CN115179929A

CN115179929A - Automatic driving vehicle scheduling method and device and automatic driving vehicle

Info

Publication number: CN115179929A
Application number: CN202210821467.7A
Authority: CN
Inventors: 常淞泓; 黄轩; 刘玮立; 史救; 张亮
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-10-14

Abstract

The disclosure provides an automatic driving vehicle scheduling method and device and an automatic driving vehicle, and relates to the field of artificial intelligence, in particular to the fields of intelligent transportation and automatic driving. The specific implementation scheme is as follows: transmitting the destination location to the autonomous vehicle; obtaining a driving path planned by the automatic driving vehicle and going to a target position, and obtaining a vehicle position of the automatic driving vehicle in the driving process along the self-planned driving path; determining a vehicle group and a conflict area of which the running paths conflict with each other according to the running paths and the vehicle positions corresponding to the respective automatically driven vehicles; determining a first vehicle of the group of vehicles expected to pass through the conflict area later; and sending the information of the virtual roadblock to the first vehicle according to the conflict area so that the first vehicle can avoid the obstacle according to the information of the virtual roadblock. By applying the scheme provided by the embodiment of the disclosure, the dispatching efficiency of the automatic driving vehicle can be improved.

Description

Automatic driving vehicle scheduling method and device and automatic driving vehicle

Technical Field

The disclosure relates to the technical field of automatic driving, in particular to a method and a device for dispatching an automatic driving vehicle and the automatic driving vehicle.

Background

In recent years, automatic driving technology has been rapidly developed, and automatic driving vehicles are increasingly introduced to complete work in scenes such as open mines and factories. In this case, in order to ensure that each autonomous driving vehicle can work smoothly in the working area, the cloud server generally generates a plurality of driving paths in advance according to the environment of the working area, and stores the conflict relationship between the driving paths. When a travel route is allocated to the target autonomous vehicle, a travel route that does not conflict with the autonomous vehicle operating in the work area over the entire travel route is selected from among a plurality of travel routes generated in advance on the basis of the conflict relationship, and the selected travel route is allocated to the target autonomous vehicle. And if no conflict-free driving path exists, the control target automatic driving vehicle waits in place.

Disclosure of Invention

The disclosure provides an automatic driving vehicle scheduling method and device and an automatic driving vehicle.

According to one aspect of the disclosure, an automatic driving vehicle scheduling method is provided, which is applied to a server and includes:

transmitting the destination location to the autonomous vehicle;

obtaining a driving path planned by the automatic driving vehicle and going to the target position, and obtaining the vehicle position of the automatic driving vehicle in the driving process along the self-planned driving path;

determining a vehicle group and a conflict area of which the running paths conflict with each other according to the running paths and the vehicle positions corresponding to the respective automatically driven vehicles;

determining a first vehicle of the group of vehicles expected to pass the conflict area later;

and sending information of a virtual roadblock to the first vehicle according to the conflict area so that the first vehicle can avoid the roadblock according to the information of the virtual roadblock.

According to another aspect of the present disclosure, there is provided an automatic driving vehicle scheduling method applied to a vehicle-mounted device, including:

receiving a destination position sent by a server;

planning a driving path to the target position;

sending the running path to the server, and controlling an automatic driving vehicle carrying the vehicle-mounted equipment to run along the running path;

transmitting the position of the vehicle in the process of traveling along the traveling path to the server;

responding to the information of the virtual roadblock sent by the server, and controlling the automatic driving vehicle to avoid the obstacle according to the information of the virtual roadblock.

According to another aspect of the present disclosure, there is provided an automatic driving vehicle scheduling apparatus, applied to a server, including:

the first position sending module is used for sending the target position to the automatic driving vehicle;

the route obtaining module is used for obtaining a driving route planned by the automatic driving vehicle and leading to the target position and obtaining the vehicle position of the automatic driving vehicle in the driving process along the driving route planned by the automatic driving vehicle;

the area determination module is used for determining a vehicle group and a conflict area of the running path with conflict according to the running path and the vehicle position corresponding to each automatic driving vehicle;

a vehicle determination module to determine a first vehicle of the group of vehicles expected to pass the conflict area later;

and the road block information sending module is used for sending the information of the virtual road block to the first vehicle according to the conflict area so that the first vehicle can carry out obstacle avoidance processing according to the information of the virtual road block.

According to another aspect of the present disclosure, there is provided an automatic driving vehicle scheduling apparatus applied to an in-vehicle device, including:

the position receiving module is used for receiving the target position sent by the server;

the path planning module is used for planning a driving path to the target position;

the driving control module is used for sending the driving path to the server and controlling an automatic driving vehicle carrying the vehicle-mounted equipment to drive along the driving path;

the second position sending module is used for sending the position of the vehicle in the process of running along the running path to the server;

and the obstacle avoidance processing module is used for responding to the information of the virtual roadblock sent by the server and controlling the automatic driving vehicle to avoid the obstacle according to the information of the virtual roadblock.

According to another aspect of the present disclosure, there is provided a server 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 aforementioned autonomous vehicle scheduling method applied to the server.

According to another aspect of the present disclosure, there is provided an in-vehicle apparatus 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 aforementioned autonomous vehicle scheduling method applied to an in-vehicle device.

According to another aspect of the present disclosure, a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to execute an autonomous vehicle scheduling method is provided.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements an autonomous vehicle scheduling method.

According to another aspect of the present disclosure, there is provided an autonomous vehicle including the above-described in-vehicle apparatus.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic view of an implementation scenario of a scheduling method for an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart diagram illustrating a method for scheduling an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart diagram of a method for determining a vehicle group and a conflict area provided by an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram of another method for scheduling autonomous vehicles provided by an embodiment of the present disclosure;

FIG. 5 is a block diagram of an autonomous vehicle dispatch system according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an automatic vehicle dispatching device provided in an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of another automatic vehicle dispatching device provided by the embodiment of the disclosure;

FIG. 8 is a block diagram of a server used to implement the autonomous vehicle scheduling method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

First, an application scenario of the scheme provided by the embodiment of the present disclosure is explained.

