CN115547023A

CN115547023A - Vehicle control method, device and system

Info

Publication number: CN115547023A
Application number: CN202111390324.7A
Authority: CN
Inventors: 张竞
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-06-30
Filing date: 2021-11-23
Publication date: 2022-12-30

Abstract

The application discloses a vehicle control method, device and system, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring a topological relation of a road junction, wherein the topological relation is used for indicating a road associated with the road junction; determining the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on an upstream road of the road junction; and indicating the passing of the target vehicle at the road junction according to the passing sequence. According to the method, the vehicles at the road intersection are sequenced in a passing mode, so that the conflict among the vehicles is reduced, the passing efficiency among the vehicles is improved, the ordered operation or passing among the vehicles is facilitated, and the overall operation efficiency of a fleet is improved.

Description

Vehicle control method, device and system

Technical Field

The embodiment of the application relates to the technical field of automatic driving, in particular to a vehicle control method, device and system.

Background

Generally, a road network structure is composed of a plurality of roads and intersection roads (also called as road intersections), as shown in fig. 1a, the roads are represented by line segments, the intersection roads are represented by circular dots, two end points of each road are the intersection roads, and an intersection can be an intersection of a plurality of roads.

Due to the convergence or evacuation characteristic of the intersection, deadlock (that is, two or more vehicles become obstacles of other vehicles and all trigger an obstacle avoidance and stop mechanism, such as the annular deadlock phenomenon in the intersection shown in fig. 1 b) or congestion is easily generated at the intersection, and the smooth condition of the intersection largely determines the smooth degree of the road network structure.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, device and system, which are beneficial to reducing conflicts among vehicles and improving the passing efficiency among the vehicles, so that orderly operation or passing among the vehicles is facilitated, and the overall operation efficiency of a fleet is improved.

In a first aspect, an embodiment of the present application provides a vehicle control method, where the method may be applied to a vehicle control device, where the vehicle control device may be an independent device, may also be a chip or a component in a device, and may also be software, and may be deployed in a cloud, or a roadside device, or a remote server, or a local server, and a product form and a deployment manner of the vehicle control device are not limited in the embodiment of the present application.

The method can comprise the following steps: acquiring a topological relation of a road junction, wherein the topological relation is used for indicating a road associated with the road junction; determining the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on an upstream road of the road junction; and indicating the passing of the target vehicle at the road junction according to the passing sequence.

By the method, the topological relation can indicate the incidence relation between the intersection and a plurality of roads, and the vehicle control device can manage the passing of the target vehicle on the road intersection on the upstream road of the intersection by combining the topological relation, the state information of the target vehicle and the attribute information of the road intersection, so that the target vehicle can run through the road intersection at a proper time, and deadlock or congestion of the target vehicle and other vehicles at the road intersection is avoided as far as possible. The scheme can be applied to production scenes such as ports, mines, closed (or semi-closed) industrial parks and the like, so that vehicles in a fleet in a corresponding field are uniformly managed and scheduled, different vehicles can orderly run through the same road junction, the problems of queue insertion and queuing of partial vehicles when the different vehicles are at the same road junction are reduced, the problem of congestion caused by disordered movement of partial vehicles is reduced, the overall operation efficiency of the fleet is improved, and the manual operation cost is greatly reduced. The scheme can also be applied to passenger vehicle environments, such as a high-speed toll station, a garage, a passenger station and the like, and can uniformly manage and schedule the traffic of a plurality of passenger vehicles (considered as belonging to a motorcade) needing to be queued, parked and the like at the same road intersection, so that each passenger vehicle can be orderly queued for traffic/payment, put in a warehouse, taken out of the warehouse and the like, the long-time queuing waiting of part of the passenger vehicles is reduced, and the overall operation efficiency is improved.

With reference to the first aspect, in one possible design, the method further includes: and determining the target vehicle, wherein the target vehicle is a vehicle to pass through the road junction within a preset time.

Since vehicles to pass through the intersection may simultaneously enter the intersection within a preset time, if intersection traffic management is not performed on the vehicles, a deadlock or a congestion phenomenon may occur due to the vehicles simultaneously entering the intersection. By the method, the vehicle control device can determine the target vehicle in the vehicles to pass through the road junction within the preset time, and guide the target vehicle to sequentially run through the road junction by managing the passing sequence of the target vehicle at the road junction, so that deadlock or congestion of a plurality of vehicles at the road junction is reduced.

With reference to the first aspect, in one possible design, the topological relation is used to indicate at least one upstream road associated with the intersection, and the method further includes: according to the topological relation, at least one vehicle to be passed through the intersection in preset time is determined in vehicles located on the at least one upstream road, and the target vehicle is one of the at least one vehicle.

By the method, the vehicle control device can determine vehicles which are to pass through the intersection within the preset time from the vehicles which are likely to drive to the intersection according to at least one upstream road indicated by the topological relation, so that the statistical omission of the vehicles which are to pass through can be reduced as much as possible, all possible candidate vehicles can be sequenced as comprehensively as possible, and the passing sequence of each vehicle at the intersection can be obtained. Further, a plurality of vehicles may be directed to travel through the intersection in an orderly fashion.

With reference to the first aspect, in one possible design, the topological relation is used to indicate at least one downstream road associated with the intersection, and the method further includes: determining a target road of the target vehicle in the at least one downstream road; and adjusting the passing sequence of the target vehicle at the road intersection according to the attribute information of the target road. For example, the attribute information of the target link includes a capacity of the target link.

With reference to the first aspect, in another possible design, the topological relation is used to indicate at least one downstream road associated with the intersection, and the method further includes: determining a target road of the target vehicle in the at least one downstream road; when determining the passing sequence of the target vehicle at the intersection, the method comprises the following steps: and determining the passing sequence of the target vehicle at the road junction according to the attribute information of the target road. For example, the attribute information of the target link includes a capacity of the target link.

By the method, the vehicle control device can determine or adjust the passing sequence of the target vehicle at the intersection according to the attribute information of the target road downstream of the target vehicle so as to ensure that the target vehicle can enter the target road after running through the intersection. Taking the capacity of the target road junction as an example, after the vehicles on the target road reach the upper limit of the target capacity, the target road further cannot accommodate the target vehicles, that is, the target vehicles cannot drive into the target road through the road junction, so the vehicle control device may determine a later passing order for the target vehicles, or adjust the passing order of the target vehicles backwards, thereby reducing deadlock or congestion when the target vehicles cannot pass through the road junction.

With reference to the first aspect, in one possible design, the method further includes: and adjusting the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle. In another possible design, the determining the passing order of the target vehicle at the intersection includes: and determining the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

Through the method, the vehicle control device can determine or adjust the passing sequence of the target vehicle according to the task priority of the vehicle so as to ensure that the vehicle with high task priority can obtain higher passing priority to pass through the intersection preferentially. For example, in a passenger vehicle environment, special work vehicles (e.g., engineering rescue vehicles, ambulance vehicles, fire fighting vehicles, etc.) are given priority.

With reference to the first aspect, in one possible design, the indicating, according to the passing order, the passing of the target vehicle at the intersection includes: and sending indication information to the target vehicle, wherein the indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction.

By the method, the vehicle control device can also guide the target vehicle to the temporary parking space so that the vehicle control device waits in the temporary parking space when the target vehicle cannot drive through the intersection temporarily, interference caused by the target vehicle staying in a working lane or a traveling path of other vehicles is reduced, and deadlock or congestion of the target vehicle staying at the intersection can be reduced.

Optionally, the attribute information of the intersection includes at least one of: capacity, upstream road right, and downstream road right. Wherein the capacity is indicative of an upper limit to the number of vehicles that can support simultaneous traffic at the intersection. The upstream road right and/or the downstream road right may be used for weighting of the road section when determining the traffic priority of the vehicle.

Optionally, the status information of the target vehicle comprises at least one of: position, speed, and heading angle.

The state information of the vehicle can be used for the vehicle control device to determine the real-time position and the real-time state of the vehicle so as to determine whether the vehicle is a vehicle needing to travel through the intersection within the preset time. For example, the position of the vehicle may be used to match the vehicle with the intersection and the roads upstream and downstream of the intersection, so as to determine the matching relationship between the vehicle and the intersection. The course angle of the vehicle can be used for determining whether the vehicle runs towards the direction of the road junction, and if so, the vehicle can be used as a candidate vehicle which possibly needs to carry out junction traffic management at the road junction. The speed of the vehicle may be used to determine the time required for the vehicle to travel to reach the intersection, with shorter times indicating that the vehicle is closer to the intersection and the order in which it travels through the intersection may be prioritized ahead. Further, the vehicle control device may determine the matching relationship between the vehicle and the intersection and the passing order of the vehicle at the intersection according to one or a combination of the state information reported by the vehicle, which is specifically implemented in the following with reference to the detailed method steps, and is not repeated herein.

In a second aspect, embodiments of the present application provide a vehicle control method, which may be applied to a whole vehicle, or an on-board device on the vehicle, or a chip or other components in the vehicle. The method comprises the following steps: the method comprises the steps that a target vehicle receives first indication information, the target vehicle is located on an upstream road of a road junction, the road junction and the upstream road of the road junction are defined in the same topological relation, and the first indication information is used for indicating the passing sequence of the target vehicle at the road junction; and the target vehicle runs through the road junction according to the first indication information.

With reference to the second aspect, in one possible design, the target vehicle is a vehicle that is to pass through the intersection within a preset time.

In combination with the second aspect, in one possible design, the intersection is associated with at least one upstream road, and the target vehicle is a vehicle of at least one vehicle that is to pass through the intersection within a preset time, the at least one vehicle being located on the at least one upstream road.

With reference to the second aspect, in one possible design, the method further includes: the target vehicle receives second indication information, wherein the second indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction; and the target vehicle drives to the temporary parking space according to the second indication information before passing through the road junction.

With reference to the second aspect, in one possible design, the method further includes: the target vehicle reports state information, wherein the state information comprises at least one of the following items: position, speed, and heading angle.

In a third aspect, embodiments of the present application provide a vehicle control method, which may be applied to a whole vehicle, or an on-board device on a vehicle, or a chip or other components in a vehicle. The method comprises the following steps: receiving first indication information, wherein the first indication information is used for indicating a temporary parking space; controlling a vehicle to drive to the temporary parking space according to the first indication information; receiving second indication information, wherein the second indication information is used for indicating a passing path of the vehicle at a road junction; and controlling the vehicle to run from the temporary parking space through the road junction according to the second indication information.

In a fourth aspect, embodiments of the present application provide a vehicle control method, which may be applied to a whole vehicle, or an on-board device on a vehicle, or a chip or other components in a vehicle. The method comprises the following steps: receiving indication information, wherein the indication information is used for indicating a passing path, and the passing path comprises a temporary parking space and a road intersection; and controlling the vehicle to run through the road junction after the vehicle is parked in the temporary parking space according to the indication information.

It should be understood that, in the embodiment of the present application, the passing route may be a road-level route or a lane-level route, where the road-level route may indicate that the vehicle travels on the corresponding road, and is mainly used for indicating a traveling direction at a road junction, and generally does not constrain a specific behavior of the vehicle in the road; lane-level routes may require a vehicle to travel on a particular lane, not allowing the vehicle to overtake, change lanes, or cross lanes at will.

In a fifth aspect, an embodiment of the present application provides a vehicle control apparatus, where the vehicle control apparatus may be an independent device, may also be a chip or a component in a device, may also be software, and may be deployed in a cloud, a roadside device, a remote server, a local server, or the like.

The vehicle control apparatus may include: the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring a topological relation of a road junction, and the topological relation is used for indicating a road associated with the road junction; the determining unit is used for determining the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on an upstream road of the road junction; and the communication unit is used for indicating the passing of the target vehicle at the road junction according to the passing sequence. Optionally, the attribute information of the intersection includes at least one of: capacity, upstream road right, and downstream road right. The status information of the target vehicle includes at least one of: position, speed, and heading angle.

With reference to the fifth aspect, in one possible design, the determining unit is further configured to: and determining the target vehicle, wherein the target vehicle is a vehicle to pass through the road junction within a preset time.

With reference to the fifth aspect, in one possible design, the topological relation is used to indicate at least one upstream road associated with the intersection, and the determining unit is further configured to: according to the topological relation, at least one vehicle to be passed through the intersection in preset time is determined in vehicles located on the at least one upstream road, and the target vehicle is one of the at least one vehicle.

