the time sequence as the target priority.
Optionally, the determining module a20 is configured to:
and if so, determining the actual driving routes of the vehicles in the virtual fence, acquiring the route priority corresponding to the actual driving routes, and taking the route priority as the target priority.
Optionally, the control module a30, configured to:
determining the vehicle with the highest target priority in each vehicle and all other vehicles except the vehicle with the highest target priority, controlling the vehicle with the highest target priority to pass through the intersection area, stopping the other vehicles from passing until the vehicle with the highest target priority exits the virtual fence, and recovering the passing of the other vehicles according to the target priority.
The steps implemented by each functional module of the vehicle passing device can refer to each embodiment of the vehicle passing method of the present invention, and are not described herein again.
Further, the present invention also provides a vehicle passage apparatus including: a memory, a processor, and a vehicle transit program stored on the memory; the processor is used for executing the vehicle passing program to realize the steps of the vehicle passing method.
The present invention also provides a computer readable storage medium storing one or more programs, which are also executable by one or more processors for implementing the steps of the embodiments of the vehicle passing method described above.
The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as that of the embodiments of the vehicle passing method described above, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle passing method characterized by comprising the steps of:
when a plurality of vehicles are detected to enter a preset virtual fence, detecting whether the vehicles interfere with each other in a crossing area in the virtual fence;
if the mutual interference exists, determining the target priority of each vehicle according to the interference result of the mutual interference;
and sequentially controlling the vehicles to pass through the intersection area according to the target priority.
2. The vehicle passing method of claim 1, wherein the step of detecting whether the vehicles interfere with each other at the intersection area within the virtual fence comprises:
determining the position information of each vehicle in the virtual fence, and calculating the real-time distance between the vehicles according to the position information;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of whether the real-time distance is greater than the preset safety distance.
3. The vehicle passing method of claim 1, wherein the step of detecting whether the vehicles interfere with each other at the intersection area within the virtual fence further comprises:
determining actual driving routes of all vehicles in the virtual fence, and detecting whether all the actual driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the actual driving lines intersect or not.
4. The vehicle passing method of claim 1, wherein the step of detecting whether the vehicles interfere with each other at the intersection area within the virtual fence further comprises:
determining the driving directions of the vehicles in the virtual fence, determining predicted driving routes corresponding to the driving directions, and detecting whether the predicted driving routes intersect;
and determining whether the vehicles interfere with each other in the intersection area in the virtual fence according to the detection result of detecting whether the predicted driving lines intersect or not.
5. The vehicle passing method according to claim 1, wherein the step of determining the target priority of each of the vehicles based on the interference result of the mutual interference includes:
detecting whether the interference result of the mutual interference is matched with a preset emergency scene;
if not, determining all target vehicles which are interfered with each other in each vehicle;
and acquiring the time sequence of each target vehicle entering the virtual fence, and taking the time sequence as the target priority.
6. The vehicle passing method according to claim 5, wherein the step of detecting whether the interference result of the mutual interference matches a preset emergency scenario is followed by:
and if so, determining the actual driving routes of the vehicles in the virtual fence, acquiring the route priority corresponding to the actual driving routes, and taking the route priority as the target priority.
7. The vehicle passing method according to any one of claims 1 to 6, wherein the step of sequentially controlling each of the vehicles to pass through the intersection region according to the target priority includes:
determining the vehicle with the highest target priority in each vehicle and all other vehicles except the vehicle with the highest target priority, controlling the vehicle with the highest target priority to pass through the intersection area, stopping the other vehicles from passing until the vehicle with the highest target priority exits the virtual fence, and recovering the passing of the other vehicles according to the target priority.
8. A vehicle passage device, characterized by comprising:
the detection module is used for detecting whether each vehicle is interfered with each other in a crossing area in a virtual fence or not when a plurality of vehicles are detected to enter the preset virtual fence;
the determining module is used for determining the target priority of each vehicle according to the interference result of the mutual interference if the vehicles are mutually interfered;
and the control module is used for sequentially controlling the vehicles to pass through the intersection area according to the target priority.
9. A vehicle passage apparatus, characterized by comprising: memory, a processor and a vehicle transit program stored on the memory and executable on the processor, the vehicle transit program when executed by the processor implementing the steps of the vehicle transit method of any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a vehicle passage program is stored on the computer-readable storage medium, which when executed by a processor implements the steps of the vehicle passage method according to any one of claims 1 to 7.
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