CN114613140B - Intelligent scheduling method and device for cross area of unmanned vehicle - Google Patents
Intelligent scheduling method and device for cross area of unmanned vehicle Download PDFInfo
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Abstract
The invention discloses an intelligent scheduling method for a cross region of an unmanned vehicle, which comprises the following steps: updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicles; and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle. The invention can realize that the unmanned vehicles pass through the multi-path crossing area orderly and efficiently, improve the passing efficiency of the crossing area and ensure the passing safety of the crossing area.
Description
Technical Field
The invention relates to the field of intelligent transportation. More specifically, the present invention relates to an intelligent scheduling method and apparatus for a crossing area of an unmanned vehicle.
Background
In an operation area of an engineering environment, a plurality of vehicles run according to different paths at the same time, and the different running paths are crossed, so that the safe and orderly running of the vehicles in the area is greatly influenced.
In the prior art, when a vehicle driven by a person runs in the area, a driver can pre-judge surrounding factors influencing running safety and pre-running tracks of other vehicles in real time, and adjust a running path of the vehicle in advance, so that the vehicle can run safely and orderly in the area.
The unmanned vehicles run in the area, whether other vehicles conflict with the unmanned vehicles or not can not be identified, and the decision right of whether other vehicles pass or not is not provided, and all vehicles can only control the unmanned vehicles to run by self sensing and perception, so that the efficiency, the safety and the fluency of the vehicles running in the area are extremely low.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide an intelligent scheduling method for the crossing area of the unmanned vehicle, which solves the problems that in the prior art, the unmanned vehicle passes through the multi-path crossing area, the running paths of other vehicles cannot be judged in advance, and whether other vehicles pass or not cannot be decided and controlled, and all vehicles can only control the self running through self sensing and perception, so that the passing efficiency of the unmanned vehicle in the crossing area is extremely low, and the running safety cannot be ensured.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided an intelligent scheduling method of an intersection area of unmanned vehicles, comprising:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicles;
and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing region to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the path characteristic information of the unmanned vehicle at least includes a vehicle number, a path number and a vehicle operation attribute.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the scheduling command at least comprises a passing command, a queuing command and an emergency stop command.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicles, the vehicle queue in the intersection area is a set of real-time vehicle state information of all the unmanned vehicles in the intersection area, and the vehicle state information at least comprises a vehicle number, a route number, a vehicle scheduling instruction and a vehicle passing priority.
Preferably, the intelligent scheduling method for the intersection area of the unmanned vehicle comprises a request area, a conflict area and a driving-away area;
the path numbers include a first path number for entering the request area, a second path number for entering the conflict area, and a third path number for entering the departure area.
Preferably, in the intelligent scheduling method for an intersection area of an unmanned vehicle, the conflict path text includes all second path numbers in the intersection area and a conflict path array corresponding to the second path numbers, each second path number corresponds to one conflict path array, and each conflict path array is formed by all other second path numbers having an intersection relationship with the corresponding second path number.
Preferably, in the intelligent scheduling method for an intersection area of an unmanned vehicle, the intersection area is an unmanned vehicle driving area in which a plurality of routes exist and at least one route intersection point exists; the path intersection point is a position point of which the distance between the two paths is smaller than the set safety distance L.
Preferably, the intelligent scheduling method for the crossing area of the unmanned vehicle includes:
s1, establishing a vehicle queue in a crossing area;
s2, according to the path characteristic information of the current unmanned vehicle, updating a vehicle queue in the intersection area: judging whether the current unmanned vehicle exists in a vehicle queue in the intersection area, if so, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is a third path number, removing the current unmanned vehicle from the vehicle queue in the intersection area, and if the path number of the current unmanned vehicle is a first path number or a second path number, updating the vehicle queue in the intersection area according to the real-time path characteristic information and the scheduling instruction of the current unmanned vehicle; if the current unmanned vehicle does not exist, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the first path number, initializing the dispatching instruction of the current unmanned vehicle into an emergency stop instruction, and adding the path characteristic information and the dispatching instruction of the current unmanned vehicle into a vehicle queue in a cross area;
s3, searching a conflict path array corresponding to a second path number of the current unmanned vehicle in the crossing area in the conflict path text;
s4, traversing in a vehicle queue in the crossing area, judging whether a second path number consistent with any second path number in the conflict path array exists or not, and if the second path number exists and a vehicle scheduling instruction corresponding to the conflict second path number is a pass instruction, updating the current scheduling instruction of the unmanned vehicle into a queuing instruction; if the current scheduling command of the unmanned vehicle is not the queuing command, traversing the scheduling commands of all other vehicles in the intersection area, if at least one scheduling command of other vehicles is the queuing command, judging whether the current passing priority of the unmanned vehicle is higher than the passing priority of any other vehicle of which the scheduling command is the queuing command, if so, updating the current scheduling command of the unmanned vehicle into the passing command, otherwise, updating the current scheduling command of the unmanned vehicle into the queuing command;
and S5, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to S2.
