CN116631194A

CN116631194A - Traffic scheduling method and device for automobiles and electronic equipment

Info

Publication number: CN116631194A
Application number: CN202310708092.8A
Authority: CN
Inventors: 郭敏; 于津强; 陈英杰; 余亮
Original assignee: Alibaba Cloud Computing Ltd
Current assignee: Alibaba Cloud Computing Ltd
Priority date: 2023-06-14
Filing date: 2023-06-14
Publication date: 2023-08-22

Abstract

The application discloses a traffic scheduling method and device for automobiles and electronic equipment. The method comprises the following steps: acquiring road network information of a target intersection in a road, and determining a plurality of automobiles which are communicated with the target intersection; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and carrying out scheduling treatment on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled. The application solves the technical problem that the passing scheduling accuracy of the vehicles is lower when the vehicles running in the road intersection are scheduled in the related art.

Description

Traffic scheduling method and device for automobiles and electronic equipment

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a traffic scheduling method and device for automobiles and electronic equipment.

Background

The road right of the signalless intersection is relatively fuzzy, so that the traffic control of vehicles is difficult, accidents and jams are easy to occur, and the driving efficiency and the driving safety of roads are influenced. With the development of automobiles, a cooperative intersection traffic application scene appears, and based on the automobile wireless communication technology (Vehicle to Everything, V2X), the automobiles can interact with the outside to realize the cooperative traffic of the automobiles.

At present, the collaborative signalless intersection passing algorithm in the related art mainly adopts a mode based on track optimization scheduling, namely, model prediction control is utilized to plan a running track according to the angle of a vehicle, so that collision with other vehicles at an intersection is avoided, the information collected by a vehicle-mounted unit in the scheme is limited, and the passing scheduling accuracy of the vehicle is low. In addition, the collaborative signalless intersection passing algorithm also adopts a mode based on sequential selection scheduling, namely time and space resources are distributed according to a first-to-first-walking principle according to the sequence of the road right application, and delay generation cannot be avoided by the scheme, so that the passing efficiency is low.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the application provides a method, a device and electronic equipment for scheduling the traffic of automobiles, which at least solve the technical problem that the accuracy of scheduling the traffic of the automobiles is lower when the traffic of the automobiles running in a road intersection is scheduled in the related art by planning the running track of the automobiles through the angle of the automobiles.

According to an aspect of the embodiment of the present application, there is provided a traffic scheduling method for an automobile, including: acquiring road network information of a target intersection in a road, and determining a plurality of automobiles which are communicated with the target intersection; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and carrying out scheduling treatment on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

Further, in the plurality of automobiles, the automobiles are screened according to road network information and vehicle operation information of the plurality of automobiles, and a plurality of automobiles to be scheduled are determined, including: determining a lane where the automobile is located according to road network information and vehicle running information of the automobile, and calculating a target distance between the automobile and a lane stop line; determining a regional range according to vehicle running information of the vehicle and a target distance, wherein the regional range represents the regional range of an entrance lane in a plurality of entrance lanes contained in a target intersection; and screening the automobiles in the plurality of automobiles according to the regional range to determine a plurality of automobiles to be scheduled.

Further, determining the regional range according to the vehicle running information and the target distance of the vehicle includes: judging whether a first automobile exists in a plurality of lanes contained in an entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with a lane change behavior; if the first automobile does not exist in the plurality of lanes, taking the first threshold value as the value of the regional range; if a first automobile exists in the plurality of lanes, determining the vehicle position of the first automobile according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

Further, determining the zone range based on the vehicle position, the lane solid length, and the first threshold includes: comparing the target distance corresponding to the vehicle position with a first threshold value; if the target distance corresponding to the vehicle position is greater than a first threshold value, taking the value of the first threshold value as the value of the regional range; and if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value, determining the regional range according to the vehicle position and the length of the lane solid line.

Further, determining the area range according to the vehicle position and the lane solid line length includes: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, taking the value of the target distance corresponding to the vehicle position as the value of the area range; and if the target distance corresponding to the vehicle position is smaller than or equal to the length of the lane solid line, taking the value of the length of the lane solid line as the value of the regional range.

Further, processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled, including: inputting vehicle running information and road network information of the to-be-scheduled automobile into a target model; and solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

Further, the object model is generated by: determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; determining a target position relation between the automobile to be scheduled and the reference position; and generating a target model according to the reference position and the target position relation.

Further, generating a target model according to the reference position and the target position relation, including: determining a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled according to the reference position and the target position relation, wherein the path fleet position information set is a set of position information in a fleet contained in a driving path of the vehicles to be scheduled when passing through a target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled, which have conflict when passing through the target intersection, of the vehicles to be scheduled, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled, which have conflict; generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; and taking the fact that the delay of each of the plurality of automobiles to be scheduled is smaller than a preset threshold value as a first objective function, and generating an objective model according to the first objective function and a plurality of constraint conditions.

Further, solving the target model to obtain traffic scheduling information of the car to be scheduled, including: solving the target model according to linear constraint conditions in the constraint conditions to obtain an initial solution of the target model; generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

Further, according to traffic scheduling information of the car to be scheduled, the car to be scheduled is scheduled, including: determining the target running speed and the target running acceleration of the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled; generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset time length so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

According to another aspect of the embodiment of the present application, there is also provided a traffic scheduling method for an automobile, including: acquiring road network information of a target intersection in a road uploaded by a client; determining a plurality of automobiles in communication with a target intersection in a cloud server; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and feeding back the traffic scheduling information of the automobile to be scheduled to the client so as to schedule the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled.