With reference to the fifth aspect, in one possible design, the topological relation is used to indicate at least one downstream road associated with the intersection, and the determining unit is further configured to: determining a target road of the target vehicle in the at least one downstream road; and adjusting the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

With reference to the fifth aspect, in one possible design, the topological relation is used to indicate at least one downstream road associated with the intersection, and the determining unit is further configured to: determining a target road of the target vehicle in the at least one downstream road; wherein, when determining the passing order of the target vehicle at the intersection, the determining unit includes: and determining the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

With reference to the fifth aspect, in one possible design, the apparatus further includes: and the adjusting unit is used for adjusting the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

With reference to the fifth aspect, in one possible design, when the determining unit determines the passing order of the target vehicle at the intersection, the determining unit includes: and determining the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

With reference to the fifth aspect, in one possible design, the communication unit is configured to: and sending indication information to the target vehicle, wherein the indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction.

In a sixth aspect, the present application provides a vehicle control apparatus, which may be an entire vehicle, or an on-board device on the vehicle, or a chip or other components in the vehicle.

The vehicle control apparatus may include: the communication unit is used for receiving first indication information, the vehicle is located on an upstream road of a road junction, the road junction and the upstream road of the road junction are defined in the same topological relation, and the first indication information is used for indicating the passing sequence of the vehicle at the road junction; and the control unit is used for controlling the vehicle to run through the road junction according to the first indication information. Optionally, the target vehicle is a vehicle that is to pass through the intersection within a preset time. Or, the intersection is associated with at least one upstream road, the target vehicle is a vehicle of at least one vehicle to be passed through the intersection within a preset time, and the at least one vehicle is located on the at least one upstream road.

With reference to the sixth aspect, in a possible design, the communication unit is further configured to receive second indication information, where the second indication information is used to indicate a temporary parking space of the target vehicle before passing through the intersection; the control unit is further used for controlling the vehicle to run to the temporary parking space according to the second indication information before controlling the vehicle to pass through the road junction.

In a seventh aspect, an embodiment of the present application provides a vehicle control apparatus, including: the parking system comprises a first communication unit, a second communication unit and a control unit, wherein the first communication unit is used for receiving first indication information, and the first indication information is used for indicating a temporary parking space; the first control unit is used for controlling the vehicle to run to the temporary parking space according to the first indication information; the second communication unit is used for receiving second indication information, and the second indication information is used for indicating a passing path of the vehicle at a road junction; and the second control unit is used for controlling the vehicle to run from the temporary parking space through the road junction according to the second indication information.

In an eighth aspect, an embodiment of the present application provides a vehicle control apparatus, including: the communication unit is used for receiving indication information, wherein the indication information is used for indicating a passing path, and the passing path comprises a temporary parking space and a road junction; and the control unit is used for controlling the vehicle to run through the road junction after the vehicle is parked in the temporary parking space according to the indication information.

In a ninth aspect, an embodiment of the present application provides an apparatus, which includes a memory and a processor, the memory being configured to store computer instructions; the processor invokes the computer instructions stored by the memory to implement any of the above aspects and possible designs of any of the above aspects.

In a tenth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer program causes the computer to execute the method according to any one of the above aspects and possible designs of any one of the above aspects.

In an eleventh aspect, the present application provides a computer program product, which when run on a computer, causes the computer to execute the method according to any one of the above aspects and possible designs of any one of the above aspects.

In a twelfth aspect, the present application provides a chip system, where the chip system includes a processor, and is configured to call a computer program or computer instructions stored in a memory, so as to enable the processor to execute the method according to any one of the above aspects and any design possibility of the above aspect.

With reference to the twelfth aspect, in one possible implementation manner, the processor is coupled with the memory through an interface.

With reference to the twelfth aspect, in a possible implementation manner, the chip system further includes a memory, where the computer program or the computer instruction is stored in the memory.

In a thirteenth aspect, embodiments of the present application provide a processor, configured to call a computer program or computer instructions stored in a memory, so as to enable the processor to execute the method according to any aspect and any possible design of the above aspect.

In a fourteenth aspect, an embodiment of the present application provides a vehicle control system that includes the vehicle control apparatus according to the fifth aspect described above, and the vehicle control apparatus according to the sixth aspect, the seventh aspect, or the eighth aspect described above.

The embodiments of the present application may be further combined to provide more implementations on the basis of the implementations provided by the above aspects.

Drawings

FIG. 1a shows a schematic diagram of a road network structure;

FIG. 1b is a schematic diagram illustrating a ring deadlock phenomenon;

FIG. 2a is a schematic diagram illustrating an application scenario to which an embodiment of the present application is applicable;

FIG. 2b shows an architecture diagram of a system to which embodiments of the present application are applicable;

FIG. 3 illustrates a schematic view of a roadway intersection in an embodiment of the present application;

fig. 4 shows a schematic view of an electronic fence according to an embodiment of the present application;

FIG. 5 is a flow chart illustrating a vehicle control method according to an embodiment of the present application;

FIG. 6 is a flow chart showing a vehicle control method according to an embodiment of the present application;

FIG. 7 is a flow chart showing a vehicle control method according to the embodiment of the present application;

FIG. 8 is a flowchart illustrating a vehicle control method according to an embodiment of the present application;

fig. 9 is a schematic structural diagram showing a vehicle control apparatus according to an embodiment of the present application;

FIG. 10 is a schematic view showing the structure of a vehicle according to the embodiment of the present application;

fig. 11 shows a schematic structural diagram of an apparatus according to an embodiment of the present application.

Detailed Description

The intersection of roads can also be called as a road intersection, is generally the intersection of two or more roads, and is a necessary place for gathering, turning and evacuating traffic such as vehicles, pedestrians and the like. Among them, depending on the moving direction of traffic, and the like, a road in the upstream direction of the intersection is called an incoming road (incoming road), and a road in the downstream direction of the intersection is called an outgoing road (outgoing road). According to the number of crossed roads, the intersection can be divided into three-branch intersection, four-branch intersection, multi-branch intersection and the like. The method can be divided into plane crossing, solid crossing and the like according to the crossing mode. Generally, one road may contain one or several lanes. The lane may also be called a lane, and the lane is a road on which a vehicle travels, and may be a one-way lane or a multi-way lane.

In urban traffic, in order to ensure traffic safety and smoothness, traffic lights are generally arranged at road intersections, and vehicles in all directions can pass in order by utilizing phase control of the traffic lights. In busy hours, special personnel can generally command the traffic at the road junction, and in smaller-scale road junctions without traffic lights, the multi-vehicle intersection traffic is generally realized by the autonomous behavior of drivers. In the situation that special personnel are required to participate in command and guidance, large labor cost is inevitably brought, and potential traffic risks may also endanger personal safety. However, a driver generally can only control the driving behavior of the vehicle, and cannot control the behavior of other vehicles, and although communication between the driver and the driver can complete traffic at an intersection, in a complex scene (for example, more vehicles are collected), the problem of low communication efficiency exists, and deadlock or congestion cannot be avoided.

In the commercial vehicle production environment, in order to maximize the production efficiency, traffic lights are not arranged at a plurality of road intersections, and in order to ensure the operation safety and reduce the cost, special personnel cannot be arranged at the intersections. If the vehicle is manually driven, the traffic at the road junction can be realized through the communication between drivers, but the mode has low efficiency and is not beneficial to the improvement of the production efficiency of the whole system. And because the automatic driving scene based on the automatic driving of the vehicle end realizes the passage of the road intersection port by a vehicle end game mode, because a uniform decision brain is lacked, the information mastered by each vehicle is limited, and in addition, the interference of the vehicle end sensing element is received, the vehicle end is difficult to make a decision which is beneficial to improving the operation efficiency, and simultaneously, the deadlock phenomenon easily occurs, so that the operation stagnation of the whole system is caused, and the operation efficiency of the system is greatly influenced.

In order to solve the problems, unified scheduling, planning and guiding are carried out on vehicles in a target area based on a cloud end, namely vehicle cloud collaborative driving is carried out. The scheme can be applied to some port scenes, and the efficient operation at the wharf is realized. However, in this solution, the cloud end is only used for issuing tasks (e.g. including destination information) and some basic instructions (e.g. parking, task suspension, task resumption, etc.) to the vehicle end, and is a weak control mode, in which the cloud end does not need to have a path planning capability, or only needs to have a simpler path planning capability (usually needs to be preset). Meanwhile, the driving path is recorded at the vehicle end by driving for multiple times in the field, and then the corresponding path is called from the vehicle end database according to the task issued by the cloud end and the vehicle is driven along the path. In this scheme, the realization of autopilot function relies on the car end almost completely, and the high in the clouds does not really play many cars cooperative control's effect, when a plurality of vehicles need pass through same road intersection, can not avoid the conflict between the vehicle, causes phenomena such as deadlock or the jam of local region department easily, leads to entire system's operating efficiency low. In addition, the scheme requires that the vehicle records the driving path and drives along the stored driving path, depends on the operation field, cannot flexibly change and expand the operation field, and is poor in expandability.

The embodiment of the application provides a vehicle control method, a vehicle control device and a vehicle control system, wherein the vehicle control device determines the passing sequence of a target vehicle at a road junction according to a topological relation, attribute information of the road junction, state information of the target vehicle and the like, and indicates the passing of the target vehicle at the road junction according to the passing sequence, so that the target vehicle can run through the road junction at a proper time, and deadlock or congestion of a plurality of vehicles at the road junction is reduced as much as possible. This scheme can be applied to harbour, mine, in production scenes such as the industrial park of closure (or semi-closed), in order to vehicle in the motorcade in corresponding place carries out unified management and dispatch, make different vehicles can go through same road intersection in an orderly manner, reduce the queue insertion of different vehicles when same road intersection, some vehicle wait for problem of lining up, reduce the problem of blocking up that some vehicle confusion removal arouses simultaneously, help improving the whole operating efficiency of motorcade, and greatly reduce the manual operation cost. The scheme can also be applied to passenger vehicle environments, such as a high-speed toll station, a garage, a passenger station and the like, and can uniformly manage and schedule the traffic of a plurality of passenger vehicles (considered as belonging to a motorcade) needing to be queued, parked and the like at the same road intersection, so that each passenger vehicle can be queued, passed/paid, put in a garage, taken out of the garage and the like in order, the long-time queuing waiting of part of the passenger vehicles is reduced, and the whole operation efficiency is improved.

Furthermore, through the scheme, the vehicle passing management of a plurality of road intersections in the road network structure can be realized, so that the vehicles are uniformly distributed in the whole road network structure, and the efficient operation of the whole system is realized. The method and the device are based on the same technical conception, and because the principle of solving the problems of the method and the device is similar, the implementation of the device and the method can be mutually referred, and repeated parts are not described again.

It should be noted that the vehicle control scheme in the embodiment of the present application may be applied to a vehicle networking, such as vehicle-to-all (V2X), long term evolution-vehicle (LTE-V) for vehicle-to-vehicle (V2V), and the like. For example, it may be applied to a vehicle having a driving movement function, or other devices having a driving movement function in a vehicle. Such other devices include, but are not limited to: the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera, and the vehicle control method provided by the embodiment of the application is implemented. Of course, the control scheme in the embodiment of the present application may also be used in other intelligent terminals with a motion control function besides a vehicle, or be arranged in a component of the intelligent terminal. The intelligent terminal can be intelligent transportation equipment, intelligent household equipment, a robot and the like. Including but not limited to, for example, a smart terminal or other sensor such as a controller, chip, radar or camera within a smart terminal, and other components.

In the present embodiment, "at least one" means one or more, "and" a plurality "means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b and c can be single or multiple.

And, unless otherwise specified, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing between a plurality of objects, and do not limit the priority or importance of the plurality of objects. For example, the first, second, and third parking spaces are merely to distinguish different parking spaces, and do not indicate the difference in priority, importance, or the like of the three parking spaces.

For the sake of understanding, the following description is made with reference to the drawings and examples.

Fig. 2a shows a schematic diagram of an application scenario to which the embodiment of the present application is applied. In this application scenario, the vehicle 100 and the cloud service system 200 may be included, and the vehicle 100 and the cloud service system 200 may communicate through a network.

Some or all of the functions of the vehicle 100 are controlled by the computing platform 150. Computing platform 150 may include at least one processor 151, and processor 151 may execute instructions 153 stored in a non-transitory computer-readable medium, such as memory 152. In some embodiments, the computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a Central Processing Unit (CPU). Alternatively, the processor 151 may also include a processor such as a Graphic Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

In addition to instructions 153, memory 152 may also store data such as road maps, route information, the location, direction, speed of the vehicle, and other such vehicle data, among other information. Such information may be used by the vehicle 100 and the computing platform 150 during operation of the vehicle 100 in autonomous, semi-autonomous, and/or manual modes.

It should be understood that the structure of the vehicle in fig. 2a should not be construed as limiting the embodiments of the present application.

Alternatively, the vehicle 100 may be a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a lawn mower, an amusement car, a playground vehicle, construction equipment, an electric train, a golf cart, a train, etc., and the embodiment of the present application is not particularly limited.