The application scene comprises a plurality of automatic driving vehicles working in a cooperative mode in a working area, and a server is arranged in the application scene and used for scheduling the plurality of automatic driving vehicles through a network, so that the automatic driving vehicles can work in the cooperative mode in the working area, and collision is avoided.

For example, the application scenario may be a mineral loading and unloading scenario of an open pit mine, a logistics cargo transportation scenario, a factory material transportation scenario, and the like.

The following describes an automatic driving vehicle scheduling method applied to a server according to an embodiment of the present disclosure with reference to fig. 1 and fig. 2.

Referring to fig. 1, a schematic view of an implementation scenario of an automatic driving vehicle scheduling method is provided. In fig. 1, a triangle represents an autonomous vehicle, and a dotted line portion and a solid line portion of a single arrow each represent a travel path of the autonomous vehicle, the dotted line portion represents a section of the path that the autonomous vehicle has traveled, and the solid line portion of the single arrow represents a section of the path that the autonomous vehicle has not traveled, that is, a path that the autonomous vehicle will travel, which may also be referred to as a non-travel path. The double arrow indicates that there is a communication connection between the server and the autonomous vehicle and that information is being transferred.

Referring to fig. 2, a flow chart of an automatic driving vehicle dispatching method is provided, which is applied to a server and comprises the following steps S201-S205.

Step S201: the destination location is sent to the autonomous vehicle.

The automatic driving vehicle mentioned in this step may be an automatic driving vehicle in a working area, an automatic driving vehicle in a working area prepared at the edge of the working area, an automatic driving vehicle outside the working area, or the like.

Each automatic driving vehicle corresponds to a destination position, and the destination position is a destination to which the automatic driving vehicle is to drive. The two circles labeled "destination locations" as in FIG. 1 are the destination locations for the two autonomous vehicles. The destination location differs in different application scenarios. For example, in a mineral loading and unloading scenario for a strip mine, the destination location may be a mineral unloading location or a mineral loading location; in a logistics goods handling scenario, the destination location may be a packing area or a shelf location where goods are located.

In order to coordinate the work of each automatic driving vehicle, the server in the embodiment of the present disclosure is responsible for scheduling each automatic driving vehicle, and in view of this, the server determines the target position of each automatic driving vehicle.

In one implementation, the server may determine the destination location corresponding to the autonomous vehicle based on information such as the location of the autonomous vehicle, the location of each work point in the work area, and the amount of work that has been queued at each work point. For example, the operation site may be a mineral loading site, a mineral unloading site, a packing area, a shelf location, and the like.

For example, the position of the work point closest to the position of the autonomous vehicle and having the smallest discharged work amount may be determined as the destination position corresponding to the autonomous vehicle.

In another implementation manner, the server may further determine the target positions corresponding to the respective mobile driving vehicles according to the preset corresponding relationship between the respective mobile driving vehicles and the respective operation points.

Step S202: and obtaining a driving path planned by the automatic driving vehicle and going to the target position, and obtaining the vehicle position of the automatic driving vehicle in the driving process along the self-planned driving path.

After receiving the target position, the automatic driving vehicle can plan a path according to the vehicle position, the environmental information of the environment where the vehicle is located and the target position. Specifically, any known path planning algorithm may be used for path planning, which is not limited in the embodiments of the present disclosure.

Environmental information of the environment in which the autonomous vehicle is located may be obtained from a pre-constructed work area map. For example, the environmental information may include: the distance of the autonomous vehicle from an obstacle in the work area, the type of obstacle, the road-like location, etc.

As shown in fig. 1, the route including the broken line and the solid line where the two autonomous vehicles are located is a travel route planned by each of the two autonomous vehicles.

In one implementation, an on-board device may be mounted on the autonomous vehicle, and the on-board device may perform path planning. In addition, other tasks mentioned in the embodiments of the present disclosure as being performed by the autonomous vehicle may also be performed by the onboard device.

In another implementation, after the autonomous vehicle plans to obtain the driving path, the autonomous vehicle may directly control itself to drive along the driving path without waiting for further instructions from the server, in addition to sending the driving path to the server.

Because the position of the automatic driving vehicle is continuously changed in the driving process along the self-planned driving path, in order to enable the server to master the condition of the automatic driving vehicle in the working area in real time and improve the accuracy of vehicle dispatching, the automatic driving vehicle can also send the position of the automatic driving vehicle to the server in the driving process. In addition, the travel speed, acceleration, and the like of the vehicle may be transmitted in addition to the vehicle position to the server.

Step S203: and determining a vehicle group and a conflict area of the running paths with conflicts according to the running paths and the vehicle positions corresponding to the respective automatically driven vehicles.

Each vehicle group at least comprises two automatic driving vehicles, and the collision area is an area where the automatic driving vehicles in the vehicle group are likely to collide when running along the respective planned running path.

As shown in fig. 1, two autonomous vehicles are illustrated that may collide, and thus may be considered to belong to the same vehicle group. The diamond identified with "conflict zone" in fig. 1 is the conflict zone for the vehicle group.

The vehicle group and the collision area may be determined in different manners, and particularly, refer to fig. 3 and the following embodiments, which will not be described in detail herein.

Step S204: a first vehicle of the vehicle group expected to pass the conflict area later is determined.