According to another aspect of the embodiment of the present application, there is also provided a traffic scheduling device for an automobile, including: the first acquisition unit is used for acquiring road network information of a target intersection in a road and determining a plurality of automobiles which are communicated with the target intersection; the first processing unit is used for screening the automobiles in the plurality of automobiles according to road network information and vehicle running information of the plurality of automobiles to determine a plurality of automobiles to be scheduled; the second processing unit is used for processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and the third processing unit is used for carrying out scheduling processing on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

Further, the first processing unit includes: the first determining subunit is used for determining a lane where the automobile is located according to road network information and vehicle running information of the automobile and calculating a target distance between the automobile and a lane stop line; a second determination subunit configured to determine a regional range according to vehicle running information of the vehicle and the target distance, where the regional range represents a regional range of an entrance lane of the plurality of entrance lanes included in the target intersection; and the third determining subunit is used for screening the automobiles according to the regional range in the plurality of automobiles to determine a plurality of automobiles to be scheduled.

Further, the second determining subunit includes: the first judging module is used for judging whether a first automobile exists in a plurality of lanes contained in the entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with lane changing behavior; the first determining module is used for taking the first threshold value as the value of the area range if the first automobile does not exist in the plurality of lanes; and the second determining module is used for determining the vehicle position of the first automobile according to the target distance if the first automobile exists in the plurality of lanes and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

Further, the second determining module includes: the first comparison submodule is used for comparing the target distance corresponding to the vehicle position with a first threshold value; the first determining submodule is used for taking the numerical value of the first threshold value as the value of the regional range if the target distance corresponding to the vehicle position is larger than the first threshold value; and the second determining submodule is used for determining the regional range according to the vehicle position and the length of the lane solid line if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value.

Further, the second determining submodule includes: the second comparison sub-module is used for comparing the target distance corresponding to the vehicle position with the length of the lane solid line; the third determining submodule is used for taking the numerical value of the target distance corresponding to the vehicle position as the value of the regional range if the target distance corresponding to the vehicle position is larger than the length of the lane solid line; and the fourth determining submodule is used for taking the numerical value of the lane solid line length as the numerical value of the regional range if the target distance corresponding to the vehicle position is smaller than or equal to the lane solid line length.

Further, the second processing unit includes: the first input subunit is used for inputting vehicle running information and road network information of the automobile to be scheduled into the target model; and the first calculation subunit is used for solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

Further, the traffic scheduling device of the automobile further comprises a unit for generating the object model by: the first determining unit is used for determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; the second determining unit is used for determining a target position relation between the automobile to be scheduled and the reference position; the first generation unit is used for generating a target model according to the reference position and the target position relation.

Further, the first generation unit includes: a fourth determining subunit, configured to determine, according to the reference position and the target position relationship, a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled, where the path fleet position information set is a set of position information of a fleet included in a driving path on which the vehicles to be scheduled travel when passing through the target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled where a plurality of vehicles to be scheduled have conflicts when passing through the target intersection, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled where the conflicts exist; the first generation subunit is used for generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; the second generation subunit is used for generating a target model according to the first target function and a plurality of constraint conditions by taking a first target function with a vehicle delay of a plurality of vehicles to be scheduled smaller than a preset threshold value.

Further, the first computing subunit includes: the first calculation module is used for solving the target model according to the linear constraint condition in the constraint conditions to obtain an initial solution of the target model; the first generation module is used for generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and the second calculation module is used for solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

Further, the third processing unit includes: a fifth determining subunit, configured to determine a target running speed and a target running acceleration of the vehicle to be scheduled according to traffic scheduling information of the vehicle to be scheduled; and the third generation subunit is used for generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset duration so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium storing a program, wherein when the program runs, the program controls a device in which the storage medium is located to execute the traffic scheduling method of the automobile according to any one of the above.

According to another aspect of the embodiment of the present application, there is also provided an electronic device, including: a memory storing an executable program; and the processor is used for running the program, wherein the program executes the traffic scheduling method of the automobile according to any one of the above.

In the embodiment of the application, road network information of a target intersection in a road is acquired, and a plurality of automobiles communicating with the target intersection are determined; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; according to the traffic scheduling information of the automobiles to be scheduled, the automobiles to be scheduled are screened according to road network information and the vehicle running information of a plurality of automobiles, a plurality of automobiles to be scheduled are determined, in the process of scheduling the automobiles to be scheduled, the vehicle running information and the road network information of the automobiles to be scheduled are processed, more accurate traffic scheduling information can be obtained, the accuracy of traffic scheduling is obviously improved, the purpose of providing more accurate traffic scheduling information for vehicles at intersections is achieved, the technical effect of improving the traffic scheduling accuracy of the vehicles is achieved, and the technical problem that the traffic scheduling accuracy of the vehicles is relatively low due to the fact that the running track of the vehicles is planned through the angle of the vehicles when the vehicles running at the intersections in the related art are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a schematic diagram of a computer terminal according to a first embodiment of the present application;

fig. 2 is a flowchart of a method for scheduling the passage of an automobile according to a first embodiment of the present application;

FIG. 3 is a schematic view of an alternative method for scheduling the passage of automobiles according to a first embodiment of the present application;

FIG. 4 is a schematic illustration of an alternative intersection vehicle location provided in accordance with a first embodiment of the present application;

fig. 5 is a flowchart of a traffic scheduling method for an automobile according to a second embodiment of the present application;

fig. 6 is a schematic view of a traffic scheduling device for an automobile according to a third embodiment of the present application;

fig. 7 is a schematic diagram of a computing terminal according to a fourth embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region, and provide corresponding operation entries for the user to select authorization or rejection.