In addition, the application scenario shown in fig. 2a may further include a cloud server. In the embodiment of the application, the cloud server manages the passing of the target vehicles on the upstream road of the road intersection by combining the topological relation, the state information of the target vehicles and the attribute information of the road intersection, so that the target vehicles can run at the proper time through the road intersection, the target vehicles and other vehicles are prevented from being deadlocked or jammed at the road intersection as much as possible, and the collision among the vehicles is avoided.

In one embodiment, the cloud server may also be implemented by a virtual machine.

Figure 2b shows a system architecture diagram suitable for use with the claimed embodiments. Referring to fig. 2b, the system may include: vehicle control device 210 and vehicle 220. It should be understood that the present disclosure is only illustrative and not restrictive of the devices that may be included in the system, and optionally, the system may further include an upper layer application 230, a Road Side Unit (RSU), and the like. Also, the number of various devices that may be included in the system is not limited to one, and for example, at least one vehicle 220 may be included in the system.

Vehicle control device 210 may be used to provide related services/functions for controlling vehicle 220, including but not limited to map services, intersection communication management services, and path planning services. In a possible implementation manner, the above various services may also be implemented by corresponding modules in the vehicle control device 210, for example, the map module 211 provides the map service, the junction traffic management module 212 provides the junction traffic management service, the route planning module 213 provides the route planning service, and the like. It should be understood that the map module 211, the parking space resource management module 212, and the path planning module 213 mentioned herein may be different modules, may also be two modules, may also be one module, or part of the functions of the modules may also be deployed in an upper layer application or other systems, and the embodiment of the present application is not limited to the services provided by the vehicle control device 210 and the specific implementation manner of the services.

For example, the map module 211 provides the map service, and may provide map information required for driving control of the vehicle 120 in a set target area, including but not limited to road information, intersection information, and other relevant information in the target area. The intersection traffic management module 212 provides the intersection traffic management service, which may be intersection traffic scheduling for the vehicle 220, so that the vehicle 220 may sequentially pass through the corresponding intersection in the target area by planning a proper traffic sequence for the vehicle 220. The path planning module 213 provides the path planning service, which may be to plan a path for the vehicle, plan a running route of the vehicle in the target area, and send instruction information to the vehicle, so that the vehicle 220 may move orderly based on the obtained path. Therefore, under the cooperative control of each module, the vehicle control device can flexibly plan and adjust the passing sequence of a plurality of vehicles at the road junction under the condition that the vehicles need to pass through the same road junction, reduce the phenomena of deadlock or congestion and the like of the vehicles at the road junction, and ensure the uniform passing of the vehicles at each road junction of the road network structure as much as possible.

The modules in the vehicle control device can communicate with each other and transmit information to ensure the realization of related functions of the vehicle control device. For example, the intersection traffic management module 212 may query vehicle information, intersection information, topological relationships, and other relevant configuration information in the target area from the map module, and perform unified management and scheduling for multiple vehicles that need to pass through the same intersection based on the queried information, so as to obtain a passing order of the multiple vehicles at the intersection. The route planning module 213 may query the traffic sequence of the plurality of vehicles from the intersection traffic management module, and perform route planning for the plurality of vehicles based on the traffic sequence to obtain a route to be run of each vehicle. In fig. 2b, the connection lines among the map module 211, the intersection passage management module 212, and the route planning module 213 only indicate that these modules are in information communication with each other, and do not limit the communication mode, the information transmission direction, and the specific information transmitted among the different modules.

In particular implementations, the vehicle control device 210 may take on a variety of different product forms. For example, the vehicle control device may be a server. The server may be a single server, or may be a server cluster including a plurality of servers. The server may be a local server. In the field of car networking, the server may specifically be a cloud server, which may also be referred to as a cloud, a cloud end, a cloud server, a cloud end controller, a car networking server, or the like. The cloud server is a general term for a device or apparatus having data processing capability, such as a physical device including a host or a processor, a virtual device including a virtual machine or a container, and a chip or an integrated circuit. Optionally, the vehicle control device 210 may also be a road side unit, or a chip or a component in the road side unit.

Vehicle 220 may be any vehicle including, but not limited to, a production vehicle, a general work vehicle, a specialty work vehicle, etc., and may be a passenger car, truck, etc. Vehicle 220 may register with vehicle control device 210 to obtain the various services provided by vehicle control device 210. The service provided by the vehicle control device 210 for the vehicle 220 may be presented at the vehicle 220 end in various forms, for example, a voice service, a navigation service, an automatic driving service, an inquiry service, a voice broadcast service, and the like, which is not limited in the embodiment of the present application. The vehicle 220 may also report related information, such as status information of the vehicle, to the vehicle control device 210, so that the vehicle control device 210 may uniformly manage and schedule a plurality of vehicles based on the status information reported by the vehicle 120.

Where vehicle 220 may be a vehicle in a fully manual driving mode, or a fully autonomous driving mode, or vehicle 220 may be configured as a partially autonomous driving mode. Here, the vehicle in the partially automated driving mode, for example, means that the vehicle 220 may control itself while in the automated driving mode, and may determine the current state of the vehicle and the surrounding environment by a human operation, determine a possible behavior of at least one other vehicle in the surrounding environment, and control the vehicle 220 based on the determined information. When vehicle 220 is in a fully autonomous driving mode, vehicle 220 may be placed into operation without human interaction. It should be understood that in the case where at least one vehicle is included in the above system, the at least one vehicle may include therein: vehicles of different vehicle types, or vehicles of different work types, or vehicles of different task priorities, or vehicles in different driving modes, in other words, the system may specifically include a plurality of different vehicles, which is not limited in the embodiments of the present application.

Optionally, a vehicle-mounted device for performing information processing and information interaction, such as a telematics Box (T-Box), may be disposed or mounted on the vehicle 220, and the T-Box may communicate with the RSU. Alternatively, various terminal devices described below may be considered as vehicle-mounted devices if they are located on a vehicle (e.g., placed in or mounted in the vehicle), and the vehicle-mounted devices may also be considered as On Board Units (OBUs).

Alternatively, the vehicle control device 210 may interface the upper layer application 230 upward. By way of example, the upper layer application may be an application program or software. The upper layer application 230 may be installed and run on a user device (may be a cloud device or a terminal device), and an operator may configure the vehicle control apparatus 210 through the upper layer application 230, including but not limited to configuring functions of the vehicle control apparatus 210, issuing tasks, control instructions, and the like. Further, the vehicle control device 210 may perform unified intersection traffic management on related vehicles in the system according to the related configuration information, tasks, control instructions, and the like obtained from the upper application 230 and by using other information that may be obtained by itself, so as to reduce occurrence of local deadlock or congestion in the road network structure.

It will be appreciated that the user device may be any suitable electronic device including, but not limited to, a cell phone, a tablet, a desktop, a wearable device, etc. The user equipment may have a User Interface (UI) that may be used to display map information, intersection information, topological relationships, vehicles in a map, and the like in a target area. The user interface can be a touch screen, and an operator can realize the related configuration through touch operation on the user interface; alternatively, the user equipment may also have other input devices, such as a mouse, a keyboard, etc., by which an operator may perform configuration, task delivery, etc. to the vehicle control device via an upper layer application.

For ease of understanding, before the vehicle control method of the present application is introduced, the predefined topological relationships, the attribute information of the intersection, and the information interacted between the functional modules in fig. 2b of the present application are explained first.

1. Defining a road Junction (Junction):

in the embodiment of the present application, a Road junction is one or more Road convergence points or dispersion points, and the roads associated with the Road junction can be divided into an incoming Road (incoming Road) or an outgoing Road (outgoing Road) according to the traffic flow direction or the people flow direction on the roads, where the incoming Road may also be referred to as an upstream Road of the Road junction, and the outgoing Road may also be referred to as a downstream Road of the Road junction.

In the vehicle control scheme of the embodiment of the present application, not only the convergence or dispersion of roads at the intersection is concerned, but also the driving behaviors of different vehicles at the intersection, such as direct passing, temporary parking, and the like, need to be concerned, and therefore, in the embodiment of the present application, the number of the upstream roads or the number of the downstream roads at any intersection is not restricted, and the number of the upstream roads or the number of the downstream roads at one intersection may be greater than or equal to 1, or may also be 0. For example, one intersection may be associated with only an upstream road, only a downstream road, or only one upstream road and one downstream road, or one intersection may be associated with one upstream road and at least two downstream roads, or one intersection may be associated with at least two upstream roads and one downstream road, which are not described in detail herein.

Under different scenes, the requirements for the road junction are different, so that the road junction can be defined in advance based on the scene requirements and/or a map of a target area, and the like, and the positions in the target area can be defined as the road junction and information can be used for traffic management of the road junction.

(1) Determining the type and the position of a road junction:

fig. 3 shows three examples of the intersection.

As shown in fig. 3, in case a, a dotted frame is a common cross-shaped intersection, which may have two upstream roads and two downstream roads, denoted as upstream roads (1), (2) and downstream roads (3), (4). In which, according to the direction of traffic, the vehicle from the upstream road (1) ((2)) can travel through the intersection to reach the downstream road (3)/(4), and in the case where the traffic regulation is not violated, on the contrary, the roads (3), (4) can be regarded as the upstream roads, the roads (1), (2) can be regarded as the downstream roads, and the vehicle from the road (3) ((4)) can travel through the intersection and reach the roads (1)/(2). Similarly, in the case a, the number of the upstream roads or the number of the downstream roads may be changed, and more intersection types of road junctions may be defined in an expandable manner, which is not described herein again.

In case b, the dashed frame is an intersection at a corner of the road. When the corner point of the road is large, vehicles (such as vehicles with large size and poor motor performance) are difficult to drive along the initial lane at the corner, so that the lane changing behavior of the vehicles frequently occurs at the corner, and the corner can be set as a road intersection so as to facilitate the traffic management of the vehicles which need to drive through the corner.

In case c, the dashed box is a portion of the straight road, which can be used for vehicle lane change or can be regarded as a road junction. Such intersections are often used in certain situations, for example, in commercial production environments, where a part of a straight road is used as a special lane-changing part for vehicles due to production needs, so that the vehicles can change lanes when they arrive at the intersection.

In practical applications, the intersection demand information may be used to describe various required road intersections, for example, the road intersections shown in the situations a to c in fig. 3, where the intersection demand information may be provided by an operator according to production demands, and the intersection demand information may be described in natural language, or in machine language that can be understood by machines and programs, or in other suitable languages, which is not limited in the embodiment of the present application.

The vehicle control apparatus may traverse a map of the target area based on the intersection demand information, and determine a position suitable as a road intersection required by the present application in the map. Any road junction can be a road junction which really exists in the physical world, or a road junction which is generated according to production requirements, and the generated road junctions can be different under the condition that the production requirements are changed.

It should be understood that the three cases in fig. 3 are merely illustrative and not restrictive of the intersection applicable to the embodiment of the present application, and in other embodiments, other types of intersections may be defined in combination with actual production requirements or places, and the embodiment of the present application does not limit the type and the location of the intersection required.

(2) Defining topological relation and attribute information of each road intersection:

in the embodiment of the application, based on the determined intersection in the target area, a topological relation may also be defined based on a map of the target area, where the topological relation is used to indicate roads associated with each intersection in the target area, including an upstream road and/or a downstream road.

In addition, in order to facilitate the vehicle passing management at each intersection, it may be further defined for each determined intersection to configure attribute information (as shown in table 1 below) of each intersection, so as to facilitate the vehicle passing management at the intersection based on the attribute information of the intersection.

It will be appreciated that in one implementation, the topological relationship may be presented as a road network structure diagram as shown in fig. 1a, including an identification of each intersection within the target area, and an identification of upstream roads and/or an identification of downstream roads associated with the intersection. In another implementation manner, the attribute information of each intersection may include an identifier of the intersection, and an upstream road identifier set and/or a downstream road identifier set associated with the intersection, and the topological relationship may be obtained according to the identifier of the intersection, the upstream road identifier set, and/or the downstream road identifier set. The topological relationship determines which vehicles participate in intersection traffic management, which can be altered according to the job task. For example, in a port scene, a connection road and an intersection of a shore bridge area and a yard area may change with the position where a ship stops, and when the position where the ship stops changes, the road is updated according to the specific position where the ship stops. In one case, the topological relationships are determined immediately before operation, and are not likely to change in the actual operating environment. In another case, when a certain road or lane cannot meet the traffic condition temporarily, for example, a vehicle on the road or lane has a fault or is jammed, or the road or lane itself has a fault and needs to be shut down, the road or lane is deleted from the topological relation, and the original topological relation is dynamically updated again to obtain a new topological relation. In another case, the topological relation may be updated according to the task state, for example, when the task amount decreases, the topological relation may be updated according to the actual task requirement, and the parking space resource is released; or when the task type is changed, the task type with the high priority preferentially occupies the parking space resources, namely, the parking space resources owned by the task type with the low priority are released, and the topological relation is updated, so that the task type with the high priority is satisfied. The updating may also be performed in units of time, for example, the updating is performed in a period of days, the updating is performed in a week, and the embodiment of the present application does not limit this specific implementation manner.