Since the vehicle group includes at least two autonomous vehicles, to reduce the probability of a vehicle collision, the autonomous vehicles within the vehicle group need to pass through the collision zone in a front-to-back order. For ease of description, an autonomous vehicle that is expected to pass through the conflict area later may be referred to as a first vehicle, and correspondingly, an autonomous vehicle that is expected to pass through the conflict area earlier may be referred to as a second vehicle.

Specifically, the first vehicle may be determined in different ways, which are described separately below.

In one embodiment of the present disclosure, a vehicle may be randomly selected from the group of autonomous vehicles included in the vehicle group as a second vehicle expected to pass through the collision zone earlier, and then the remaining vehicles may be selected as first vehicles expected to pass through the collision zone later.

In another embodiment of the disclosure, a first vehicle of the group of vehicles expected to pass through the conflict area later may be determined based on at least one of:

a distance between the vehicle and the collision zone;

the load state of the vehicle;

the speed of the vehicle;

the vehicle is preset with a traffic priority.

When the first vehicle is determined based on the distance between the vehicle and the collision area, the automatically driven vehicle having the shortest distance between the vehicle and the collision area in the vehicle group may be determined as the second vehicle that is expected to pass through the collision area earlier, and the other vehicles than the second vehicle in the vehicle group that are expected to pass through the collision area later may be determined as the first vehicle.

In one case, the load state of the vehicle may include an empty load state and a heavy load state, and in this case, when the first vehicle is determined according to the load state of the vehicle, the autonomous vehicle in the empty load state of the vehicle group may be determined as the second vehicle, and the autonomous vehicle in the heavy load state may be determined as the first vehicle.

Alternatively, the load state of the vehicle may be expressed in terms of a specific load value, for example, 10 tons, 15 tons, or the like, and in this case, when the first vehicle is determined based on the load state of the vehicle, the automatically driven vehicle having the largest load value of the vehicles in the vehicle group may be determined as the second vehicle expected to pass through the collision zone earlier, and the other vehicles in the vehicle group except the second vehicle may be determined as the first vehicle expected to pass through the collision zone later.

When determining the first vehicle from the speed of the vehicle, the autonomous vehicle having the highest speed of the vehicles in the vehicle group may be determined as the second vehicle expected to pass through the collision area earlier, and the other vehicles in the vehicle group other than the second vehicle may be determined as the first vehicle expected to pass through the collision area later.

When determining the first vehicle according to the preset traffic priority of the vehicles, the automatic driving vehicle with the higher vehicle priority in the vehicle group can be determined as the second vehicle which is expected to pass through the conflict area earlier, and other vehicles with the lower priority in the vehicle group can be used as the first vehicle which is expected to pass through the conflict area later.

When the first vehicle is determined using at least two of the above four kinds of information, weights may be given to the various kinds of information, and then a composite index of the vehicle priority is calculated from each kind of information and the weights, and the first vehicle is determined based on the composite index.

As can be seen from the above, at least one of the information of the distance between the vehicle and the conflict area, the loading state of the vehicle, the speed of the vehicle and the preset traffic priority of the vehicle is used in the process of determining the first vehicle which is expected to pass through the conflict area later, so that the information used for determining the first vehicle is enriched, the automatically-driven vehicle which is expected to pass through the conflict area earlier and the automatically-driven vehicle which is expected to pass through the conflict area later can be more reasonably distinguished, and the overall operation efficiency of the automatically-driven vehicle is favorably improved.

Step S205: and sending the information of the virtual roadblock to the first vehicle according to the conflict area so that the first vehicle can avoid the obstacle according to the information of the virtual roadblock.

After receiving the information of the virtual roadblock, the first vehicle may perform obstacle avoidance processing such as deceleration driving, stop waiting, detour and the like according to the information of the virtual roadblock.

The following describes an implementation of determining information of a virtual roadblock according to a collision area and transmitting the information of the virtual roadblock to a first vehicle.

In one implementation, the collision area may be projected onto the driving path corresponding to the first vehicle, and since the collision area has a certain area and is not necessarily regular in shape, or the driving path corresponds to an irregular curve, after the collision area is projected onto the driving path corresponding to the first vehicle, a plurality of projection points may be obtained. In view of this, the projection point closest to the current position of the first vehicle may be selected as the position of the virtual obstacle, so that the obstacle avoidance processing may be performed in advance in combination with the information of the virtual obstacle when the autonomous vehicle has not yet entered the collision area. And then sending information of the virtual roadblock including the determined position to the first vehicle, so that the first vehicle can accurately acquire the position of the virtual roadblock, and then accurately carry out obstacle avoidance processing, and the probability of collision is reduced.

The information of the virtual roadblock may further include: the type of the virtual roadblock, the position of the conflict area, the speed of the second vehicle, the size of the second vehicle, the moving direction of the second vehicle and other information are beneficial to the first vehicle to accurately carry out obstacle avoidance processing.

In another implementation, the location of the conflict area may be determined directly as the location of the virtual barrier, and then information including the virtual barrier at the determined location may be sent to the first vehicle.

As can be seen from the above, in the solution provided in the embodiment of the present disclosure, during the driving process of the autonomous vehicle, the server may determine the conflicting vehicle group and the conflicting region, and send the information of the virtual roadblock to the first vehicle that is expected to pass through the conflicting region later in the vehicle group, and the first vehicle may perform obstacle avoidance processing according to the information of the virtual roadblock during the driving process. Therefore, the automatic driving vehicle is not required to wait in place because no collision-free running path exists in the whole path and cannot start to work, and therefore the scheme provided by the embodiment of the disclosure is applied to automatic driving vehicle scheduling, the vehicle scheduling efficiency can be improved, and the overall operation efficiency of the automatic driving vehicle is further improved.