First, partial terms or terminology appearing in the course of describing embodiments of the application are applicable to the following explanation:

vehicle-road cooperation: the state of effective cooperation between the vehicle and the road in the dimensions of perception, decision and the like is realized by utilizing an advanced wireless communication technology.

Vehicle-mounted Unit, english On Board Unit, OBU for short.

Road Side Unit, english Road Side Unit, RSU for short.

The Vehicle loaded with the communication system is called an EV for short.

Collaborative intersection traffic (english Cooperative Intersection Passing, CIP for short): the OBU equipped vehicle EV and the road side unit RSU cooperate to safely and efficiently pass through the intersection.

Example 1

There is also provided in accordance with an embodiment of the present application a method of scheduling the passage of an automobile, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown herein.

The method according to the first embodiment of the present application may be implemented in a mobile terminal, a computer terminal or a similar computing device. Fig. 1 shows a block diagram of a hardware configuration of a computer terminal (or mobile device) for implementing a traffic scheduling method of an automobile. As shown in fig. 1, the computer terminal (or mobile device) 10 may include a processor set 102 (the processor set 102 may include, but is not limited to, a microprocessor MCU (Microcontroller Unit), a programmable logic device FPGA (Field Programmable Gate Array), etc., and the processor set 102 may include a processor set, shown in fig. 1 with 102a,102b, … …,102 n), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a universal serial BUS (USB, universal Serial Bus) port (which may be included as one of the ports of the BUS), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

It should be noted that the one or more processors 102 and/or other data processing circuits described above may be referred to generally herein as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the computer terminal 10 (or mobile device).

The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the traffic scheduling method of the automobile in the embodiment of the present application, and the processor 102 executes the software programs and modules stored in the memory 104, thereby executing various functional applications and data processing, that is, implementing the traffic scheduling method of the automobile. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission means 106 is arranged to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10 (or mobile device).

The road right of the signalless intersection is relatively fuzzy, so that the traffic control of vehicles is difficult, accidents and jams are easy to occur, and the driving efficiency and the driving safety of roads are influenced. With the development of automobiles, the automobiles can interact with the outside based on the automobile wireless communication technology (Vehicle to Everything, V2X), so that the cooperative passing of the automobiles is realized.

At present, the collaborative signalless intersection passing algorithm in the related art mainly adopts a mode based on track optimization scheduling, namely, model prediction control is utilized to plan a running track according to the angle of a vehicle, so that collision with other vehicles at an intersection is avoided, the information collected by a vehicle-mounted unit in the scheme is limited, and the passing scheduling accuracy of the vehicle is low. In addition, the cooperative signalless intersection passing algorithm also adopts a mode based on sequential selection scheduling, namely, time and space resources are allocated according to a first-to-first-walking principle according to the sequence of the road right application, and the scheme cannot avoid delay, is low in passing efficiency and cannot effectively realize vehicle-road cooperation.

Under the above technical background, the present application provides a traffic scheduling method for an automobile as shown in fig. 2. Fig. 2 is a flowchart of a traffic scheduling method for an automobile according to a first embodiment of the present application. The method comprises the following steps:

step S201, road network information of a target intersection in a road is obtained, and a plurality of automobiles communicating with the target intersection are determined.

Alternatively, the target intersection may be any signalless intersection in the road, the road network information including, but not limited to, lane information, collision area within the intersection, etc., the vehicle may be a vehicle EV carrying a communication system through which the vehicle may interact with the outside world, e.g., a vehicle EV carrying an on-board unit OBU through which the vehicle may interact with a road side unit RSU.

Specifically, for any signalless intersection in a road, road network information such as lane information of the intersection, conflict areas in the intersection and the like is acquired, and a plurality of automobiles communicating with the intersection are determined. Since the road-side unit RSU arranged at the intersection can communicate with the on-board units OBU in the vehicles within the sensing range, a plurality of vehicles (i.e. vehicles within the sensing range) can be determined from the road-side unit RSU.

In step S202, among the plurality of vehicles, the vehicles are screened according to the road network information and the vehicle operation information of the plurality of vehicles, and a plurality of vehicles to be scheduled are determined.

Optionally, the vehicle operation information includes vehicle dynamic information including, but not limited to, vehicle real-time position information and vehicle static information including, but not limited to, a speed threshold value, an acceleration threshold value, a deceleration threshold value, and travel path information of the vehicle.

Specifically, after a plurality of automobiles are determined, vehicle running information of the automobiles in the induction range can be obtained according to an on-board unit OBU in the automobiles, so that among the plurality of automobiles, the automobiles can be screened according to road network information and the vehicle running information of the plurality of automobiles, and a plurality of automobiles to be scheduled are determined.

Step S203, processing the vehicle running information and road network information of the to-be-scheduled vehicle to obtain the traffic scheduling information of the to-be-scheduled vehicle.