The present invention also provides an intelligent scheduling apparatus for a crossing area of an unmanned vehicle, comprising:
the vehicle-side communication module is arranged on the unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform stores a conflict path text and acquires path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the crossing area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
The invention at least comprises the following beneficial effects: the method is based on the existing conflict path text and the vehicle queue in the intersection area updated in real time, the path characteristic information of the current unmanned vehicle is calculated through a scheduling algorithm, so that an accurate and reliable scheduling instruction corresponding to the current unmanned vehicle is obtained, and the current unmanned vehicle is updated according to the calculated scheduling instruction, so that the intelligent scheduling of the unmanned vehicle in the intersection area is realized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a flowchart of an intelligent scheduling method for an intersection area of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of the present invention for updating vehicle queues in an intersection area in another embodiment;
fig. 3 is a flowchart of a scheduling algorithm according to another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified.
In the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The invention provides an intelligent scheduling method for a cross region of an unmanned vehicle, which comprises the following steps:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle;
and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing region to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle.
In the technical scheme, the method is based on the existing conflict path text and the vehicle queue in the intersection area updated in real time, the path characteristic information of the current unmanned vehicle is calculated through a scheduling algorithm, so that an accurate and reliable scheduling instruction corresponding to the current unmanned vehicle is obtained, and the current unmanned vehicle is updated according to the calculated scheduling instruction, so that the intelligent scheduling of the unmanned vehicle in the intersection area is realized.
The invention is preferably suitable for the intelligent scheduling of the engineering vehicles (unmanned vehicles) in the crossing area, the engineering vehicles are provided with routes planned in advance, for a certain crossing area, conflict path texts are established in advance according to the existing planned routes of all the unmanned vehicles, the vehicle queues in the crossing area are updated in real time according to the path characteristic information of the unmanned vehicles, and safe and reliable scheduling information can be rapidly obtained through a simple scheduling algorithm based on the vehicle queues in the crossing area and the conflict path texts.
The vehicle scheduling method related in the prior art generally divides a conflict area into a plurality of small areas, tries to accurately control vehicles, but has small safety distance between vehicles, and increases the collision risk between adjacent vehicles due to larger inertia caused by emergency braking of a project vehicle; the invention divides the conflict area according to the path to schedule the vehicles to run or queue, thereby avoiding the collision risk between the adjacent vehicles; in addition, in the prior art, the unmanned vehicle dynamically plans the driving path, and the path number which conflicts with the vehicle is dynamically changed, so that the driving safety is greatly influenced; according to the method, the regional driving path is planned in advance on the cloud platform, and the conflict path text is output on the premise of fully considering driving safety, so that the intelligent scheduling process of the road side unit is simpler and more reliable, and the calculation load of the vehicle side is reduced.
In another technical scheme, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the path characteristic information of the unmanned vehicle at least comprises a vehicle number, a path number and a vehicle working attribute. The vehicle operation attribute includes load information of the unmanned vehicle, and traveling speed information of the unmanned vehicle.
In another technical scheme, in the intelligent scheduling method for the crossing region of the unmanned vehicle, the scheduling command at least comprises a passing command, a queuing command and an emergency stop command. When the unmanned vehicle receives the passing instruction, the unmanned vehicle runs according to the planned route, if a queuing instruction is received, the unmanned vehicle waits in a queue according to the requirement in the crossing area, if an emergency stop instruction is received, the unmanned vehicle stops emergently and waits for updating the scheduling instruction.