In addition, in the scheme provided by the embodiment of the disclosure, the server sends the target position to the automatic driving vehicle, and the automatic driving vehicle is responsible for completing the path planning, so that the resource consumption of the server end can be reduced, and especially under the condition that the number of the automatic driving vehicles is large in an application scene, the effect is more obvious, the path planning efficiency is favorably improved, and the vehicle cloud coordination is realized to complete the automatic driving vehicle scheduling.

In addition, the automatic driving vehicle has hardware equipment with data processing capacity, in the scheme provided by the embodiment of the disclosure, the automatic driving vehicle completes path planning and obstacle avoidance processing without adding extra hardware resources, and since the server does not need to perform path planning and obstacle avoidance processing, consumed resources are obviously reduced, so that the number of servers arranged in an application scene can be greatly reduced, thereby being beneficial to saving hardware resources. By combining the situations, the scheme provided by the embodiment of the disclosure can greatly save the operation cost.

In addition to the above situation, in the scheme provided by the embodiment of the present disclosure, the driving route does not need to be planned in advance by combining the characteristics of the working area, but the driving route is planned in real time in the operation process, so the scheme provided by the embodiment of the present disclosure may be applicable to working areas of various sizes and shapes, the adaptability to the working area is strong, and pre-work such as re-planning of form video recording due to replacement of the working area is not performed.

The above embodiment is described by taking the case where two vehicles collide. In an actual scenario, there may be more than two vehicles included in the vehicle group whose travel paths conflict, in which case, the vehicles in the vehicle group that are expected to pass through the conflict area later may all be the first vehicles relative to the vehicles that are expected to pass through the conflict area earlier. The server may determine that all vehicles other than the vehicle expected to pass through the collision zone earliest are first vehicles, determine that the vehicle expected to pass through the collision zone earliest is a second vehicle, and transmit virtual barrier information corresponding thereto to each of the first vehicles. After the second vehicle passes through the collision area, the server may take the vehicle in the first vehicle as a new vehicle group again, and repeat the above process until the collision is resolved.

The following describes the manner of determining the vehicle group and the collision group mentioned in the aforementioned step S203.

In one embodiment of the present disclosure, referring to fig. 3, a flow chart of a method for determining a vehicle group and a conflict area is provided, the method includes the following steps S301-S303.

Step S301: and generating a driving area of each automatically driven vehicle along the non-driving path according to the driving path, the vehicle position and the vehicle size corresponding to each automatically driven vehicle.

After the automatic driving vehicle finishes the path planning to obtain the corresponding driving path, the automatic driving vehicle can drive according to the driving path, so that the driving path comprises the road sections which are already driven by the automatic driving vehicle and the road sections which are not driven by the automatic driving vehicle, wherein the road sections which are not driven are called the non-driving path corresponding to the automatic driving vehicle.

Specifically, the server may determine the non-travel path based on the vehicle position most recently transmitted by the autonomous vehicle and the corresponding travel path. For example, it may be determined whether the vehicle position is on a travel path corresponding to the autonomous vehicle, and if so, a path from the vehicle position to the destination position on the travel path is determined as a non-travel path, otherwise, a position closest to the vehicle position on the travel path is determined, and then a path from the determined position to the destination position on the travel path is determined as a non-travel path.

After the server determines the non-traveled path, the area along the non-traveled path may be determined to be a traveled area based on the width of the autonomous vehicle. For example, a region with a width equal to the width of the autonomous vehicle can be determined as a driving region along a center line of a non-driving path, and a region obtained after expanding preset widths to two sides on the basis of the obtained driving region can be used as a final driving region, so that failure in obstacle avoidance caused by estimation errors can be effectively avoided, the success rate of obstacle avoidance can be improved, and the operation safety of the autonomous vehicle can be improved.

The driving area may be a polygonal area.

Step S302: and determining the automatic driving vehicles with overlapped driving areas, and obtaining a vehicle group containing the determined vehicles.

There may be a plurality of autonomous vehicles in the work area, each autonomous vehicle may be constantly traveling, so the traveling area is constantly changed as the vehicle position is changed, and so each time the vehicle group is determined, it may be performed for all autonomous vehicles in the work area.

After the driving areas corresponding to the respective autonomous vehicles are determined, the overlapped driving areas may be determined directly according to the position information of the driving areas, for example, the corner positions of the areas, and the like. In one implementation, the autonomous vehicles corresponding to the overlapped driving areas may be directly used as vehicles belonging to the same vehicle group. In another implementation, after the overlapped driving areas are determined, the time for the autonomous vehicles corresponding to the driving areas to travel to the overlapped areas may be predicted, if the time difference is smaller than the preset time threshold, the autonomous vehicles corresponding to the overlapped driving areas may be regarded as vehicles belonging to the same vehicle group, otherwise, the autonomous vehicles corresponding to the overlapped driving areas may not be regarded as vehicles belonging to the same vehicle group.

Step S303: and determining the conflict area according to the overlapping area of the driving areas corresponding to the vehicles in the vehicle group.

In one implementation, the overlapping area may be directly used as the collision area, so that the collision area can be determined quickly.

In another implementation, the conflict area may be determined in a direction approaching the autonomous vehicle on the travel path based on the location of the overlap area, which facilitates an advance of the autonomous vehicle for a billing process.

As can be seen from the above, in the scheme provided by this embodiment, when determining the vehicle group and the conflict area, not only the driving route and the vehicle position are considered, but also the vehicle size is considered, so that the vehicle group and the conflict area where a conflict exists at any position of the vehicle can be determined, the accuracy of the determined vehicle group and the conflict area can be improved, the accuracy of determining the virtual roadblock can be further improved, each autonomous driving vehicle in the working area can timely avoid the obstacle, the operation can be smoothly completed, and the overall operating efficiency of the autonomous driving vehicle can be improved.