Alternatively, the traffic schedule information may be second-based travel position information of the vehicle, for example, 1 st second travel to position 1 and 2 nd second travel to position 2 of the vehicle a. The traffic scheduling information of the automobiles to be scheduled can be obtained by processing the vehicle running information and the road network information of the automobiles to be scheduled, so that more accurate traffic scheduling information can be provided for the automobiles to be scheduled.

Step S204, according to the traffic scheduling information of the automobile to be scheduled, the automobile to be scheduled is scheduled.

Specifically, after the traffic scheduling information of the to-be-scheduled automobile is obtained, the to-be-scheduled automobile may be scheduled according to the traffic scheduling information of the to-be-scheduled automobile. For example, the traffic scheduling information of the vehicle a is 1 st second to the position 1 and 2 nd second to the position 2, and based on these information, the corresponding running speed and running acceleration can be calculated, so that the scheduling of the vehicle a can be realized based on the running speed and the running acceleration.

In the scheme, the vehicles are screened according to the road network information and the vehicle running information of the vehicles, so that a plurality of vehicles to be scheduled are determined, the vehicle running information and the road network information of the vehicles to be scheduled are processed in the process of scheduling the vehicles to be scheduled, more accurate traffic scheduling information can be obtained, the accuracy of traffic scheduling is remarkably improved, more accurate traffic scheduling information can be provided for vehicles at intersections, and the traffic scheduling accuracy of the vehicles is greatly improved.

In an alternative embodiment, the schematic diagram shown in fig. 3 may be used to implement a traffic schedule for automobiles. As shown in fig. 3, after the vehicle running information and the intersection road network information are obtained, the vehicle road network matching and screening are performed to determine the vehicles to be scheduled, and then the optimization model building and solving process is performed to obtain the traffic scheduling information of the vehicles to be scheduled, so that the control command conversion process can be performed, namely, the control command is generated according to the traffic scheduling information, and then the control information issuing process can be performed, namely, the information for scheduling the vehicles to be scheduled is issued to the vehicles by issuing the control command.

Optionally, the data sources involved in the present solution include vehicle dynamic data (e.g., vehicle real-time location information), vehicle static data (e.g., vehicle speed threshold, acceleration threshold, deceleration threshold, and travel path information), and intersection road network data (e.g., lane information, in-intersection conflict points), etc.

How to determine a plurality of cars to be scheduled is crucial, so in the traffic scheduling method of cars provided in the first embodiment of the present application, in the plurality of cars, the cars are screened according to road network information and car running information of the plurality of cars, and the determining of the plurality of cars to be scheduled includes: determining a lane where the automobile is located according to road network information and vehicle running information of the automobile, and calculating a target distance between the automobile and a lane stop line; determining a regional range according to vehicle running information of the vehicle and a target distance, wherein the regional range represents the regional range of an entrance lane in a plurality of entrance lanes contained in a target intersection; and screening the automobiles in the plurality of automobiles according to the regional range to determine a plurality of automobiles to be scheduled.

Optionally, according to the road network information and the vehicle running information of the vehicle, the lane where the vehicle is located can be determined, and the target distance between the vehicle and the lane stop line is calculated. For example, in the process of screening the automobiles, the vehicles can be matched to corresponding lanes according to real-time longitude and latitude information of the vehicles in road network information and vehicle running information, namely the lanes where the automobiles are located are respectively determined, and the positions of the automobiles, which are away from the lane stop lines, can be obtained by respectively calculating the target distances between the automobiles and the lane stop lines, so that an accurate data basis is provided for the subsequent determination of the regional range.

Optionally, according to the vehicle running information and the target distance of the vehicle, the area range of the entrance lane in the multiple entrance lanes contained in the target intersection can be determined, namely, the statistical distance for counting the vehicle to be scheduled is determined, so that an accurate data basis is provided for screening in multiple vehicles.

Optionally, among the plurality of automobiles, the automobiles are screened according to the regional scope, so that a plurality of automobiles to be scheduled can be determined. For example, the cars in the area range are used as cars to be dispatched, that is, among the cars, the cars in the statistical distance of the entrance lane are screened, that is, the cars in a certain distance from the lane stop line are screened, and a plurality of cars to be dispatched are obtained. For example, vehicles within a distance of 100 meters from the lane stop line are screened out, and a plurality of automobiles to be dispatched are obtained.

By the aid of the process, the automobile to be scheduled is accurately determined, and an accurate data basis is provided for subsequent scheduling processing.

In order to accurately determine a regional scope, in the method for scheduling the passage of an automobile according to the first embodiment of the present application, determining the regional scope according to the vehicle running information and the target distance of the automobile includes: judging whether a first automobile exists in a plurality of lanes contained in an entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with a lane change behavior; if the first automobile does not exist in the plurality of lanes, taking the first threshold value as the value of the regional range; if a first automobile exists in the plurality of lanes, determining the vehicle position of the first automobile according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

Alternatively, the first car is a car with a lane change behaviour, i.e. a car in which the current lane of the car is not consistent with steering. Specifically, according to the vehicle running information of the vehicle, it may be determined whether the first vehicle exists in a plurality of lanes (for example, a turning lane, a left-turn lane, a straight lane, and a right-turn lane) included in the entrance lane. For example, the lane where the vehicle B is currently located is a straight lane, but if it is known that the travel path of the vehicle B at the target intersection is left turn according to the travel path information in the vehicle running information of the vehicle B, the vehicle B needs to change lanes from the current straight lane to the left turn lane, that is, the vehicle B is the first vehicle with the changed lane.