TABLE 1

As shown in table 1 above, the first column exemplarily shows names of relevant attributes defined for the intersection, including an identification (id) of the intersection, an identification (map _ id) of a map to which the intersection belongs, an intersection description (description), an upstream road identification set (incoming _ roadIds), a downstream road identification set (outgoing _ roadIds), an electronic fence for matching (match _ time), a status (status) of the intersection, a capacity (capacity), an upstream road right (incoming _ roads _ rights), a downstream road right (outgoing _ roads _ rights), a zone identification (zone _ id), a barrier (barrier), and the like. Accordingly, the second to fourth columns are respectively definition information for the corresponding attributes, including types of attributes, such as Integer (Integer) type, string (String) type, enumeration (Enum) type, double precision floating point (Double) type, map point (MapPoint) type, data set type (e.g., list < Integer >, list < MapPoint >, map < Integer, double > List < MapPoint >), etc.; the definition of attributes, such as relevant identification, upstream and downstream road identification information, state, capacity, right of way and the like; and other relevant information remarked, as detailed in table 1 and explained below. It should be understood that, here is only an illustration of the attribute of the intersection, and is not limited in any way, and in a specific implementation, other attributes of the intersection may also be defined according to a generation requirement, a scene situation of a target area, and the like, which is not limited in this embodiment of the application.

Wherein, the id field and/or map _ id field can be used to uniquely identify a road junction. The id field is used for bearing the main key identification of the intersection, the map _ id is used for bearing the identification information of different maps, and when different maps are switched, the information in the id field can be combined with the information in the map _ id field to distinguish the intersection in different maps.

The Description field may be used to carry information describing a carrying attribute of one intersection, for example, whether the intersection is a navigation attribute carrying or a non-navigation attribute carrying. In specific implementation, according to different generation requirements, different road intersection ports corresponding to the same position in the target area may have different bearing attributes.

The incoming _ roadIds field may be used to carry a set of identifications of at least one upstream road at a road junction, and the set of upstream road identifications may be used to determine a matching relationship of a vehicle with the road junction when the vehicle roads match. For example, if a vehicle is located on a certain upstream road of a certain intersection, the vehicle may have a matching relationship with the intersection.

The outcoding _ roadIds field can be used for bearing information of identification of at least one downstream road of the road junction, and the downstream road identification set can be used for determining a matching relationship between the vehicle and the road junction in scenes such as vehicle-road matching and curve starting. For example, if a target path of a vehicle includes a certain downstream road of a certain intersection, the vehicle may have a matching relationship with the intersection.

The match _ nonce field is used for bearing the electronic fence information at the intersection. The electronic fence (as shown in fig. 4) can be used to determine the matching relationship between the vehicle and the intersection more accurately when the vehicle and the road are matched, and/or determine whether the vehicle is closer to the intersection.

The status field may be used to carry the status of the intersection, indicating whether the intersection is available, i.e., whether to support vehicle traffic at this point or lane changes. Generally, the intersection in the embodiment of the present application may be set to the available state by default. In one embodiment, the status of the intersection may be dynamically configurable, such as by configuring an available intersection as unavailable, i.e., from "open" to "close".

The capacity field may be used to carry capacity information of the intersection, that is, the intersection may support the number of passing vehicles at the same time. Generally, if a junction is a single lane (such as shown in cases a-c in fig. 3), the capacity of the junction is 1, that is, only one vehicle can pass through the junction at the same time. If the intersection involves the crossing of two or more lanes, the intersection can support two or more vehicles to pass through at the same time according to the crossing condition, and the capacity of the intersection can be greater than or equal to 1. Alternatively, the capacity may be configured as 1 if the intersection involves the intersection of two or more lanes, can support two or more vehicles to pass through simultaneously, but provides that only one vehicle can pass through the intersection. Namely, the information carried by the capacity field can be defined and dynamically configured according to the requirements of the road junction. It is understood that the capacity may be dynamically configured, for example, dynamically changing based on job task requirements, or dynamically configured based on operator experience. The capacity is related to at least one of the length of the road itself, the number of lanes, the driving distance between vehicles, the ability of coordinated driving, including the ability of the server to schedule the fleet of vehicles and/or the performance of the vehicles themselves in the fleet of vehicles, the working environment of the vehicles and the demand of the working tasks. For example, in the same working scenario, the travel distance between vehicles in a fine day may be smaller than the travel distance between vehicles in a foggy day, so that the capacity of the road configured in a fine day is larger than the capacity of the road configured in a foggy day. In one implementation, when the vehicle data on the downstream road of the junction reaches the upper limit of the capacity of the downstream road, the vehicles on other roads related to the downstream road of the junction are controlled, and the vehicles on other roads are suspended from driving into the downstream road of the junction, so that the congestion can be relieved, and the efficiency is improved. It will be appreciated that capacity may also include capacity of the downstream link.

The upcoming _ road _ lights field may be used to carry the right of way (or indicated as the priority of the upstream road traffic) of the upstream road at the intersection, and the right of way of the upstream road may be used as an evaluation parameter to evaluate the traffic sequence of the vehicles on the upstream road at the intersection. The road right of the upstream road can be dynamically configured according to the actual conditions of the road intersection and the upstream road thereof and the production requirement. In one example, the road right of at least one upstream road of the intersection may have the same value. In another example, the right-of-way of at least one upstream road of the intersection may have different values, and generally, the right-of-way of an important road (e.g., an emergency lane, a fire lane, a main production road, etc.) may be greater than that of a general road. It can be understood that the road right parameters carried by the intersection themselves describe the importance of the road, and in the intersection traffic management, vehicles driving into the intersection from the road with high road right and/or vehicles driving into the road with high road right after driving out from the intersection are preferentially passed. The road right can be dynamically configured according to the importance degree of the operation task type, and can also be dynamically configured by an operator according to own experience. The outcoding _ road _ lights field may be used for carrying the right of way (or expressed as the priority of passing of the downstream road) of the downstream road of the intersection, and the right of way of the downstream road may be used as an evaluation parameter for determining the passing order of vehicles going to a certain downstream road at the intersection. The downstream road right can be dynamically configured according to the actual conditions of the road intersection and the downstream road thereof and the production requirements. In one example, the road right of at least one downstream road of the intersection may have the same value. In another example, the at least one downstream road of the intersection may have a different road right value, and in general, the road right of an important road (e.g., an emergency lane, a fire lane, a main production road, etc.) may be greater than that of a general road.

The zone _ id field may be used to carry an identification of the area to which the intersection belongs. This field may be used to determine whether a road junction is in a searched path when searching for a region-based path.

The barrier field may be used to carry barrier information for road junctions. This information may be the real tagged fence information in the physical world, which may be used to define the extent of the intersection. The information may also be fence information logically labeled as needed, which may be used to virtually define the extent of a road junction. The vehicle control device can also send the fence information to the vehicle when controlling the vehicle to pass at the intersection so as to assist in reducing traffic accidents of the vehicle at the intersection.

It should be noted that the above attribute information of the road intersection and the functions of each attribute information are only examples, and when the production demand changes, other attribute information may be configured and the corresponding attribute information may be defined according to the changed production demand.

Based on one or more items of the attribute information shown in table 1, the vehicle control apparatus can perform traffic management for a plurality of vehicles that need to travel through the same intersection. If the vehicle can directly pass through the intersection at present, the vehicle control device can instruct the vehicle to sequentially run through the intersection according to the determined passing sequence of the vehicle. If the vehicle cannot directly pass through the intersection at present, the vehicle control device may also plan a temporary parking space for the vehicle, so that the vehicle travels to the temporary parking space first to wait, and when the vehicle can directly pass through the intersection at the intersection, the vehicle control device may instruct the vehicle to travel through the intersection.

Therefore, all vehicles can pass through the road junction in order, the problem of queuing and waiting of the vehicles at the road junction is reduced, the smooth condition of a local area in a road network structure is guaranteed, and the deadlock or congestion phenomenon of a plurality of vehicles at the road junction is also reduced. The scheme can be suitable for traffic management of a plurality of road junctions in a target area, is beneficial to uniform distribution of vehicles in a road network structure, and ensures smooth traffic of the whole road network structure.

2. Setting road intersection passing rule information:

in the embodiment of the application, the intersection rule information can be used for a vehicle control device to decide the passing order of a plurality of vehicles at the intersection, and the intersection rule information can be applied to the vehicle control device by an upper layer and can also be acquired from other equipment by the vehicle control device.

In one example, the intersection traffic rule information may include at least one evaluation parameter for evaluating a traffic order of vehicles and a weight thereof, such as a task priority p and a task priority weight k _p (ii) a The vehicle travels from the current position to the road junctionTime t required by port, time weight k _t (ii) a Road weight r of upstream road _in Downstream road right r _out Road weight k _r (ii) a Downstream target road capacity c and downstream target road capacity weight k of vehicle _c And the like. Alternatively, the intersection passage rule information may include mathematical expressions for evaluating a passage order of vehicles, such as the following expressions (1), (2), (3), (4), (5), and (6).

s＝-k _t ×t (1)

s＝k _r ×(r _in +r _out ) (2)

s＝-k _t ×t+k _r ×(r _in +r _out ) (3)

s＝-k _t ×t+k _r ×(r _in +r _out )+k _p ×p (4)

s＝-k _t ×t+k _r ×(r _in +r _out )+k _c ×c (5)

s＝-k _t ×t+k _r ×(r _in +r _out )+k _p ×p+k _c ×c (6)

The time t is a time difference, and the time t may be calculated in different manners under different situations. For example, at the current calculation time, if the vehicle is traveling on the road upstream of the intersection, the time t is a difference between the predicted time at which the vehicle travels to reach the intersection and the current calculation time. Or, at the current calculation time, if the vehicle runs on a road upstream of the intersection and the vehicle needs to run to a corresponding temporary parking space to wait before running through the intersection, the time t is a difference between the predicted time when the vehicle runs to the temporary parking space in advance and then runs from the temporary parking space to the intersection (the time when the staying time of the vehicle in the temporary parking space is predicted) and the current calculation time. Or, at the current calculation time, if the vehicle has already driven to the corresponding temporary parking space, the time t is a difference between the time (the time is the real time) when the vehicle has driven to the temporary parking space and the current calculation time, and the staying time period of the vehicle in the temporary parking space. According to the calculation result, the value of t can be a positive value or a negative value, the smaller the absolute value of t is, the larger s is, and the more vehicles need to preferentially pass through the road junction.

The aforementioned downstream target road capacity c may be a maximum value of vehicles allowed to drive into the target road, where the larger the value of c is, the larger s is, and the earlier the passing order of the corresponding vehicles is. Alternatively, in another example, the downstream target road capacity c in the above expression may be replaced by the currently-held vehicle number c' of the downstream target road, and accordingly, the downstream target road capacity weight k _c Can be replaced by the weight k corresponding to c _c’ The smaller c' and the larger s, the more forward the traffic sequence of the corresponding vehicles. Alternatively, in another example, the downstream target road capacity c in the above expression may be replaced by the number of vehicles c "(where c" = c-c') that the downstream target road may remain to accommodate, and accordingly, the downstream target road capacity weight k _c Can be replaced by the weight k corresponding to the c ″ _c The larger "c", the larger s, the more forward the traffic sequence of the respective vehicles.

In general, the intersection regulation information may be configured and stored in an intersection passage management module in the vehicle control device. The intersection traffic management module can determine evaluation parameters, weights or mathematical expressions required for evaluating the traffic sequence of vehicles according to actual traffic conditions of vehicles on the road intersection and the roads upstream and downstream of the road intersection, and determine the traffic sequence of each vehicle at the road intersection based on the evaluation parameters, the weights and the determined mathematical expressions. It should be understood that, in the embodiment of the present application, part or all of the attribute information of the predefined intersection may also be considered as intersection traffic rule information, such as a topological relationship.