In another technical scheme, in the intelligent scheduling method for the crossing area of the unmanned vehicles, a vehicle queue in the crossing area is a set of real-time vehicle state information of all the unmanned vehicles in the crossing area, and the vehicle state information at least comprises vehicle numbers, path numbers, vehicle scheduling instructions and vehicle passing priorities. And the vehicle traffic priority determines the traffic priority of the vehicle according to the vehicle working attribute, for example, the higher the loading capacity of the vehicle is, the lower the priority is, the higher the running speed of the vehicle is, the higher the priority is, and the lower the priority is. The vehicle state information also comprises vehicle position information (latitude, longitude, altitude and the like), the physical position of the vehicle can be monitored in real time, and the vehicle can be dispatched to stop emergently under the condition that the safe distance of the vehicle is insufficient.
In another technical scheme, the intelligent scheduling method for the crossing area of the unmanned vehicle comprises a request area, a conflict area and a driving-away area;
the path numbers include a first path number for entering the request area, a second path number for entering the conflict area, and a third path number for entering the departure area.
According to different sections of a cross area where vehicles are located, different path numbers are given to the vehicles, the cross area is divided into 3 sections which are respectively a request area, a conflict area and a driving away area, and path numbering is carried out on the three areas, for example, for one unmanned vehicle, the path number of the unmanned vehicle passing through one cross area comprises a first path number R01 entering the request area, a second path number IR01 entering the conflict area and a third path number R02 entering the driving away area.
In another technical solution, in the intelligent scheduling method for an intersection area of an unmanned vehicle, the conflict path text includes all second path numbers in the intersection area and conflict path arrays corresponding to the second path numbers, each second path number corresponds to one conflict path array, and each conflict path array is formed by all other second path numbers having an intersection relationship with the corresponding second path number. And obtaining all possible driving path relations in the intersection area according to the planned route of the unmanned vehicle in the intersection area, and calculating to obtain a conflict path text based on all possible driving path relations in the intersection area. The conflict path text can be stored in the cloud platform and can be downloaded and used at any time when needed.
In another technical scheme, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the intersection area is an unmanned vehicle driving area with a plurality of paths and at least one path intersection point; the path intersection point is a position point where the distance between the two paths is smaller than the set safety distance L. In practical application, L is preferably 10m, that is, when the distance between two paths is less than 10m, it represents that an intersection exists between the two paths.
As shown in fig. 1 to 3, in another technical solution, the intelligent scheduling method for an intersection area of an unmanned vehicle includes:
step 303, if the scheduling instruction of the vehicle corresponding to the second path number exists and conflicts is a passing instruction, updating the scheduling instruction of the current unmanned vehicle into a queuing instruction;
step 306, if not, updating the scheduling instruction of the current unmanned vehicle into a queuing instruction;
and step 400, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to the step 200.
In the technical scheme, the collision path existing in the crossing area can be judged in advance through the collision path text, the path number with the cross conflict existing when the current unmanned vehicle continues to run in the crossing area is found from the collision path through the vehicle queue in the crossing area updated in real time, the vehicle number with the cross conflict existing is found according to the path characteristic information of the unmanned vehicle, the unmanned vehicle with the cross conflict existing with the current unmanned vehicle is further accurately and quickly found, then the scheduling instruction of the current unmanned vehicle is formed according to the scheduling instruction and the passing priority of the unmanned vehicles (with the cross conflict existing with the current unmanned vehicle), the scheduling instruction of the current unmanned vehicle is updated, the current unmanned vehicle makes corresponding running actions, the next unmanned vehicle in the crossing area is judged in the same manner, and the intelligent scheduling of the safe and ordered unmanned vehicle in the crossing area is realized. According to the invention, the unmanned vehicles are dispatched based on the driving states of the unmanned vehicles, the possible cross conflicts in the crossing area and the driving states of other unmanned vehicles in the crossing area are comprehensively considered, and the passing efficiency and the passing safety of the unmanned vehicles in the crossing area are greatly improved.