Optionally, if the first car is not present in the plurality of lanes, the first threshold is taken as the value of the area range. Alternatively, the first threshold may be 100 meters, taking an example that the vehicles in the lanes do not change lanes (i.e. there is no first vehicle), where 100 meters is taken as the value of the area range of the entrance lane, i.e. the area range is a range 100 meters from the lane stop line.

Optionally, if the first car exists in the plurality of lanes, determining a vehicle position of the first car according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold. Specifically, the calculation formula of the statistical distance S1 (i.e., the area range) is as follows:

S1=max (min (S0, 100), solid line length)

Where S0 is the vehicle position of the vehicle where the current lane of the vehicle is inconsistent with the steering and relatively close to the lane stop line, 100 is the first threshold (i.e., 100 meters), and the solid line length is the lane solid line length (typically 40 meters).

For example, there are 5 vehicles on the straight lane, namely, vehicle B, vehicle C, vehicle D, vehicle E and vehicle F, and according to the driving path information of these vehicles, the steering of these vehicles can be known, taking the steering of vehicle B as the left turn, and the other vehicles as the straight turn, then it is determined that vehicle B is the first vehicle with the lane change behavior, then according to the target distance, the positional relationship among vehicle B, vehicle C, vehicle D, vehicle E and vehicle F can be known, namely, according to the distances between these vehicles and the lane stop line, the positional relationship among these vehicles can be known, and according to the distances between vehicle C, vehicle D and vehicle E from the lane stop line is smaller than vehicle B, the distance between vehicle F from the lane stop line is greater than vehicle B, namely, vehicle B is located between vehicle E and vehicle F, at this time, vehicle B is the vehicle where the current lane of which the steering is inconsistent and the distance from the lane stop line is relatively close, namely, the position of vehicle B is S0, and then the regional range is determined according to S0, the length of the solid line and the first threshold (for example, 100 meters).

It should be noted that in the process of determining the area range, by judging whether the first automobile exists in the multiple lanes (namely, the automobile with lane changing behavior) contained in the entrance lane, the lane changing automobile can be filtered, namely, the screened automobile to be scheduled is considered as the automobile without lane changing, so that the situation that the automobile is blocked or the road is jammed at the intersection due to the fact that the intersection is occupied by the wrong lane can be avoided, the automobile can pass more safely, and the passing efficiency of the automobile is remarkably improved.

In order to accurately determine a regional scope, in the method for scheduling the passage of an automobile according to the first embodiment of the present application, determining the regional scope according to a vehicle position, a lane solid line length, and a first threshold value includes: comparing the target distance corresponding to the vehicle position with a first threshold value; if the target distance corresponding to the vehicle position is greater than a first threshold value, taking the value of the first threshold value as the value of the regional range; and if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value, determining the regional range according to the vehicle position and the length of the lane solid line.

Alternatively, the explanation is continued taking the above-described 5 cars on the straight-traveling lane as an example. In the process of determining the area range according to S0, the length of the lane solid line and the first threshold (100 meters), comparing the target distance (for example, s0=x meters) corresponding to the vehicle position with the first threshold according to the calculation formula of the statistical distance S1, if the target distance corresponding to the vehicle position is greater than the first threshold (i.e., if X > 100), the value of min (S0, 100) is 100, and S1 is 100, i.e., the value of the first threshold is regarded as the value of the area range; if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value (i.e. if X is smaller than or equal to 100), and the value of min (S0, 100) is S0, the area range needs to be determined continuously according to the vehicle position and the lane solid line length.

In order to accurately determine a regional scope, in the method for scheduling the passage of an automobile according to the first embodiment of the present application, determining the regional scope according to a vehicle position and a lane solid line length includes: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, taking the value of the target distance corresponding to the vehicle position as the value of the area range; and if the target distance corresponding to the vehicle position is smaller than or equal to the length of the lane solid line, taking the value of the length of the lane solid line as the value of the regional range.

Alternatively, the explanation is continued taking the above-described 5 cars on the straight-traveling lane as an example. In the process of determining the area range according to S0 and the lane solid line length, comparing the target distance (for example, s0=x meters) corresponding to the vehicle position with the lane solid line length according to the calculation formula of the statistical distance S1, and if the target distance corresponding to the vehicle position is greater than the lane solid line length (for example, if X > 40), s1=max (X, solid line length) is X, namely, the value of the target distance corresponding to the vehicle position is taken as the value of the area range; if the target distance corresponding to the vehicle position is smaller than or equal to the lane solid line length (i.e., if X is less than or equal to 40), s1=max (X, solid line length) is the lane solid line length, i.e., the value of the lane solid line length is taken as the value of the area range.

By the aid of the process, the area range is accurately determined, so that the automobiles in the area range can be used as automobiles to be scheduled, the automobiles to be scheduled can be accurately determined, further, the situation that the vehicles are blocked or blocked due to the fact that the vehicles occupy wrong lanes at intersections or the vehicles are blocked on roads can be avoided, the vehicles can pass more safely, and the passing efficiency of the vehicles is remarkably improved.

In order to improve the accuracy of traffic scheduling, in the method for traffic scheduling of an automobile provided in the first embodiment of the present application, vehicle operation information and road network information of the automobile to be scheduled are processed to obtain traffic scheduling information of the automobile to be scheduled, including: inputting vehicle running information and road network information of the to-be-scheduled automobile into a target model; and solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, the method provides a no-signal intersection collaborative traffic optimization model (namely a target model) based on that the vehicle delay is smaller than a preset threshold value aiming at the no-signal intersection, and the processing of the vehicle running information and the road network information of the vehicle to be scheduled can be realized by solving the target model, so that the traffic scheduling information of the vehicle to be scheduled is obtained.