In another implementation, when the vehicle group and the collision region are determined, an autonomous vehicle having an intersection point between travel paths may be determined, the autonomous vehicle may be used as a candidate vehicle, travel speed information of each candidate vehicle is obtained, travel time for each candidate vehicle to travel to the intersection point is determined according to the travel speed information of each candidate vehicle and a distance between each candidate vehicle and the intersection point, candidate vehicles having a difference between the travel times within a preset time difference range are determined, a vehicle group including the determined candidate vehicles is obtained, and the collision region including the intersection point is determined. Therefore, in the implementation mode, the intersection point of the driving path and the driving time from the automatic driving vehicle to the intersection point are considered when the vehicle group is determined, so that the vehicles reaching the conflict area at different times can be eliminated according to the driving time, the vehicles reaching the similar places at the similar times can be determined, namely the vehicles with conflicts in high probability can be determined, and the accuracy of the determined vehicle group is improved.

The running speed information of each candidate vehicle may include a speed and/or an acceleration, specifically, may be sent to the server by each candidate vehicle, and may also be calculated by the server according to the vehicle position sent by the candidate vehicle and the time interval for sending the vehicle position.

Specifically, when the server specifies the collision area including the intersection, the collision area including the intersection may be specified based on the size and/or the traveling direction of each vehicle in the vehicle group. For example, a region that includes the intersection point and can accommodate the autonomous vehicle according to the size of the vehicle may be determined as a collision region; a region including the intersection and extending in the traveling direction may be determined as a collision region; of course, the collision area may be determined as an area that includes the intersection point, can accommodate the autonomous vehicle according to the size of the vehicle, and extends in the traveling direction.

The embodiment of the present disclosure is described only by way of example, and does not limit the manner of specifying the vehicle group and the collision area.

In view of the fact that a second vehicle in the vehicle group that is expected to pass through the conflict area earlier will pass through the conflict area all the time, in another embodiment of the present disclosure, the method for scheduling an autonomous vehicle may further include: in response to a second vehicle in the vehicle group other than the first vehicle traveling through the collision area, a virtual barrier release notification is sent to the first vehicle to cause the first vehicle to adjust the travel information traveling along the corresponding travel path.

Because the virtual roadblock is removed, the probability that the first vehicle and other vehicles conflict in the running process is greatly reduced, and in order to improve the working efficiency, the first vehicle can adjust the information such as the running speed and the like so as to quickly reach the target position.

In view of the above, the travel information may include: the running speed, acceleration, gear, steering wheel rotation angle, etc. of the autonomous vehicle.

As can be seen from the above, in the solution provided in this embodiment, after the server determines that the second vehicle has traveled through the conflict area, the conflict between the first vehicle and the second vehicle is resolved, and in this case, the server sends the virtual roadblock resolution notification to the first vehicle, so that the first vehicle can adjust the travel information in time, and the influence of the conflict on the vehicle travel is eliminated, thereby being beneficial to improving the operation efficiency.

In addition, since the first vehicle and the second vehicle arrive at the collision area in chronological order, the second vehicle may have traveled through the collision area when the first vehicle has not yet arrived at the collision area, in which case the first vehicle may have received the virtual obstacle clearance notification before the obstacle avoidance processing has not started, and at this time, the first vehicle does not need to perform the obstacle avoidance processing any more. In addition, in a case where the first vehicle reaches the collision area even while the second vehicle passes through the collision area, the first vehicle performs obstacle avoidance processing such as deceleration traveling or parking waiting, and the time to be affected is only the time required for the second vehicle to pass through the collision area, and this time is generally short. Therefore, by applying the scheme provided by the embodiment, the influence of the conflict area on the running of the first vehicle can be minimized, and the waiting time is greatly shortened.

Corresponding to the automatic driving vehicle scheduling method applied to the server, the embodiment of the disclosure also provides an automatic driving vehicle scheduling method applied to the vehicle-mounted device.

It should be noted that, since the content related to the autonomous vehicle, that is, the content related to the vehicle-mounted device, has been described in the embodiment corresponding to the foregoing server, the embodiment corresponding to the vehicle-mounted device here adopts a brief description manner, and related steps may refer to the foregoing embodiment, and are not described in detail here.

Referring to fig. 4, a flow chart of an automatic driving vehicle scheduling method is provided, which is applied to a vehicle-mounted device and comprises the following steps S401-S405.

Step S401: and receiving the destination position sent by the server.

Step S402: and planning a driving path to the target position.

The content related to the path planning performed by the vehicle-mounted device may refer to the description at step S202 in the foregoing embodiment shown in fig. 2, and is not described in detail here.

Specifically, the travel path may include one or more sub-paths. For example, a segment of the sub-path is: a curved path for reversing the autonomous vehicle from position a to position B, a straight path for reversing the autonomous vehicle from position B to the destination position, etc.

Step S403: and transmitting the running path to a server, and controlling the automatic driving vehicle provided with the vehicle-mounted equipment to run along the running path.

Step S404: and transmitting the position of the vehicle in the process of traveling along the traveling path to a server.

Step S405: and responding to the information of the virtual roadblock sent by the server, and controlling the automatic driving vehicle to carry out obstacle avoidance processing according to the information of the virtual roadblock.

After the vehicle-mounted equipment receives the virtual roadblock information, the automatic driving vehicle can be controlled to carry out obstacle avoidance processing such as deceleration driving, stop waiting, detour and the like according to the virtual roadblock information.

In an embodiment of the disclosure, when the vehicle-mounted device controls the autonomous vehicle to perform obstacle avoidance processing, a distance between the vehicle-mounted device and the virtual roadblock may be obtained according to the position of the virtual roadblock, and a driving speed of the autonomous vehicle to avoid the virtual roadblock is determined according to the distance and the driving speed of the virtual roadblock, and the autonomous vehicle is controlled to drive at the determined driving speed. Therefore, the running speed of the automatic driving vehicle can be adjusted, so that the automatic driving vehicle avoids the conflict with the virtual obstacle, and the running safety of the automatic driving vehicle is improved.