In another example, the intersection traffic regulation information may include other information that may affect the traffic order of vehicles at the intersection, such as a selection rule of temporary parking spaces, including:

(1) The position in the non-operation lane is selected as a temporary parking space of the vehicle as much as possible, so that the interference of the vehicle on the normal operation of other vehicles is reduced;

(2) The number of waiting vehicles in each lane is uniformly distributed as much as possible;

(3) The lane change of the vehicle is not indicated as far as possible so as to reduce the influence of temporary parking on the vehicle passing and reduce the interference on other vehicles;

(4) The temporary parking spaces of the vehicles are set according to the sequencing results of the vehicles at the road intersection as much as possible, so that the temporary parking spaces of the vehicles in the high-priority traffic order are located at the downstream of the temporary parking spaces of the vehicles in the low-priority traffic order, the vehicles in the high-priority traffic order can pass through the road intersection preferentially, and the logic deadlock phenomenon is prevented.

Generally, the intersection traffic rule information may be stored in a local database of the vehicle control device, and may be acquired and used 213 by the map module 211, the intersection traffic management module 212, and the route planning module. Or, different information in the traffic rule information of the intersection may be correspondingly stored in the databases of the map module 211, the intersection traffic management module 212, and the route planning module 213, and other modules may access and obtain corresponding information through communication interfaces between the modules and use the information. It should be understood that the above description is only an exemplary illustration of the intersection passing rule information of the present application, and is not limited thereto, and in other embodiments, other intersection passing rule information may also be included, and will not be described herein again.

3. The vehicle reports information to a vehicle control device:

in one example, the vehicle may report its own status information to a vehicle control device (e.g., a map module), including but not limited to the vehicle's location, speed, heading angle, etc. The vehicle can communicate directly with the vehicle control device, for example, via the Uu interface or the PC5 interface, and report relevant information to the vehicle control device. If the vehicle control device is deployed in the cloud server, the vehicle may also implement the information reporting process through a third-party device (e.g., RSU, a camera, radio Frequency Identification (RFID), etc.), and this specific implementation manner is not limited in this embodiment of the present application.

The state information of the vehicle can be used for the vehicle control device to determine the real-time position and the real-time state of the vehicle so as to determine whether the vehicle is a vehicle needing to travel through the intersection within the preset time. For example, the position of the vehicle may be used to match the vehicle with the intersection and the roads upstream and downstream of the intersection, so as to determine the matching relationship between the vehicle and the intersection. The course angle of the vehicle can be used for determining whether the vehicle runs towards the direction of the road junction, and if so, the vehicle can be used as a candidate vehicle which possibly needs to carry out junction traffic management at the road junction. The speed of the vehicle may be used to determine the time required for the vehicle to travel to the intersection, with shorter times indicating that the vehicle is closer to the intersection, and the order in which it travels through the intersection may be prioritized ahead. Further, the vehicle control device may determine the matching relationship between the vehicle and the intersection and the passing order of the vehicle at the intersection according to one or a combination of the state information reported by the vehicle, which is specifically implemented in the following with reference to the detailed method steps, and is not repeated herein.

It is understood that the above status information is only an example and not a limitation, and in other embodiments, the vehicle may report other information to the vehicle control device, such as destination information, which may be used to indicate a destination of the vehicle. Further, the route planning module may plan a driving route for the vehicle according to the destination information of the vehicle, and the intersection passage management module 212 may determine a matching relationship between the vehicle and the intersection and a passage order of the vehicle at the intersection in combination with the driving route of the vehicle and the like. It should be noted that, in this embodiment of the application, the upper layer application may also issue a vehicle task to the path planning module 213, and the path planning module 213 may also plan a path for the vehicle according to the vehicle task, which is not limited in this embodiment of the application.

4. The vehicle control device indicates the vehicle to pass at the road junction:

in the embodiment of the application, the vehicle control device indicates that the vehicle passes at the intersection and can have various implementation modes.

In one example, the intersection passage management module 212 in the vehicle control device may send first indication information to the vehicle, which may indicate a passage order of the vehicle at the intersection. Accordingly, the vehicle can travel through the intersection in order based on the first instruction information.

In one example, the path planning module 213 in the vehicle control device may send first indication information to the vehicle, where the first indication information may indicate a first path including the intersection. Accordingly, the vehicle may travel according to the first path, passing the intersection.

In one example, the intersection passage management module 212 or the route planning module 213 in the vehicle control device may send first indication information to the vehicle, where the first indication information may be used to indicate a temporary parking space before the vehicle passes through the intersection. The route planning module may send second indication information to the vehicle, where the second indication information may be used to indicate a passing route of the vehicle at a junction so that the vehicle travels from the temporary parking space through the junction.

For ease of understanding, the vehicle control of the present application will now be described with reference to the method flowchart illustrated in FIG. 5.

Referring to fig. 5, the vehicle control method may include the steps of:

s510: the vehicle control device obtains a topological relation of the road junction.

In this embodiment, the intersection may be an intersection that needs to be managed for vehicle passing in the target area, and the intersection may be one or more of a plurality of intersections in the target area. For convenience of description, the vehicle control scheme of the present application is described by taking an intersection as an example, and it should be understood that, in practical applications, the vehicle control device may also simultaneously implement management of vehicle passing at least two or more intersections in the target area based on a vehicle control manner the same as or similar to that of the present application. Optionally, when the vehicle control device needs to manage vehicle traffic at two or more intersections, in order to reduce the control difficulty and complexity, the vehicle control device may preferentially manage vehicle traffic at an intersection with a higher management priority, for example, according to the management priority of the intersections (the management priority of an intersection may be recorded in the foregoing table 1 as one item of attribute information of the intersection). For example, the management priority for the upstream road running straight at the intersection may be higher than the management priority for the upstream road turning at the intersection, and details thereof are not repeated here.

The topological relationship may be used to indicate a road associated with the intersection. In step S510, the vehicle control device may obtain the topological relation of the intersection from the road network structure diagram shown in fig. 1 a. Or, the vehicle control device may obtain the upstream road identifier set and/or the downstream road identifier set of the intersection from the related attribute information of the intersection shown in table 1, so as to obtain the topological relation of the intersection.

S520: and the vehicle control device determines the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on the upstream road of the road junction.

In one possible implementation, the target vehicle may be a vehicle that is to pass through the intersection within a preset time. Before or while S520 is being implemented, the vehicle control device may determine the target vehicle.

In one example, the vehicle control apparatus may acquire planned route information of vehicles in a target area, and determine a plurality of vehicles that need to approach the intersection according to the planned route information. The vehicle control device may acquire state information of the plurality of vehicles, and determine a vehicle to pass through the intersection within a preset time, and the target vehicle may be a vehicle among the vehicles, based on the state information of the plurality of vehicles, such as at least one of a position, a speed, and a heading angle.

In another example, the topological relation may be used to indicate at least one upstream road associated with the intersection, and the vehicle control device may determine, among the vehicles located on the at least one upstream road, at least one vehicle to be passed through the intersection within a preset time, according to the topological relation, the target vehicle being a vehicle of the at least one vehicle. The matching process between the vehicle and the intersection and at least one upstream road of the intersection will be described in detail below, and will not be described herein again.

For example, the attribute information of the intersection may include one or more items in table 1. The status information of the target vehicle may include, for example, at least one of: position, speed, and heading angle. When implementing S520 to determine the passing order of the target vehicle at the intersection, the vehicle control device may rank the passing order of a plurality of vehicles at the intersection, which are located on at least one upstream road of the intersection and are to pass through the intersection within a preset time, according to a combination of the relevant attribute information and the relevant state information, so as to determine the passing order of the target vehicle at the intersection. Wherein, as an example, the combination of the related attribute information and the related status information may include any one of:

(1) An upstream road right, a downstream road right, a vehicle position and a vehicle speed;

(2) The road right of the upstream road, the road right of the downstream road, the capacity of a road intersection, the position and the speed of the vehicle;

(3) The road right of the upstream road, the road right of the downstream road, the position, the speed and the course angle of the vehicle;

(4) The road right of the upstream road, the road right of the downstream road, the capacity of a road intersection, the vehicle position, the speed and the course angle;

alternatively, the vehicle control device may evaluate each vehicle to pass through the intersection based on any one of the above information combinations by using one of the foregoing mathematical expressions (1) - (6), and determine the passing order of each vehicle at the intersection based on the evaluation result, that is, the passing order of the target vehicle at the intersection. It can be understood that, when the vehicle control device evaluates each vehicle by using the aforementioned expression, the vehicle control device may further obtain a weight value of at least one evaluation parameter that is preconfigured, such as a time weight value, a road weight value, a task priority weight value, a downstream road capacity weight value, and substitute the weight value of the at least one evaluation parameter into the corresponding expression, thereby obtaining an evaluation result for each vehicle.

It should be noted that, when determining the passing order of each vehicle at the intersection based on the evaluation result, the vehicles to pass through the intersection may be arranged into at least one queue according to the capacity of the intersection (for example, the number n of vehicles allowed to pass through at the same time, where n is an integer greater than or equal to 1), where the number of queues is equal to the capacity of the intersection, and the queuing order of at least one vehicle in each queue to which the vehicle belongs is the passing order of the vehicle in the corresponding lane of the intersection.

In one possible implementation, the vehicle may also have a task priority. When the vehicle control device sequences a plurality of vehicles waiting to pass through the road junction within the preset time, the vehicle control device can also determine or adjust the passing sequence of the target vehicle by combining the task priority of the target vehicle. The traffic regulation information of the intersection may further include, for example: and preferentially permitting the vehicles with higher task priorities to pass through the road junction.

When determining the passing order of the target vehicle by combining the task priority of the vehicle, the vehicle control device can participate in any combination of the related attributes and the state information as one state information of the target vehicle, and is used for determining the passing order of the target vehicle at the intersection. The task priority of the target vehicle may be carried in a vehicle task issued by an upper application, or the task priority of the target vehicle may also be determined by the vehicle control device according to the vehicle type of the target vehicle, for example, the task priority of a special working vehicle (e.g., an engineering rescue vehicle, an ambulance, etc.) is higher than the task priority of a general vehicle (e.g., a private vehicle, an operation type passenger car, a truck, etc.). After the vehicle determines the passing order of the target vehicle at the intersection, if the target vehicle is determined to be a vehicle belonging to the special operation vehicle, the task priority is higher than that of other vehicles, and the vehicle control device can also adjust the passing order of the target vehicle at the intersection forward according to the higher task priority of the target vehicle, so that the special operation vehicle can pass through the intersection preferentially. Similarly, after the vehicle has determined the passing order of the target vehicle at the intersection, if it is determined that the task priority of the target vehicle is lower than the task priorities of other vehicles, the vehicle control device may further adjust the passing of the target vehicle at the intersection backward according to the lower priority of the target vehicle, so that the vehicle with the lower task priority passes through the intersection later, so that other vehicles with higher task priorities pass through the intersection preferentially.

In one possible implementation, the target roadway with vehicles downstream of the intersection may also have associated traffic constraints that limit the target vehicles from entering the target roadway, thereby affecting the target vehicles' traffic at the intersection. Therefore, the vehicle control device may also determine or adjust the order of passage of the target vehicle at the intersection, for example, in conjunction with the attribute information of the target road of the target vehicle. The traffic regulation information of the intersection may further include, for example: and preferentially permitting vehicles entering the corresponding passable target road to pass through the road junction. For example, the attribute information of the target road may include a capacity of the target road, i.e., a maximum value of vehicles allowed to enter the target road.

When determining the passing order of the target vehicles by combining the attribute information of the target road, the vehicle control device can be used as one attribute information of the intersection, participate in any combination of the related attribute and the state information, and be used for determining the passing order of the target vehicles at the intersection. If the vehicle control device determines that the target vehicle cannot enter the target road temporarily due to a change in the relevant attribute of the target road of the target vehicle after the vehicle control device has determined the passing order of the target vehicle at the intersection and before the target vehicle travels to the intersection, the vehicle control device may adjust the passing order of the target vehicle at the intersection based on the attribute information of the target road, for example, adjust the passing order of the target vehicle backward so that other vehicles pass preferentially.

S530: and the vehicle control device indicates the passing of the target vehicle at the road junction according to the passing sequence. Accordingly, S540: and the target vehicle passes through the road junction according to the instruction of the vehicle control device.

In a possible implementation, in S530, the vehicle control device may send instruction information to the target vehicle, for example, to instruct the target vehicle to pass at the intersection. Accordingly, in S540, the target vehicle may travel through the intersection according to the indication information.

For example, the indication information may indicate the passing order of the target vehicle at the intersection. Accordingly, the vehicles can travel through the intersection in the corresponding passage order based on the instruction information. Alternatively, the instruction information may indicate, for example, a passage route of the target vehicle at the intersection, the passage route including the intersection. Accordingly, the target vehicle may travel, based on the travel path, to approach the intersection.