Optionally, after the obtained vehicle running information and road network information are represented by data, the vehicle running information and road network information of the vehicle to be scheduled can be input into a target model after the information is converted into the data, and the traffic scheduling information of the vehicle to be scheduled is obtained by solving the target model, so as to obtain the calculation targetAnd representing the positions of the m vehicles (namely a plurality of vehicles to be scheduled) screened at the intersection, which correspond to the n seconds later.

In order to obtain more accurate traffic scheduling information, in the traffic scheduling method of the vehicle provided by the embodiment of the application, a target model is generated by the following method: determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; determining a target position relation between the automobile to be scheduled and the reference position; and generating a target model according to the reference position and the target position relation.

Optionally, in the process of generating the target model, the acquired vehicle running information and road network information need to be represented by data, that is, a coordinate system origin (i.e., a reference position) is established, and the vehicle running information and the road network information need to be represented according to the origin, so that the information is converted into data.

Optionally, according to the vehicle running information and road network information of the vehicles to be scheduled, the reference positions of the vehicles to be scheduled can be determined. For example, according to the target distance between the vehicle and the lane stop line, which is calculated according to the road network information and the vehicle running information of the vehicle, a vehicle which is relatively far from the lane stop line can be determined from a plurality of vehicles to be dispatched, and the vehicle center of the vehicle which is relatively far from the lane stop line is taken as a reference point, i.e. the vehicle center of the vehicle which is relatively far from the lane stop line is taken as the reference position of the plurality of vehicles to be dispatched.

Alternatively, a process of determining the reference positions of a plurality of automobiles to be scheduled will be described by taking a schematic view of the intersection vehicle positions shown in fig. 4 as an example. As shown in fig. 4, the vehicles 1, 2, 3 and 4 are selected vehicles to be dispatched, and first, a reference point is determined, that is, the vehicle center of the vehicle relatively far from the lane stop line is taken as a reference point (that is, a reference position) for each of the vehicles 1, 2, 3 and 4, that is, the vehicle center of the vehicle 1 is the reference point, the initial position is 0, the vehicle center of the vehicle 4 is the reference point, and the initial position is 0.

Optionally, a target positional relationship between the car to be scheduled and the reference position is determined. Specifically, according to the reference point, the target position (i.e., the initial position) of the screened car to be dispatched is determined, as shown in fig. 4, the vehicle center of the vehicle 1 is the reference point, the initial position is 0, the distance between the vehicle center on the front path and the reference point on the lane is the initial position of the vehicle, that is, the initial position of the vehicle 2 is the distance between the vehicle center of the vehicle 2 and the vehicle center of the vehicle 1 on the lane, that is, the initial position of the vehicle 2 is s2, and the initial position calculation method of the vehicle 3 is consistent with that of the vehicle 2, which is not described herein.

Optionally, the vehicle dynamics information is represented as follows: by x0 _i Representing the position corresponding to the initial state of the vehicle i, i.e. the initial position, by v _i Indicating the average speed of the vehicle i corresponding to the last second in initial state. Alternatively, the vehicle static information is represented as follows: v _max Representing a speed threshold, a, of a vehicle _max Representing the addition of vehiclesSpeed threshold, a _min Indicating a deceleration threshold value (negative value) of the vehicle, dis _f Indicating a safe distance between vehicles, preventing collision.

Optionally, in the process of generating the target model, it is basically assumed that the vehicle cannot change lanes illegally in the solid line range of the entrance lane, and the vehicle can ensure self safety even though related instructions may cause the vehicle to collide, and the vehicle can avoid collision by virtue of self perception and control.

Alternatively, after the acquired vehicle running information is data-represented, the target model may be generated in accordance with the reference position and the target position relationship.

It should be noted that, the target model can be obtained through the above process, so that the vehicle running information and road network information of the vehicle to be scheduled can be processed, and more accurate traffic scheduling information can be obtained.

In order to obtain more accurate traffic scheduling information, in the traffic scheduling method of an automobile provided in the first embodiment of the present application, generating a target model according to a reference position and a target position relationship includes: determining a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled according to the reference position and the target position relation, wherein the path fleet position information set is a set of position information in a fleet contained in a driving path of the vehicles to be scheduled when passing through a target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled, which have conflict when passing through the target intersection, of the vehicles to be scheduled, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled, which have conflict; generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; and taking the fact that the delay of each of the plurality of automobiles to be scheduled is smaller than a preset threshold value as a first objective function, and generating an objective model according to the first objective function and a plurality of constraint conditions.

Optionally, after the origin (i.e., reference position) of the coordinate system is established, the acquired road network information may be represented as data. Specifically, a route fleet position information set (F), a collision vehicle information set (C), and a collision distance information set (p (i, j), q (i, j)) corresponding to the cars to be scheduled can be determined according to the reference position and the target position relationship. Alternatively, as shown in fig. 4, the vehicles 1, 2, and 3 constitute a vehicle group on the traveling path of the vehicle 1, that is, the vehicle 1 and the vehicles 2, 3 are on the same path through the intersection, and the vehicle 3 is the head vehicle in the traveling direction of the vehicle 1.