The speed of the virtual obstacle may be the speed of the second vehicle that is expected to pass through the conflict area earlier in the foregoing embodiment, and may be obtained from the server.

As can be seen from the above, in the solution provided in the embodiment of the present disclosure, the server sends the information of the virtual roadblock to the vehicle-mounted device during the driving process of the autonomous vehicle, so that the vehicle-mounted device can control the autonomous vehicle to perform obstacle avoidance processing according to the information of the virtual roadblock during the driving process. Therefore, the automatic driving vehicle is not required to wait in place because no collision-free running path exists in the whole path and cannot start to work, and therefore the scheme provided by the embodiment of the disclosure is applied to automatic driving vehicle scheduling, and vehicle scheduling efficiency can be improved.

In an embodiment of the present invention, the method for scheduling an autonomous vehicle further includes: and adjusting the running information of the automatic driving vehicle running along the running path in response to the virtual roadblock removing notice sent by the server. Therefore, the vehicle-mounted equipment can adjust the running information in time, the influence of the collision on the running of the vehicle is eliminated, and the operation efficiency is improved.

The following describes a method for scheduling an autonomous vehicle according to an embodiment of the present disclosure with reference to a system block diagram shown in fig. 5.

Referring to fig. 5, a block diagram of an autonomous vehicle dispatch system is provided.

Arrows in the figure indicate information transfer relationships and information contents.

The system comprises two parts: an autonomous vehicle and a server.

The following description is directed to a server.

The server includes: a server message transceiving unit and a real-time scheduling unit.

And the server message transceiving unit is used for communicating with the automatic driving vehicle, receiving information such as the vehicle position and the driving path reported by the automatic driving vehicle, sending information such as the virtual roadblock information and the target position to the automatic driving vehicle, and also sending instructions such as a virtual roadblock removing notice to the automatic driving vehicle.

The real-time scheduling unit is used for determining a target position corresponding to the automatic driving vehicle according to the work requirement, determining a vehicle group and a conflict area with conflicts in the driving path according to the driving path and the vehicle position corresponding to each automatic driving vehicle, and sending virtual roadblock information generated according to the conflict area to a first vehicle which is expected to pass through the conflict area later.

The following description will be made of an autonomous vehicle.

An autonomous vehicle includes: the system comprises a vehicle message transceiving unit, a path planning unit, a speed planning unit and an actuating mechanism. The vehicle message transceiving unit, the path planning unit and the speed planning unit can be specifically located on vehicle-mounted equipment carried by the automatic driving vehicle.

And the vehicle message transmitting and receiving unit is used for communicating with the server, receiving the driving path and the vehicle position from the path planning unit, transmitting information such as the vehicle position and the driving path to the server message transmitting and receiving unit in the server, receiving information such as the virtual roadblock information and the target position transmitted by the server message transmitting and receiving unit in the server, transmitting the target position to the path planning unit, and transmitting the information of the virtual roadblock to the speed planning unit.

And the path planning unit is used for planning a driving path to the target position according to the current position of the vehicle, the surrounding environment information and the target position transmitted by the vehicle message transmitting and receiving unit, transmitting the position of the vehicle and the driving path to the vehicle message transmitting and receiving unit and transmitting the driving path to the actuating mechanism.

And the speed planning unit is used for planning the running speed of the vehicle according to the running path, replanning the running speed of the vehicle when receiving the information of the virtual roadblock from the vehicle message receiving and sending unit, planning the running speed according to the distance between the vehicle and the virtual roadblock position to slow down or stop the automatic driving vehicle, and sending the planned speed to the execution mechanism.

And the executing mechanism is used for controlling the automatic driving vehicle to run according to the running path provided by the path planning unit and controlling the running speed of the automatic driving vehicle according to the running speed provided by the speed planning unit.

Corresponding to the automatic driving vehicle scheduling method, the embodiment of the disclosure also provides an automatic driving vehicle scheduling device.

In an embodiment of the present disclosure, referring to fig. 6, a schematic structural diagram of an automatic vehicle dispatching device is provided, which is applied to a server, and includes:

a first position sending module 601, configured to send the destination position to the autonomous vehicle.

The path obtaining module 602 is configured to obtain a driving path planned by the autonomous vehicle and leading to the destination location, and obtain a vehicle location of the autonomous vehicle in a driving process along the driving path planned by the autonomous vehicle.

The area determining module 603 is configured to determine a vehicle group and a collision area where a collision exists in a driving path according to the driving path and the vehicle position corresponding to each autonomous driving vehicle.

A vehicle determination module 604 to determine a first vehicle of the group of vehicles expected to pass the conflict area later.

And a road block information sending module 605, configured to send information of a virtual road block to the first vehicle according to the collision area, so that the first vehicle performs obstacle avoidance processing according to the information of the virtual road block.

As can be seen from the above, in the solution provided in the embodiment of the present disclosure, during the driving process of the autonomous vehicle, the server may determine the conflicting vehicle group and the conflicting region, and send the information of the virtual roadblock to the first vehicle that is expected to pass through the conflicting region later in the vehicle group, and the first vehicle may perform obstacle avoidance processing according to the information of the virtual roadblock during the driving process. Therefore, the scheme provided by the embodiment of the disclosure is applied to automatic driving vehicle scheduling, so that the vehicle scheduling efficiency can be improved, and the overall operation efficiency of the automatic driving vehicle is further improved.