Optionally, if the target vehicle cannot directly drive through the intersection, the vehicle control may allocate a temporary parking space to the target vehicle, where the temporary parking space is a temporary parking position before the target vehicle drives through the intersection. The vehicle control device instructs the target vehicle to travel to the temporary parking space first, and then instructs the target vehicle to travel from the temporary parking space through the intersection. Alternatively, the vehicle control device may instruct the temporary parking space, a stay time period of the target vehicle in the temporary parking space (i.e., a maximum value of a time period in which the target vehicle is allowed to stay in the temporary parking space), and the target vehicle may travel from the temporary parking space through the intersection when the stay time period of the temporary parking space reaches the stay time period.

Details of the implementation of the vehicle control method of the present application will be described with reference to the method flowchart shown in fig. 6.

Referring to fig. 6, the vehicle control method may include the steps of:

s601: the upper layer application configures the vehicle control device, including but not limited to: defining topological relation, setting attribute information of a road intersection, setting traffic rule information of the road intersection and the like. The upper layer application may complete unified configuration of the information through one configuration operation, may also implement configuration of different information in different configuration operations, and may also implement configuration of different modules in the vehicle control device in different signaling.

Illustratively, in practice, S601 may include the following steps:

s601a: a topological relationship is defined.

S601b: the attribute information of the intersection, including the upstream road right, the downstream road capacity, etc., is set, and the details of each item of attribute information in table 1 can be referred to.

S601c: the set intersection traffic rule information may include, for example, the aforementioned at least one evaluation parameter, a weight value thereof, a mathematical expression, and the like.

S602: the vehicle in the target area reports its own status information to the vehicle control device (specifically, for example, a map module in the vehicle control device), where the status information may include at least one of the following information: position, speed, and heading angle.

The position information reported by the vehicle can be used for positioning the current position of the vehicle and determining a road junction matched with the vehicle. The speed information reported by the vehicle can be used for predicting the time required by the vehicle to reach the intersection, and the course angle reported by the vehicle can be used for determining the driving direction of the vehicle and determining whether the vehicle drives to the intersection. The matched road junction of the vehicle can be more accurately determined based on the current position and the heading angle of the vehicle, the time required by the vehicle to travel to the road junction can be more accurately determined according to the speed and the heading angle of the vehicle, and the time required by the vehicle to travel to the road junction from the current position of the vehicle can be more accurately determined according to the current position, the speed and the heading angle of the vehicle.

It can be understood that, in this embodiment of the present application, any vehicle in the target area may report its own relevant state information to the vehicle control device or its relevant module in real time or periodically, so that the vehicle control device or its relevant module performs the intersection passage management decision by combining the relevant state information, and the execution sequence of S602 is not limited in this embodiment of the present application.

S603: the vehicles in the target area report their destination information to the vehicle control device (specifically, for example, a path planning module in the vehicle control device), and the destination information may be used to indicate the destination of the target vehicle. It can be understood that, in the embodiment of the present application, any vehicle in the target area may report its own destination information to the vehicle control device or its related module if necessary, for example, the vehicle is a vehicle in a manual driving mode or a partially automatic driving mode, so that the path planning module performs path planning or adjusts a planned path of the vehicle for the vehicle by combining the destination information reported by the vehicle. In the embodiment of the present application, the execution order of S603 is not limited.

S604: the operator may issue a vehicle task to the path planning module in the vehicle control device 210 according to the related information displayed in the user interface of the upper application. Wherein the vehicle task may be a job task for instructing the vehicle to perform a related job; the vehicle task may also be a navigation task for instructing the vehicle to go to a corresponding destination.

If the vehicle task is a task for specifying a destination of a certain vehicle, the vehicle task needs to carry information indicating the destination, such as a parking space identifier, destination address information, and the like, so that the path planning module can plan a path for the vehicle according to the destination. If the vehicle task does not specify the destination of a certain vehicle, the path planning module can inquire the corresponding matched work position for the vehicle according to the task type and plan a path for the vehicle. If the vehicle has the task priority, the task priority of the vehicle can be carried in the vehicle task and issued to the vehicle control device, or the vehicle control device can determine the task priority of the vehicle according to the information such as the vehicle type and the like.

It should be noted that, in this embodiment of the application, S602 to S604 only indicate that the vehicle control scheme may include a step in which the vehicle reports status information, or the vehicle reports destination information, or an upper-layer application issues a vehicle task, and is not limited to any execution sequence of the step. The vehicle may also report its own state information and destination information through the same signaling, and the related information reported by the vehicle may also be reported to other modules in the vehicle control device.

In the following steps, the state information and/or the destination information reported by the vehicle can be used as information describing the actual situation of the vehicle, and provided to a related module of the vehicle control device, such as a map module or an intersection traffic management module or a route planning module, so that the vehicle control device and each module thereof can flexibly perform intersection traffic management on target vehicles in a plurality of vehicles according to the state information and/or the destination information of the plurality of vehicles, thereby reducing the problems of local area congestion, long-time waiting of part of vehicles, winding problems and the like caused by unreasonable cooperative control on the plurality of vehicles, ensuring smooth traffic of local areas in a road network structure, and further ensuring smooth traffic of the whole area of the road network structure. Optionally, when the vehicle control device periodically performs intersection passage management, the vehicle periodically reports the state information, and the vehicle periodically reports the destination information, a period of reporting the state information by the vehicle, or a period of reporting the destination information by the vehicle control device 210 may be less than or equal to a period of performing intersection passage management by the vehicle control device 210.

S605: and the path planning module carries out path planning according to the vehicle task and sends a first path to the target vehicle. The first path may be used to indicate a travel route of the target vehicle. Accordingly, the target vehicle may travel according to the first route from the current position. And the current position of the target vehicle is the position of the target vehicle when the upper-layer application triggers the vehicle task. The current position of the target vehicle may be reported by the target vehicle actively (for example, in S602), or may be reported by the target vehicle after the vehicle control device 210 issues query information (not shown) to the target vehicle before a vehicle task needs to be issued (for example, in S602). In S605, the path planning module may perform path planning for the target vehicle based on the current position of the target vehicle to obtain a subsequent operation route of the target vehicle. It can be understood that the vehicle in the manual driving mode may also report its own planned path to the path planning module, which is not limited in this embodiment of the present application.

S606: the intersection passage management module queries, from the path planning module, the path information planned for the vehicle in S605, and determines, based on the path information, a vehicle set to pass through the intersection in a preset time, where the vehicle set may include the target vehicle in S605.

S607: and the intersection traffic management module inquires attribute information, topological relation and state information of a plurality of vehicles of the road intersection from the map module. Where a vehicle set has been determined at S606, the plurality of vehicles in S607 may be vehicles in the vehicle set here.

S608: and the intersection passing management module determines the passing sequence of each vehicle to pass through the intersection at the intersection within preset time according to the attribute information, the topological relation and the state information of the vehicles at the intersection.

S609: and the vehicle control device indicates the passing of the target vehicle at the road junction according to the passing sequence.

The first situation is as follows: s609a: and the intersection passage management module sends first indication information to the target vehicle. The first indication information can be used for indicating the passing sequence of the target vehicle at the intersection. Accordingly, the target vehicle may travel through the intersection according to the first instruction information.

The second situation: s609b: and the path planning module acquires the passing sequence of the target vehicle at the road junction from the junction passing management module. S610: the path planning module may update the path of the target vehicle according to the passing order of the target vehicle at the intersection. S611: and uploading the updated path of the target vehicle to an upper layer application by a path planning module. Further, the operator may view the travel route of the target vehicle at a user interface of the upper application. S612: and the route planning module issues the updated route of the target vehicle to the target vehicle. Further, the target vehicle may travel, based on the updated route, to approach the intersection.

In a specific implementation, for example, referring to fig. 7, S608 may include the following steps:

s701: and calculating the time t required by each vehicle on the upstream road associated with the intersection to reach the intersection according to the planned path information of the vehicle and the current state information of the vehicle.

For example, one intersection is associated with two upstream roads a and B, and the time when the vehicles on the two upstream roads reach the intersection is sorted, and the sorting result is { a } ₀ ,A ₁ ,…,A _m And { B } ₀ ,B ₁ ,…,B _n Where m denotes the number of vehicles on the upstream road a, n denotes the number of vehicles on the upstream road B, and m, n are integers greater than or equal to 0.

S702: according to the determined expression, the corresponding evaluation parameter and the weight value thereof, vehicles on the upstream road of the intersection are integrated into a motorcade sequence which needs to pass at the intersection, and the queuing sequence of each vehicle in the corresponding motorcade sequence is the passing sequence of the vehicle in the corresponding lane of the intersection.

Taking the capacities of the two upstream roads and the intersection as 1 in S701 as an example, it is necessary to merge the parking vehicles on the two upstream roads into a fleet sequence (the number of the fleet sequences is less than or equal to the capacity of the intersection). The time required for each vehicle to reach the intersection is t, and the road weights of the upstream road and the downstream road of the road intersection where the vehicles need to pass are r respectively _in And r _out The task priority of the vehicle is p, and the weight of the time, the road right and the task priority are k respectively _t 、k _r And k _p Wherein r is _in 、r _out And a larger value of p indicates that the vehicle has a higher priority right of way. Based on these parameters, each vehicle can be evaluated using the following expression, resulting in a corresponding evaluation result S:

s＝-k _t ×t+k _r ×(r _in +r _out )+k _p ×p(2)

when the fleet is merged based on the evaluation result S of each vehicle, the following steps may be performed: and combining the m vehicles and the n vehicles into a fleet sequence according to the principle that the larger value of S is arranged into the fleet sequence first by comparing the evaluation results S of the m vehicles on the upstream road A and the n vehicles on the upstream road B one by one. Wherein after one vehicle has been sequenced (e.g., m vehicles have all been sequenced into a fleet sequence), other vehicles (e.g., other ones of the n vehicles that are not yet queued) are sequentially added to the fleet sequence.

It is understood that the aforementioned parameters of the capacity of the target road downstream of the target vehicle, the vehicle task priority, and the like may also be used as an evaluation parameter for determining or adjusting the passing order of the target vehicle at the intersection, and the embodiment is similar to that in fig. 7, and will not be described herein again.

Therefore, through the vehicle control method, the passing management of the vehicles at the road junction can be realized, the orderly passing of the fleet at the road junction is realized, and the phenomena of jam or deadlock caused by unreasonable planning or random movement of the vehicles are prevented. Furthermore, the scheme can ensure the smooth passing of the whole road network structure. The scheme can be used for realizing the traffic management of automatic driving vehicles and/or manual driving vehicles at the intersection of roads. When the manual driving vehicle exists, a driver of the manual driving vehicle is required to follow a related control instruction of a vehicle control device, and safety mechanisms such as sudden stop of the automatic driving vehicle triggered by improper manual driving behaviors are reduced.

In the above-described embodiment, if the target vehicle cannot directly travel through the intersection, the vehicle control device may further allocate a temporary parking space for the target device to temporarily stop waiting before the target vehicle travels through the intersection. In this case, the vehicle control device may allocate a temporary parking space to the target vehicle based on the relevant attribute information of the intersection, and instruct the target vehicle to travel to the temporary parking space before traveling through the intersection. The vehicle control means may then instruct the target vehicle to travel from the temporary parking space through the intersection.

In this case, when the above S609 is implemented, the following cases may be included:

a third situation: s609c: and the junction traffic management module allocates a temporary parking space of the target vehicle before the target vehicle passes through the road junction for the target vehicle. S613: and the intersection passage management module sends second indication information to the target vehicle, wherein the second indication information is used for indicating the temporary parking space. Accordingly, the target vehicle travels to the temporary parking space before traveling through the intersection. S609a: and the intersection passage management module sends first indication information to the target vehicle. Wherein the first indication information can be used for indicating the passing sequence of the target vehicle at the intersection. Accordingly, the target vehicle may travel from the temporary parking space through the intersection according to the first instruction information.

Alternatively, the second indication information in S613 may be used to indicate the temporary parking space and the stay time of the temporary parking space, and accordingly, the target vehicle may travel from the temporary parking space through the intersection when the stay time of the temporary parking space reaches the stay time.

It should be noted that, only the first indication information and the second indication information are used here to exemplarily explain that the indication information sent by the intersection passage management module to the target vehicle may be used to indicate information such as a passage order of the target vehicle at the intersection, a passage path of the target vehicle at the intersection, a temporary parking space of the target vehicle, or a staying time of the target vehicle at the temporary parking space, and does not restrict a transmission order or an information carrying manner of each item of information. One or a combination of at least two of the foregoing information items may be carried in the same or different signaling, which is not limited in this application. In one possible design, a vehicle control device (e.g., a vehicle) may include a first communication unit configured to receive first indication information indicating a temporary parking space, a first control unit, a second communication unit, and a second control unit; the first control unit is used for controlling the vehicle to run to the temporary parking space according to the first indication information; the second communication unit is used for receiving second indication information, and the second indication information is used for indicating a passing path of the vehicle at a road junction; and the second control unit is used for controlling the vehicle to run through the road junction from the temporary parking space according to the second indication information. The first communication unit and the second communication unit may be the same communication unit or different communication units; the first control unit and the second control unit may be the same control unit or different control units, which is not limited in this embodiment of the present application.