Alternatively, taking the schematic diagram of the intersection vehicle position shown in fig. 4 as an example, the road network information is represented as follows:

path fleet location information set (F): and (3) recording (i, j) when the vehicle i and the vehicle j are on the same path passing through the intersection and the vehicle i is the head vehicle in the running direction of the vehicle j, wherein the set of the position information of the vehicle in the corresponding path motorcade. For example, (3, 2), (2, 1) shown in fig. 4 should be contained in F.

Conflict vehicle information set (C): recording the vehicle pairs with conflict points on the paths of the two vehicles passing through the intersection. For example, (4, 3), (4, 2), (4, 1) shown in fig. 4 should be included in C.

p (i, j): for the conflicting vehicle pair (i, j) in C, the distance between the central point of the conflicting area corresponding to the vehicle i and the path of the corresponding datum point of the vehicle i is recorded. As shown in fig. 4, p (1, 4), p (2, 4), p (3, 4) in the respective vehicles 1 and 4, 2 and 4, 3 and 4 are distances on the paths of the respective collision areas and the reference point (i.e., the vehicle center of the vehicle 1) in the figure.

q (i, j): for the conflicting vehicle pair (i, j) in C, the distance on the path where the center point of the conflicting region corresponding to vehicle i and vehicle j is located from the corresponding reference point of vehicle j is recorded. As shown in fig. 4, q (1, 4), q (2, 4), q (3, 4) and q (3, 4) corresponding to the vehicles 1 and 4, 2 and 4, and 3 and 4 are all distances on the paths corresponding to the collision areas and the reference points (i.e., the vehicle centers of the vehicles 4) in the figure.

Optionally, according to the path fleet location information set, the conflict vehicle information set and the conflict distance information set, a plurality of constraint conditions may be generated, and the target model is generated according to the first target function and the constraint conditions by taking a fact that a vehicle delay of a plurality of vehicles to be scheduled is smaller than a preset threshold as the first target function. Optionally, the constraint conditions of the target model include a travel speed constraint, an acceleration constraint, an inter-vehicle safe distance constraint, and a vehicle collision limit constraint.

For example, byAnd representing the positions of m vehicles (namely a plurality of vehicles to be scheduled) screened at the intersection, which correspond to each other after the nth second, as calculation targets. Taking the fact that the delay of each of the plurality of automobiles to be scheduled is smaller than a preset threshold value as a first objective function, namely summing the positions of the plurality of automobiles to be scheduled in n seconds, and hopefully, the sum is as large as possible. For example, after n seconds, if the travel distance of a plurality of cars to be scheduled is as large as possible, the average delay of the cars is as small as possible, thereby achieving faster passage of the cars through the intersection. Specifically, the first objective function is as follows: />

Specifically, the established optimization model (i.e., the target model) is as follows:

optionally, the object model contains constraints (1) to (8). Wherein conditions (1) and (2) represent that the vehicle speed per second is limited by a speed threshold; conditions (3) to (5) represent that the vehicle acceleration is limited by an acceleration threshold value and a deceleration threshold value; condition (6) represents a safe distance limit between vehicles in front and behind the same lane; conditions (7) and (8) indicate that collision avoidance limits, i.e. two vehicles on the path that have a collision, need to maintain a safe distance through the collision point.

It should be noted that, in the scheme, aiming at the vehicles (i.e. the vehicles to be scheduled) within a certain range of the entrance lane of the current intersection, the whole process that the vehicles enter the exit lane through the intersection is considered, an optimization model is established according to constraint conditions so as to solve a global optimal solution, and compared with a first-to-first-walk model, unnecessary delay is reduced, and the vehicle passing efficiency is improved; compared with a single vehicle track planning model, the method and the device have the advantages that the traffic scheduling processing is carried out according to the vehicle information and the road network information of the whole intersection, more accurate traffic scheduling information can be obtained, and the accuracy of traffic scheduling is remarkably improved.

In order to obtain more accurate traffic scheduling information, in the traffic scheduling method of an automobile provided in the first embodiment of the present application, a target model is solved to obtain traffic scheduling information of an automobile to be scheduled, including: solving the target model according to linear constraint conditions in the constraint conditions to obtain an initial solution of the target model; generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, the scheme provides a signal-free intersection collaborative traffic optimization model aiming at vehicles (namely vehicles to be scheduled) within a certain range of an entrance lane of a current intersection, and aims at that the vehicle delay of a plurality of vehicles to be scheduled is smaller than a preset threshold value, and provides a feasible solving method.

Alternatively, since conditions (7) and (8) are non-convex and cannot be directly solved using a solver, the model is classified into models that can be solved by an existing solver according to the vehicle's own safety guarantee setting in the basic assumption. For example, the target model is solved according to a linear constraint condition in the constraint conditions, and an initial solution of the target model is obtained. Considering only the constraints (1) to (6), the model is a linear programming model (i.e. an initial solution model), alternatively, the initial solution can be obtained as an initial value of the solution model by solving the model with an existing solver.