In addition, the automatic driving vehicle has hardware equipment with data processing capacity, in the scheme provided by the embodiment of the disclosure, the automatic driving vehicle completes path planning and obstacle avoidance processing without adding extra hardware resources, and since the server does not need to perform path planning and obstacle avoidance processing, consumed resources are obviously reduced, so that the number of servers arranged in an application scene can be greatly reduced, thereby being beneficial to saving hardware resources. By combining the above situations, the scheme provided by the embodiment of the disclosure can greatly save the operation cost.

In an embodiment of the present disclosure, the area determining module 603 is specifically configured to generate a driving area of each vehicle driven by an individual vehicle along a non-driving path according to a driving path, a vehicle position, and a vehicle size corresponding to each vehicle driven by an individual vehicle; determining automatic driving vehicles with overlapped driving areas to obtain a vehicle group containing the determined vehicles; and determining a conflict area according to the overlapping area of the driving areas corresponding to the vehicles in the vehicle group.

In an embodiment of the present disclosure, the roadblock information sending module 605 is specifically configured to project the collision area to a driving path corresponding to the first vehicle, so as to obtain a projection point; selecting a projection point closest to the current position of the first vehicle as the position of the virtual roadblock; transmitting information to the first vehicle including the virtual roadblock at the determined location.

Therefore, by applying the embodiment of the invention, the obstacle avoidance processing can be carried out in advance by combining the information of the virtual roadblock when the automatic driving vehicle does not drive into the collision area, so that the first vehicle can accurately know the position of the virtual roadblock, the obstacle avoidance processing can be further accurately carried out, and the probability of collision is reduced

In one embodiment of the present disclosure, the vehicle determination module 604 is specifically configured to determine a first vehicle of the vehicle group that is expected to pass through the collision zone later according to at least one of the following information:

a distance between the vehicle and the collision zone;

the load state of the vehicle;

the speed of the vehicle;

the vehicle is preset with a traffic priority.

In an embodiment of the present disclosure, the apparatus further includes:

a release information sending module: in response to a second vehicle in the vehicle group other than the first vehicle traveling through the collision area, sending a virtual barrier release notification to the first vehicle to cause the first vehicle to adjust travel information for traveling along the corresponding travel path.

As can be seen from the above, in the solution provided in this embodiment, after the server determines that the second vehicle has traveled through the collision area, the collision between the first vehicle and the second vehicle is resolved, and in this case, the server sends the virtual roadblock resolution notification to the first vehicle, so that the first vehicle can adjust the travel information in time, and the influence of the collision on the vehicle travel is eliminated, thereby being beneficial to improving the operation efficiency.

In one embodiment of the present disclosure, referring to fig. 7, a schematic structural diagram of another automatic vehicle dispatching device is provided, which is applied to a vehicle-mounted device, and the device includes:

a location receiving module 701, configured to receive a destination location sent by a server.

And a path planning module 702, configured to plan a driving path to the destination location.

A driving control module 703, configured to send the driving route to the server, and control the autonomous vehicle equipped with the in-vehicle device to drive along the driving route.

A second position sending module 704, configured to send the position of the vehicle during traveling along the travel path to the server.

And an obstacle avoidance processing module 705, configured to respond to the information of the virtual roadblock sent by the server, and control the autonomous vehicle to perform obstacle avoidance processing according to the information of the virtual roadblock.

As can be seen from the above, in the solution provided by the embodiment of the present disclosure, in the driving process of the autonomous vehicle, the server sends the information of the virtual roadblock to the vehicle-mounted device, so that the vehicle-mounted device can control the autonomous vehicle to perform obstacle avoidance processing according to the information of the virtual roadblock in the driving process. Therefore, the automatic driving vehicle does not need to wait in place because the whole driving path does not have a conflict-free driving path and cannot start to work, and therefore the scheme provided by the embodiment of the disclosure is applied to automatic driving vehicle scheduling, and vehicle scheduling efficiency can be improved.

In one embodiment of the present disclosure, the apparatus further comprises:

and the running information adjusting module is used for responding to the virtual roadblock removing notice sent by the server and adjusting the running information of the automatic driving vehicle running along the running path.

Therefore, the vehicle-mounted equipment can adjust the running information in time, the influence of the conflict on the running of the vehicle is eliminated, and the operation efficiency is improved.

In an embodiment of the present disclosure, the obstacle avoidance processing module 705 is specifically configured to obtain a distance between the virtual roadblock and the obstacle avoidance module according to the position of the virtual roadblock; determining a travel speed of the autonomous vehicle to avoid the virtual barrier based on the distance and the travel speed of the virtual barrier; controlling the autonomous vehicle to travel at the determined travel speed.

Therefore, the running speed of the automatic driving vehicle can be adjusted, so that the automatic driving vehicle avoids the conflict with the virtual obstacle, and the running safety of the automatic driving vehicle is improved.

The present disclosure also provides a server, an in-vehicle apparatus, a readable storage medium, a computer program product, and an autonomous vehicle according to an embodiment of the present disclosure.

In one embodiment of the present disclosure, there is provided a server 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 automated driving vehicle dispatch applied to a server as set forth in the method embodiments above.

In one embodiment of the present disclosure, there is provided an in-vehicle apparatus 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 autonomous vehicle scheduling method applied to the vehicle-mounted device mentioned in the above method embodiments.

In one embodiment of the present disclosure, a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of autonomous vehicle dispatch of method embodiments is provided.

In one embodiment of the present disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method of autonomous vehicle dispatch described in method embodiments.

In one embodiment of the disclosure, an automatic driving vehicle is provided, which comprises the vehicle-mounted equipment.

FIG. 8 shows a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are 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 disclosure described and/or claimed herein.

As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The computing unit 801 performs the various methods and processes described above, such as an autonomous vehicle scheduling method. For example, in some embodiments, the autonomous vehicle scheduling method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 800 via ROM 802 and/or communications unit 809. When the computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of the above-described autonomous vehicle scheduling method may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the autonomous vehicle scheduling method by any other suitable means (e.g., by means of firmware).