Case four: s609d: and the path planning module inquires the passing sequence of the target vehicle at the road junction and the temporary parking space of the target vehicle from the junction passing management module. S610': the path planning module may update the path of the target vehicle according to the passing order of the target vehicle at the intersection and the temporary parking space. S611': and uploading the updated path of the target vehicle to an upper layer application by a path planning module. Further, the operator may view the travel route of the target vehicle at a user interface of the upper application. S612': and the route planning module issues the updated route of the target vehicle to the target vehicle. Further, the target vehicle may travel, based on the updated route, through the temporary parking space and the intersection. Optionally, the S612' may further include a staying time period of the temporary parking space, and the target vehicle may travel from the temporary parking space through the intersection when the staying time of the temporary parking space reaches the staying time period.

In the above-described case where the vehicle control apparatus is required to allocate a temporary parking space to the target vehicle, for example, in the above-described case three and case four, the temporary parking space may be located in an upstream idle area of the intersection for coarse-grained allocation. In the embodiment of the application, for improving the control precision to the vehicle, can also set up the fence and the capacity of intersection mouth, this fence can be used to fix a position the vehicle that matches with intersection mouth comparatively accurately, and this capacity can be used to instruct intersection mouth department can support the vehicle quantity upper limit of passing simultaneously.

Referring to fig. 8, the vehicle control method may include the steps of:

s801: the upper layer application sets the vehicle control device.

Specific examples thereof include: s801a: and inputting a high-precision map into a map module in the vehicle control device.

S801b: the map module determines the topological relation, electronic fence and capacity of road intersection. The electronic fence of the road junction can be generated according to the topological relation of the road junction.

S801c: and displaying information such as electronic fence and capacity of the road intersection on a user interface of the upper application.

S801d: the operator sets or updates the electronic fences and the capacity in the map module through the upper-layer application.

S802: the vehicle in the target area reports its own status information to the vehicle control device (specifically, for example, a map module in the vehicle control device), where the status information may include at least one of the following information: position, speed, and heading angle.

The position information reported by the vehicle can be used for positioning the current position of the vehicle and determining a road junction matched with the vehicle. The speed information reported by the vehicle can be used for predicting the time required by the vehicle to reach the intersection, and the course angle reported by the vehicle can be used for determining the driving direction of the vehicle and determining whether the vehicle drives to the intersection. The matched intersection can be more accurately determined based on the current position and the heading angle of the vehicle, the time required by the vehicle to travel to the intersection can be more accurately determined according to the speed and the heading angle of the vehicle, and the time required by the vehicle to travel to the intersection from the current position can be more accurately determined according to the current position, the speed and the heading angle of the vehicle.

It can be understood that, in this embodiment of the present application, any vehicle in the target area may report its own relevant state information to the vehicle control device or its relevant module in real time or periodically, so that the vehicle control device or its relevant module performs the intersection traffic management decision by combining the relevant state information, and the execution sequence of S802 is not limited in this embodiment of the present application.

S803: vehicles in the target area report their destination information to the vehicle control device (specifically, for example, a path planning module in the vehicle control device), where the destination information may be used to indicate a destination of the target vehicle. It can be understood that, in the embodiment of the present application, any vehicle in the target area may report its own destination information to the vehicle control device or its related module if necessary, for example, the vehicle is a vehicle in a manual driving mode or a partially automatic driving mode, so that the path planning module performs path planning or adjusts a planned path of the vehicle for the vehicle by combining the destination information reported by the vehicle. In the embodiment of the present application, the execution order of S803 is not limited.

S804: the operator may issue a vehicle task to the path planning module in the vehicle control device 210 according to the related information displayed in the user interface of the upper application. Wherein the vehicle task may be a job task for instructing the vehicle to perform a related job; the vehicle task may also be a navigation task for instructing the vehicle to go to a corresponding destination.

If the vehicle task is a task for specifying a destination of a certain vehicle, the vehicle task needs to carry information indicating the destination, such as a parking space identifier, destination address information, and the like, so that the path planning module can plan a path for the vehicle according to the destination. If the vehicle task does not specify the destination of a certain vehicle, the path planning module can inquire the corresponding matched work position for the vehicle according to the task type and plan the path for the vehicle. If the vehicle has the task priority, the task priority of the vehicle can be carried in the vehicle task and issued to the vehicle control device, or the vehicle control device can determine the task priority of the vehicle according to information such as the vehicle type.

It should be noted that, in this embodiment of the application, S802 to S804 only indicate that the vehicle control scheme may include a step in which a vehicle reports state information, or a vehicle reports destination information, or an upper application issues a vehicle task, and is not limited to any execution sequence of the step. The vehicle may also report its own state information and destination information through the same signaling, and the related information reported by the vehicle may also be reported to other modules in the vehicle control device.

In the following steps, the status information and/or the destination information reported by the vehicle can be used as information describing the actual situation of the vehicle, and is provided to a relevant module of the vehicle control device, such as a map module or an intersection traffic management module or a route planning module, so that the vehicle control device and each module thereof can flexibly perform intersection traffic management on a target vehicle in a plurality of vehicles according to the status information and/or the destination information of the plurality of vehicles, thereby reducing the problems of local area congestion, long-time waiting of part of vehicles, winding problems and the like caused by unreasonable cooperative control on the plurality of vehicles, ensuring smooth traffic in a local area in a road network structure, and further ensuring smooth traffic in a whole area of the road network structure. Optionally, when the vehicle control device periodically performs intersection passage management, the vehicle periodically reports the state information, and the vehicle periodically reports the destination information, a period of reporting the state information by the vehicle, or a period of reporting the destination information by the vehicle control device 210 may be less than or equal to a period of performing intersection passage management by the vehicle control device 210.

S805: and the path planning module plans a path according to the vehicle tasks and sends a first path to each vehicle. The first path may be used to indicate a travel route of the target vehicle. Accordingly, any vehicle may travel according to the first path from the current position. And the current position of the vehicle is the position of the vehicle when the upper-layer application triggers the vehicle task. The current position of the vehicle may be reported by the vehicle actively (e.g., in S802), or may be reported by the vehicle after the vehicle control device 210 issues the query message (not shown) to the vehicle before the vehicle task needs to be issued (e.g., in S802). In S805, the path planning module may perform path planning for the vehicle based on the current position of the vehicle, so as to obtain a subsequent operation route of the vehicle. It can be understood that the vehicle in the manual driving mode may also report its own planned path to the path planning module, which is not limited in this embodiment of the present application.

S806: and the map module calculates the physical relationship between the vehicle and the road junction to obtain a corresponding matching result.

In this application embodiment, under the condition that vehicle control device sends comparatively accurate planning route to the vehicle, vehicle control device needs comparatively accurate learn the vehicle and the matching relation of intersection, be located a certain intersection for example, or not get into a certain intersection for example, or have driven away from a certain intersection for example. In S806, the map module may determine a matching relationship between the vehicle and a road junction according to the vehicle position.

In the matching process, the attribute information of the electronic fence at the intersection can be used. In this application embodiment, the range of the electronic fence at one intersection only needs to cover all the connection path interfaces in the intersection, and the electronic fence can be partially overlapped with the associated road and can also be overlapped with the electronic fences at other intersections. Referring to fig. 4, the inner polygon is obtained by connecting the convergence points of a plurality of roads at the road junction, and the outer polygon is the electronic fence disposed at the road junction.

The vehicle control device may execute the matching process of the vehicle and the road in S806 based on the following road matching rule information for each vehicle:

(1) And under the condition that the vehicle is just on line, carrying out global matching with the map of the whole target area according to the position reported by the vehicle. The electronic fence of the intersection can be overlapped with the associated road, so that the vehicle position can be matched with the road firstly when the global matching is carried out, and the vehicle can be matched with the intersection under the condition that the road cannot be matched.

(2) If the matching result of the vehicle in the previous matching process is a road, matching the reported position of the vehicle with the road; and if the reported position of the vehicle is not matched with the electronic fence of the intersection, searching downstream according to the rule.

(3) If the matching result of the vehicle in the previous matching is a road junction, the reported position of the vehicle is firstly matched with a downstream road of the road junction, if the reported position of the vehicle is not matched with the downstream road of the road junction, the reported position of the vehicle is matched with an electronic fence of the road junction, and the downstream is searched according to the rule.

(4) If the vehicle runs along the direction opposite to the allowed passing direction of the road, when the matching cannot be carried out in the downstream search, the vehicle can be searched moderately in the upstream direction according to the time from the previous matching process and the vehicle speed.

Since there are many upstream/downstream roads associated with a road junction and they may overlap with the roads, generally, the vehicle control apparatus does not need to continue to match downstream after matching it to a road junction based on the position reported by the vehicle. It is not necessary to determine on which road or lane within the intersection the vehicle is specifically located.

S807: and the intersection traffic management module inquires the state information of the vehicle, the capacity of the intersection and the topological relation of the intersection from the map module.

S808: the intersection traffic management module determines a vehicle set to pass through a road intersection within a preset time according to state information of vehicles, capacity of the road intersection and a topological relation of the road intersection, determines a first vehicle which can directly drive through the road intersection and a second vehicle which cannot directly drive through the road intersection in the vehicle set, and allocates a temporary parking space for the second vehicle.

The intersection communication management module can determine the passing sequence of each vehicle in the vehicle set at the intersection on the road based on the method. Based on the passing sequence, the intersection communication management module may determine, for example, that a vehicle that is in front of the passing sequence is a first vehicle that can directly travel through the intersection, and that a vehicle that is behind the passing sequence is a second vehicle that cannot directly travel through the intersection. Or, the intersection passage management module may determine the first vehicle and the second vehicle according to the capacity of the intersection and the overlapping condition of the roads or lanes in the intersection, so that the vehicle with the later passage order is the second vehicle that cannot directly pass through.

For example, in the embodiment of the present application, the traffic flow restriction in the intersection may be implemented in the following two ways:

(1) Capacity of road intersection. The capacity is the maximum number of vehicles that can pass through the intersection at the same time. Generally, at some associated intersection with fewer upstream/downstream roads and smaller size, deadlock or congestion may be reduced by limiting the capacity of the intersection (e.g., 2).

(2) Lane crossing condition in road intersection. The lane crossing condition can be the lane crossing condition of an upstream road and a downstream road of a road junction at the road junction, whether two or more vehicles can pass through the road junction at the same time can be judged and determined by judging the lane crossing condition, and vehicles passing behind the passing sequence need to be temporarily stopped for waiting or the passing sequence of the vehicles needs to be adjusted backwards under the condition of no support. The lane crossing condition in the intersection can be calculated in real time by the map module, and can also be recorded in the table 1 as attribute information of the intersection, so that the map module or the intersection traffic management module can inquire the lane crossing condition.

For example, a first vehicle that is forward in the transit order and a second vehicle that is rearward in the transit order may be scaled by the total number of vehicles included in the fleet sequence. For example, the first 70% of the vehicles in the passing sequence can be the first vehicle in the front of the passing sequence, and the last 30% of the vehicles in the passing sequence can be the second vehicle in the back of the passing sequence.

The intersection traffic management module can allocate temporary parking spaces for the second vehicle based on the rule for selecting the temporary parking spaces, and temporarily park the second vehicle on a non-operation lane as far as possible, so that the second vehicle is uniformly distributed on each lane, and the interference to the whole system is minimum.

S809: the route planning module inquires the passing sequence of each vehicle in the vehicle set and the temporary parking space of the second vehicle from the intersection passing management module, and updates the route of each vehicle based on the inquired information, wherein the updated route of the first vehicle can contain the intersection, and the updated route of the second vehicle can contain the corresponding temporary parking space and the intersection.

S810: the route planning module uploads the updated routes of the vehicles to an upper layer application. Further, the operator may view the travel route of the vehicle at the user interface of the upper layer application. S811a: the route planning module may issue the updated route of the first vehicle to the first vehicle. Further, the first vehicle may travel, based on the updated route, to approach the intersection. S811b: the route planning module may issue the updated route of the second vehicle to the second vehicle. Further, the second vehicle may travel to the corresponding temporary parking space based on the updated route, and then travel from the temporary parking space through the intersection.

Therefore, by the vehicle control method shown in fig. 8, the real-time position of the vehicle is matched with the intersection, so that the traffic management of the vehicle at the intersection is better realized, the probability of deadlock or congestion at the intersection is further reduced, and the smoothness of the whole road network system is guaranteed. The scheme mainly depends on the calculation and processing of the vehicle control device, has low calculation and processing requirements on the vehicle end, and is more suitable for the automatic driving scene.