The invention provides an intelligent scheduling device for a cross region of an unmanned vehicle, which comprises:
the system comprises a vehicle-side communication module, a vehicle-side communication module and a vehicle-side communication module, wherein the vehicle-side communication module is arranged on an unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform is used for storing the conflict path text and acquiring the path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the intersection area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the intersection area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
In the technical scheme, the invention provides the intelligent scheduling device for the crossing region of the unmanned vehicle, which realizes that the unmanned vehicle orderly and efficiently passes through the crossing region through the interaction between the vehicle side communication module and the route unit.
Each unmanned vehicle is provided with a vehicle side passing module which is used for broadcasting the path characteristic information of the unmanned vehicle in real time and receiving a scheduling instruction from a road side unit; each road side unit is correspondingly arranged in each path intersection area with a plurality of paths and comprises a road side communication module, a computing platform and other accessories required for ensuring the normal work of the road side unit, wherein the other accessories generally refer to a power supply, an electric cable, a communication cable and the like;
the roadside communication module is used for receiving the path characteristic information of the unmanned vehicle from the vehicle side passing module and transmitting the path characteristic information to the computing platform;
the computing platform (1) is used for acquiring the path characteristic information of the unmanned vehicle from the roadside communication module; (2) for downloading or directly storing the conflicting path text from the cloud platform; (3) the system is used for establishing and updating a vehicle queue in the intersection area in real time; (4) the system comprises a vehicle queue management module, a collision path text and a vehicle queue in a crossing area, wherein the vehicle queue management module is used for calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the collision path text and the vehicle queue in the crossing area to form a new scheduling instruction; (5) the system is used for transmitting the formed new scheduling instruction to the roadside communication module; the roadside communication module transmits the new scheduling instruction to the vehicle-side communication module, and the current vehicle executes the new scheduling instruction;
the method for establishing and updating the vehicle queue in the intersection area by the computing platform specifically comprises the following steps:
a. when the computing platform is started, vehicle queues in a crossing area are established (at the moment, the vehicle queues in the crossing area are dynamic arrays with the length of 0), when the computing platform receives path characteristic information of a first unmanned vehicle, the computing platform judges the path number of the unmanned vehicle in the current state, if the path number in the current state is the first path number, the computing platform initializes a dispatching instruction of the unmanned vehicle into an emergency stop instruction, and adds the unmanned vehicle into the vehicle queues in the crossing area (the path characteristic information and the dispatching instruction of the unmanned vehicle are added into the vehicle queues in the crossing area); the computing platform carries out subsequent scheduling algorithm on the unmanned vehicle based on the updated vehicle queue and conflict path text in the intersection area, and sends a new scheduling instruction to the unmanned vehicle; if the path number in the current state is the second path number or the third path number, the computing platform does not update the vehicle queue in the intersection area;
b. after the dispatching of the previous unmanned vehicle is finished, the computing platform waits for receiving path characteristic information of the next unmanned vehicle, judges whether the next unmanned vehicle exists in a vehicle queue in the crossing area or not, if the next unmanned vehicle exists and the path number of the next unmanned vehicle is a third path number, the next unmanned vehicle is moved out of the vehicle queue in the crossing area, and if the next unmanned vehicle exists and the path number of the next unmanned vehicle is a first path number or a second path number, real-time path characteristic information and a dispatching instruction of the next unmanned vehicle are updated into the vehicle queue in the crossing area; if the path number of the next unmanned vehicle does not exist and is the first path number, initializing a dispatching instruction of the next unmanned vehicle into an emergency stop instruction and adding path characteristic information and the dispatching instruction of the next unmanned vehicle into a vehicle queue in the crossing area, and if the path number of the next unmanned vehicle does not exist and is the second path number or the third path number, not updating the vehicle queue in the crossing area by the computing platform;
and b, updating the vehicle queue in the intersection area while repeating the intelligent scheduling of other unmanned vehicles.
The calculation platform calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, and the method specifically comprises the following steps:
the method comprises the steps that a computation platform searches a conflict path array corresponding to a second path number of a current vehicle in an intersection area in a conflict path text, the computation platform traverses in a vehicle queue in the intersection area, whether a second path number (subsequently called a conflict second path number) consistent with any second path number in the conflict path array exists in the vehicle queue in the intersection area is judged, if the conflict second path number exists in the vehicle queue in the intersection area, and as long as a scheduling instruction of a vehicle corresponding to the conflict second path number is a pass instruction, the computation platform updates the scheduling instruction of the current unmanned vehicle into a queuing instruction; otherwise, the computing platform traverses the dispatching instructions of all other vehicles in the intersection area, if at least one dispatching instruction of other vehicles is a queuing instruction, the computing platform judges whether the current passing priority of the unmanned vehicle is higher than the passing priority of any other vehicle of which the dispatching instruction is the queuing instruction, if so, the computing platform updates the current dispatching instruction of the unmanned vehicle into the passing instruction, and if not, the computing platform updates the current dispatching instruction of the unmanned vehicle into the queuing instruction.