Specifically, the electronic device 800 is a server.

In one implementation, the aforementioned vehicle-mounted device may also have a similar structure to the electronic device 800, and is not described in detail here.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An automatic driving vehicle scheduling method is applied to a server and comprises the following steps:

transmitting the destination location to the autonomous vehicle;

and sending information of the virtual roadblock to the first vehicle according to the conflict area, so that the first vehicle carries out obstacle avoidance processing according to the information of the virtual roadblock.

2. The method of claim 1, wherein the determining of the vehicle groups and the conflict areas where the travel paths conflict comprises determining, according to the travel paths and the vehicle positions corresponding to the autonomous vehicles, the vehicle groups and the conflict areas where the travel paths conflict comprises:

generating a driving area of each automatically driven vehicle along a non-driving path according to the driving path, the vehicle position and the vehicle size corresponding to each automatically driven vehicle;

determining automatic driving vehicles with overlapped driving areas to obtain a vehicle group containing the determined vehicles;

and determining a conflict area according to the overlapping area of the driving areas corresponding to the vehicles in the vehicle group.

3. The method of claim 1 or 2, wherein the transmitting virtual roadblock information to the first vehicle according to the collision zone comprises:

projecting the conflict area to a driving path corresponding to the first vehicle to obtain a projection point;

selecting a projection point closest to the current position of the first vehicle as the position of the virtual roadblock;

transmitting information including the virtual roadblock for the determined location to the first vehicle.

4. The method of claim 1 or 2, wherein the determining a first vehicle of the group of vehicles that is expected to pass the conflict area later comprises:

determining a first vehicle of the group of vehicles expected to pass the conflict area later based on at least one of:

a distance between the vehicle and the collision zone;

the load state of the vehicle;

the speed of the vehicle;

the vehicle is preset with a traffic priority.

5. The method of claim 1 or 2, further comprising:

in response to a second vehicle in the vehicle group other than the first vehicle traveling through the collision area, sending a virtual barrier release notification to the first vehicle to cause the first vehicle to adjust travel information traveling along the corresponding travel path.

6. An automatic driving vehicle scheduling method is applied to vehicle-mounted equipment and comprises the following steps:

receiving a destination position sent by a server;

planning a driving path to the target position;

and responding to the information of the virtual roadblock sent by the server, and controlling the automatic driving vehicle to avoid the obstacle according to the information of the virtual roadblock.

7. The method of claim 6, further comprising:

adjusting the travel information of the autonomous vehicle traveling along the travel path in response to the virtual roadblock removal notification sent by the server.

8. The method as claimed in claim 6 or 7, wherein the performing obstacle avoidance processing according to the information of the virtual roadblock includes:

obtaining the distance between the virtual roadblock and the virtual roadblock according to the position of the virtual roadblock;

determining a travel speed of the autonomous vehicle to avoid the virtual barrier based on the distance and the travel speed of the virtual barrier;

controlling the autonomous vehicle to travel at the determined travel speed.

9. An automatic driving vehicle dispatching device is applied to a server and comprises:

the route obtaining module is used for obtaining a driving route planned by the automatic driving vehicle and driving to the target position and obtaining the position of the automatic driving vehicle in the driving process along the driving route planned by the automatic driving vehicle;

10. The apparatus of claim 9, wherein,

the area determination module is specifically used for determining the area of the vehicle according to the corresponding running path, the corresponding vehicle position and the corresponding vehicle size of each automatic driving vehicle, generating a driving area of each of the autonomously driven vehicles along a non-driving path; determining automatic driving vehicles with overlapped driving areas to obtain a vehicle group containing the determined vehicles; and determining a conflict area according to the overlapping area of the driving areas corresponding to the vehicles in the vehicle group.

11. The apparatus of claim 9 or 10,

the roadblock information sending module is specifically configured to project the collision area to a driving path corresponding to the first vehicle to obtain a projection point; selecting a projection point closest to the current position of the first vehicle as the position of the virtual roadblock; transmitting information to the first vehicle including the virtual roadblock at the determined location.

12. The apparatus of claim 9 or 10,

the vehicle determination module is specifically configured to determine a first vehicle of the vehicle group that is expected to pass through the collision area later according to at least one of the following information:

distance between the vehicle and the conflict area;

the load state of the vehicle;

the speed of the vehicle;

the vehicle is preset with a traffic priority.

13. The apparatus of claim 9 or 10, wherein the apparatus further comprises:

a release information sending module, configured to send a virtual roadblock release notification to a first vehicle in response to a second vehicle in the vehicle group other than the first vehicle driving through the collision area, so that the first vehicle adjusts driving information for driving along a corresponding driving path.

14. An automatic driving vehicle scheduling device is applied to vehicle-mounted equipment and comprises:

15. The apparatus of claim 14, wherein the apparatus further comprises:

and the driving information adjusting module is used for responding to the virtual roadblock removing notice sent by the server and adjusting the driving information of the automatic driving vehicle along the driving path.

16. The apparatus of claim 14 or 15,

the obstacle avoidance processing module is specifically configured to obtain a distance between the obstacle avoidance processing module and the virtual roadblock according to the position of the virtual roadblock; determining a travel speed of the autonomous vehicle to avoid the virtual barrier based on the distance and the travel speed of the virtual barrier; controlling the autonomous vehicle to travel at the determined travel speed.

17. A server, comprising:

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 claims 1-5.

18. An in-vehicle apparatus comprising:

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 claims 6-8.

19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any of claims 1-5 or 6-8.

20. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5 or 6-8.

21. An autonomous vehicle comprising the in-vehicle apparatus according to claim 18.