Based on the same technical concept, embodiments of the present application further provide a vehicle control device, which is used for executing the method executed by the vehicle control device in the foregoing embodiments, and related features may be referred to the foregoing method embodiments and are not described herein again.

As shown in fig. 9, the vehicle control apparatus 900 may include: an obtaining unit 901, configured to obtain a topological relation of a road intersection, where the topological relation is used to indicate a road associated with the road intersection; a determining unit 902, configured to determine, according to the attribute information of the intersection, the state information of the target vehicle, and the topological relation, a passing order of the target vehicle at the intersection, where the target vehicle is located on an upstream road of the intersection; a communication unit 903, configured to indicate, according to the passing order, that the target vehicle passes through the intersection.

Optionally, the determining unit is further configured to: and determining the target vehicle, wherein the target vehicle is a vehicle to pass through the road junction within a preset time.

Optionally, the topological relation is used to indicate at least one upstream road associated with the intersection, and the determining unit is further configured to: according to the topological relation, at least one vehicle to be passed through the intersection in preset time is determined in vehicles located on the at least one upstream road, and the target vehicle is one of the at least one vehicle.

Optionally, the topological relation is used to indicate at least one downstream road associated with the intersection, and the determining unit is further used to: determining a target road of the target vehicle in the at least one downstream road; and adjusting the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

Optionally, the topological relation is used to indicate at least one downstream road associated with the intersection, and the determining unit is further configured to: determining a target road of the target vehicle in the at least one downstream road; wherein the determining unit, when determining the passing order of the target vehicle at the intersection, comprises: and determining the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

Optionally, the apparatus further comprises: and the adjusting unit is used for adjusting the passing sequence of the target vehicle at the road intersection according to the task priority of the target vehicle.

Optionally, when the determining unit determines the passing order of the target vehicle at the intersection, the determining unit includes: and determining the passing sequence of the target vehicle at the target intersection according to the task priority of the target vehicle.

Optionally, the communication unit is configured to: and sending indication information to the target vehicle, wherein the indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction.

The embodiment of the present application further provides a vehicle control device, which is configured to execute the method executed by the vehicle in the foregoing method embodiment, and related features may be referred to in the foregoing method embodiment, and are not described herein again.

As shown in fig. 10, in one example, the vehicle control apparatus 1000 may include: the method comprises the following steps: a communication unit 1001, configured to receive first indication information, where the vehicle is located on an upstream road of a junction, and the junction and the upstream road of the junction are defined in a same topological relationship, and the first indication information is used to indicate a passing order of the vehicle at the junction; and the control unit 1002 is configured to control the vehicle to travel through the intersection according to the first indication information.

Optionally, the communication unit is further configured to receive second indication information, where the second indication information is used to indicate a temporary parking space of the target vehicle before passing through the intersection; the control unit is further used for controlling the vehicle to run to the temporary parking space according to the second indication information before controlling the vehicle to pass through the road junction.

In another example, the communication unit 1001 may include a first communication unit configured to receive first indication information indicating a temporary parking space; the control unit 1002 comprises a first control unit and a second control unit, wherein the first control unit is used for controlling the vehicle to run to the temporary parking space according to the first indication information; the second communication unit is used for receiving second indication information, and the second indication information is used for indicating a passing path of the vehicle at a road junction; and the second control unit is used for controlling the vehicle to run through the road junction from the temporary parking space according to the second indication information. It should be understood that, in the embodiment of the present application, the first communication unit and the second communication unit may be the same or different, and the first control unit and the second control unit may be the same or different.

In another example, a communication unit 1001 configured to receive instruction information indicating a traffic route including a temporary parking space and a road junction; a control unit 1002, configured to control the vehicle to travel through the intersection after the temporary parking space is parked according to the instruction information.

It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. Each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

In a simple embodiment, those skilled in the art can appreciate that the vehicle control device or the vehicle in the above embodiments can be in the form shown in fig. 11.

The apparatus 1100 shown in fig. 11 comprises at least one processor 1110, a memory 1120, and optionally a communication interface 1130.

The memory 1120 may be a volatile memory, such as a random access memory; the memory may also be a non-volatile memory such as, but not limited to, a read-only memory, a flash memory, a Hard Disk Drive (HDD) or solid-state drive (SSD), or the memory 1120 may be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 1120 may be a combination of the above.

The specific connection medium between the processor 1110 and the memory 1120 is not limited in the embodiments of the present application.

In the apparatus of fig. 11, a communication interface 1130 is further included, and when the processor 1110 communicates with other devices, data transmission can be performed through the communication interface 1130.

When the vehicle control apparatus takes the form shown in fig. 11, the processor 1110 in fig. 11 may execute the instructions by calling a computer stored in the memory 1120, so that the apparatus 1100 may perform the method performed by the vehicle control apparatus in any of the method embodiments described above.

When the vehicle takes the form shown in fig. 11, processor 1110 in fig. 11 may cause device 1100 to perform the method performed by the vehicle in any of the method embodiments described above by invoking a computer stored in memory 1120 to execute the instructions.

The embodiments of the present application also relate to a chip system, which includes a processor, configured to call a computer program or computer instructions stored in a memory, so as to cause the processor to execute the method according to any one of the embodiments shown in fig. 5 to 8.

In one possible implementation, the processor is coupled to the memory through an interface.

In one possible implementation, the system-on-chip further includes a memory having a computer program or computer instructions stored therein.

Embodiments of the present application also relate to a processor for calling a computer program or computer instructions stored in a memory to cause the processor to perform a method according to any one of the embodiments of fig. 5 to 8.

The processor mentioned in any one of the above may be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the driving scene recognition method in the embodiment shown in fig. 5. Any of the above mentioned memories may be read-only memories (ROMs) or other types of static storage devices that may store static information and instructions, random Access Memories (RAMs), etc.

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

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

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

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

Claims

1. A vehicle control method, characterized by comprising:

acquiring a topological relation of a road junction, wherein the topological relation is used for indicating a road associated with the road junction;

determining the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on the upstream road of the road junction;

and indicating the passing of the target vehicle at the road junction according to the passing sequence.

2. The method of claim 1, further comprising:

and determining the target vehicle, wherein the target vehicle is a vehicle to pass through the road junction within a preset time.

3. The method according to claim 1 or 2, wherein the topological relation is used to indicate at least one upstream road associated with the intersection, the method further comprising:

according to the topological relation, at least one vehicle to be passed through the road junction in preset time is determined in vehicles located on the at least one upstream road, and the target vehicle is a vehicle in the at least one vehicle.

4. The method according to any one of claims 1-3, wherein the topological relationship is indicative of at least one downstream road associated with the intersection, the method further comprising:

determining a target road of the target vehicle in the at least one downstream road;

and adjusting the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

5. The method according to any one of claims 1-3, wherein the topological relation is indicative of at least one downstream roadway associated with the intersection, the method further comprising:

when determining the passing sequence of the target vehicle at the intersection, the method comprises the following steps:

and determining the passing sequence of the target vehicle at the road junction according to the attribute information of the target road.

6. The method according to claim 4 or 5, characterized in that the attribute information of the target road includes a capacity of the target road.

7. The method according to any one of claims 1-6, further comprising:

and adjusting the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

8. The method according to any one of claims 1-6, wherein the determining the order of passage of the target vehicle at the intersection comprises:

and determining the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

9. The method according to any one of claims 1-8, wherein said indicating the passage of the target vehicle at the intersection according to the passage order comprises:

and sending indication information to the target vehicle, wherein the indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction.

10. The method according to any one of claims 1 to 9, wherein the attribute information of the intersection includes at least one of: capacity, upstream road right, and downstream road right.

11. The method according to any one of claims 1-10, wherein the status information of the target vehicle comprises at least one of: position, speed, and heading angle.

12. A vehicle control method, characterized by comprising:

the method comprises the steps that a target vehicle receives first indication information, the target vehicle is located on an upstream road of a road junction, the road junction and the upstream road of the road junction are defined in the same topological relation, and the first indication information is used for indicating the passing sequence of the target vehicle at the road junction;

and the target vehicle runs through the road junction according to the first indication information.

13. The method of claim 12, wherein the target vehicle is a vehicle that is to pass through the intersection within a preset time.

14. The method according to claim 12 or 13, characterized in that the junction is associated with at least one upstream road, the target vehicle being a vehicle of at least one vehicle to be passed through the junction within a preset time, the at least one vehicle being located on the at least one upstream road.

15. The method according to any one of claims 12-14, further comprising:

the target vehicle receives second indication information, wherein the second indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction;

and the target vehicle drives to the temporary parking space according to the second indication information before passing through the road junction.

16. The method according to any one of claims 12-15, further comprising:

the target vehicle reports state information, wherein the state information comprises at least one of the following items: position, speed, and heading angle.

17. A vehicle control method, characterized by comprising:

receiving first indication information, wherein the first indication information is used for indicating a temporary parking space;

controlling the vehicle to run to the temporary parking space according to the first indication information;

receiving second indication information, wherein the second indication information is used for indicating a passing path of the vehicle at a road junction;

and controlling the vehicle to run from the temporary parking space through the road junction according to the second indication information.

18. A vehicle control apparatus, characterized by comprising:

the system comprises an acquisition unit, a judging unit and a control unit, wherein the acquisition unit is used for acquiring the topological relation of a road intersection, and the topological relation is used for indicating the road associated with the road intersection;

the determining unit is used for determining the passing sequence of the target vehicle at the road junction according to the attribute information of the road junction, the state information of the target vehicle and the topological relation, wherein the target vehicle is positioned on an upstream road of the road junction;

and the communication unit is used for indicating the passing of the target vehicle at the road junction according to the passing sequence.

19. The apparatus of claim 18, wherein the determining unit is further configured to:

20. The apparatus according to claim 18 or 19, wherein the topological relation is indicative of at least one upstream road associated with the intersection, and the determining unit is further configured to:

21. The apparatus according to any one of claims 18-20, wherein the topological relation is indicative of at least one downstream link associated with the intersection, and wherein the determining unit is further configured to:

22. The apparatus according to any one of claims 18-20, wherein the topological relation is indicative of at least one downstream link associated with the intersection, and wherein the determining unit is further configured to:

wherein, when determining the passing order of the target vehicle at the intersection, the determining unit includes:

23. The apparatus of any one of claims 18-22, further comprising:

and the adjusting unit is used for adjusting the passing sequence of the target vehicle at the road junction according to the task priority of the target vehicle.

24. The apparatus according to any one of claims 18 to 22, wherein the determining unit, when determining the passing order of the target vehicle at the intersection, includes:

25. The apparatus according to any of claims 18-24, wherein the communication unit is configured to:

26. A vehicle control apparatus characterized by comprising:

the communication unit is used for receiving first indication information, the vehicle is located on an upstream road of a road junction, the road junction and the upstream road of the road junction are defined in the same topological relation, and the first indication information is used for indicating the passing sequence of the vehicle at the road junction;

and the control unit is used for controlling the vehicle to run through the road junction according to the first indication information.

27. The apparatus of claim 26,

the communication unit is further used for receiving second indication information, wherein the second indication information is used for indicating a temporary parking space of the target vehicle before the target vehicle passes through the road junction;

the control unit is further used for controlling the vehicle to run to the temporary parking space according to the second indication information before controlling the vehicle to pass through the road junction.

28. A vehicle control apparatus characterized by comprising:

the parking system comprises a first communication unit, a second communication unit and a control unit, wherein the first communication unit is used for receiving first indication information, and the first indication information is used for indicating a temporary parking space;

the first control unit is used for controlling a vehicle to drive to the temporary parking space according to the first indication information;

the second communication unit is used for receiving second indication information, and the second indication information is used for indicating a passing path of the vehicle at a road junction;

and the second control unit is used for controlling the vehicle to run from the temporary parking space through the road junction according to the second indication information.

29. An apparatus, comprising: a processor and a memory;

the memory is used for storing programs;

the processor is configured to execute the program stored in the memory to cause the apparatus to implement the method of any of claims 1-11.

30. An apparatus, comprising: a processor and a memory;

the memory is used for storing programs;

the processor is configured to execute the program stored in the memory to cause the apparatus to implement the method of any of claims 12-16 or the method of claim 17.

31. A vehicle control system, characterized by comprising:

the vehicle control apparatus according to any one of claims 18 to 25, and,

a control apparatus for a vehicle as claimed in any one of claims 26 to 27 or claim 28.

32. A computer storage medium comprising computer readable instructions which, when executed, implement the method of any of claims 1-11 or 12-16 or 17.