And the computation platform transmits the updated dispatching instruction of the current vehicle to the roadside communication module, the roadside communication module feeds the updated dispatching instruction searched currently back to the vehicle side passing module, and the current vehicle executes the updated dispatching instruction.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (3)
1. The intelligent scheduling method of the crossing region of the unmanned vehicle is characterized by comprising the following steps:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle;
calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle;
the path characteristic information of the unmanned vehicle at least comprises a vehicle number, a path number and vehicle working attributes;
the dispatching command at least comprises a passing command, a queuing command and an emergency stop command;
the vehicle queue in the crossing area is a set of real-time vehicle state information of all unmanned vehicles in the crossing area, the vehicle state information at least comprises a vehicle number, a path number, a vehicle scheduling instruction and a vehicle passing priority, and the vehicle state information also comprises vehicle position information which comprises latitude, longitude and altitude;
the intersection area comprises a request area, a conflict area and a driving away area;
the path numbers comprise a first path number for entering the request area, a second path number for entering the conflict area and a third path number for entering the departure area;
the conflict path text comprises all second path numbers in the crossing area and conflict path arrays corresponding to the second path numbers, each second path number corresponds to one conflict path array, and each conflict path array is formed by all other second path numbers which have a cross relation with the corresponding second path numbers;
the intelligent scheduling method for the crossing area of the unmanned vehicle specifically comprises the following steps:
s1, establishing a vehicle queue in a crossing area;
s2, according to the path characteristic information of the current unmanned vehicle, updating a vehicle queue in the intersection area: judging whether the current unmanned vehicle exists in a vehicle queue in the intersection area, if so, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is a third path number, removing the current unmanned vehicle from the vehicle queue in the intersection area, and if the path number of the current unmanned vehicle is a first path number or a second path number, updating the current unmanned vehicle into the vehicle queue in the intersection area according to real-time path characteristic information and a scheduling instruction of the current unmanned vehicle; if the current unmanned vehicle does not exist, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the first path number, initializing the dispatching command of the current unmanned vehicle into an emergency stop command, and adding the path characteristic information and the dispatching command of the current unmanned vehicle into a vehicle queue in a crossing area;
s3, searching a conflict path array corresponding to a second path number of the current unmanned vehicle in the crossing area in the conflict path text;
s4, traversing in a vehicle queue in the intersection area, judging whether a second path number consistent with any second path number in the conflict path array exists or not, and if the second path number exists and a vehicle scheduling instruction corresponding to the conflict second path number is a pass instruction, updating the current scheduling instruction of the unmanned vehicle into a queuing instruction; if the current unmanned vehicle scheduling command is not the queuing command, traversing the scheduling command of the first vehicle in each queue in the intersection area, if at least one scheduling command of other vehicles is the queuing command, judging whether the current unmanned vehicle passing priority is higher than the passing priority of any other vehicle of which the scheduling command is the queuing command, if so, updating the current unmanned vehicle scheduling command into the passing command, otherwise, updating the current unmanned vehicle scheduling command into the queuing command;
and S5, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to S2.
2. The intelligent scheduling method of an intersection area of an unmanned vehicle according to claim 1, wherein the intersection area is an unmanned vehicle travel area where a plurality of routes exist and at least one route intersection point exists; the path intersection point is a position point of which the distance between the two paths is smaller than the set safety distance L.
3. An intelligent scheduling apparatus for an intersection area of an unmanned vehicle, which is used for realizing the intelligent scheduling method for the intersection area of the unmanned vehicle according to any one of claims 1 to 2, the apparatus comprising:
the vehicle-side communication module is arranged on the unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform is used for storing the conflict path text and acquiring the path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the crossing area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
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