Optionally, the second objective function is generated from the first objective function and a nonlinear constraint in the plurality of constraints. For example, by transforming the nonlinear constraints (7) and (8) onto the first objective function, a second objective function may be generated as follows:

wherein:

optionally, according to the initial solution and the second objective function, solving the objective model (i.e. solving the model), thereby obtaining the traffic scheduling information of the car to be scheduled. For example, according to the initial solution and the second objective function, only the constraint conditions (1) to (6) are considered, and the model can be iteratively solved by the existing solver to obtain the calculation objective

In order to improve the accuracy of traffic scheduling for vehicles, in the traffic scheduling method for vehicles provided in the first embodiment of the present application, according to traffic scheduling information of vehicles to be scheduled, the scheduling processing for the vehicles to be scheduled includes: determining the target running speed and the target running acceleration of the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled; generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset time length so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

Optionally, the vehicle to be scheduled is a vehicle to which a control instruction is to be issued, the traffic scheduling information is second driving position information of the vehicle, and the target driving of the vehicle to be scheduled can be determined according to the traffic scheduling information of the vehicle to be scheduledSpeed and target travel acceleration. For example, a solution obtained from the above model (i.e) The vehicle positions corresponding to m vehicles (namely a plurality of vehicles to be scheduled) screened at the intersection after the nth second can be known, and the target running speed and the target running acceleration can be calculated based on the adjacent position information. For example, the traffic scheduling information of the vehicle a is 1 st second to the position 1 and 2 nd second to the position 2, and based on these information, the corresponding running speed and running acceleration can be calculated, so that the scheduling of the vehicle a can be realized based on the running speed and the running acceleration.

Optionally, generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset duration so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration. For example, after the target control command is generated, the running speed and the running acceleration are issued to the vehicle in seconds, so that the vehicle to be scheduled runs according to the issued running speed and running acceleration, and the traffic scheduling of the vehicle to be scheduled is realized.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.

Example 2

According to an embodiment of the present application, there is also provided a traffic scheduling method for an automobile, as shown in fig. 5, including:

step S501, obtaining road network information of a target intersection in a road uploaded by a client;

step S502, determining a plurality of automobiles which communicate with a target intersection in a cloud server; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled;

in step S503, the traffic scheduling information of the to-be-scheduled vehicle is fed back to the client, so as to schedule the to-be-scheduled vehicle according to the traffic scheduling information of the to-be-scheduled vehicle.

According to the scheme, the vehicles are screened according to the road network information and the vehicle running information of the vehicles, so that a plurality of vehicles to be scheduled are determined, the vehicle running information and the road network information of the vehicles to be scheduled are processed in the process of scheduling the vehicles to be scheduled, more accurate traffic scheduling information can be obtained, the accuracy of traffic scheduling is remarkably improved, more accurate traffic scheduling information can be provided for vehicles at intersections, and the traffic scheduling accuracy of the vehicles is greatly improved.

In the cloud server, the specific method for traffic scheduling of the vehicle is the same as the method in the first embodiment, and will not be described here again.

Example 3

According to an embodiment of the present application, there is also provided a traffic scheduling device for implementing the traffic scheduling method for an automobile, as shown in fig. 6, the device includes: a first acquisition unit 601, a first processing unit 602, a second processing unit 603, and a third processing unit 604.

A first obtaining unit 601, configured to obtain road network information of a target intersection in a road, and determine a plurality of vehicles that communicate with the target intersection;

the first processing unit 602 is configured to screen, among the plurality of vehicles, the vehicles according to road network information and vehicle operation information of the plurality of vehicles, and determine a plurality of vehicles to be scheduled;

the second processing unit 603 is configured to process vehicle running information and road network information of the vehicle to be scheduled, to obtain traffic scheduling information of the vehicle to be scheduled;

and the third processing unit 604 is configured to schedule the to-be-scheduled automobile according to the traffic scheduling information of the to-be-scheduled automobile.

In the traffic scheduling device for vehicles provided in the third embodiment of the present application, road network information of a target intersection in a road is obtained through a first obtaining unit 601, and a plurality of vehicles communicating with the target intersection are determined; the first processing unit 602 screens the vehicles in the plurality of vehicles according to road network information and vehicle running information of the plurality of vehicles to determine a plurality of vehicles to be scheduled; the second processing unit 603 processes the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; the third processing unit 604 performs scheduling processing on the car to be scheduled according to the traffic scheduling information of the car to be scheduled. In the scheme, the vehicles are screened according to the road network information and the vehicle running information of the vehicles, so that a plurality of vehicles to be scheduled are determined, the vehicle running information and the road network information of the vehicles to be scheduled are processed in the scheduling process of the vehicles to be scheduled, more accurate traffic scheduling information can be obtained, the accuracy of traffic scheduling is remarkably improved, the purpose of providing more accurate traffic scheduling information for vehicles at an intersection is achieved, the technical effect of improving the traffic scheduling accuracy of the vehicles is achieved, and the technical problem that the traffic scheduling accuracy of the vehicles is relatively low due to the fact that the running track of the vehicles is planned through the angle of the vehicles when the vehicles running at the intersection in the related art is solved.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the first processing unit includes: the first determining subunit is used for determining a lane where the automobile is located according to road network information and vehicle running information of the automobile and calculating a target distance between the automobile and a lane stop line; a second determination subunit configured to determine a regional range according to vehicle running information of the vehicle and the target distance, where the regional range represents a regional range of an entrance lane of the plurality of entrance lanes included in the target intersection; and the third determining subunit is used for screening the automobiles according to the regional range in the plurality of automobiles to determine a plurality of automobiles to be scheduled.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the second determining subunit includes: the first judging module is used for judging whether a first automobile exists in a plurality of lanes contained in the entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with lane changing behavior; the first determining module is used for taking the first threshold value as the value of the area range if the first automobile does not exist in the plurality of lanes; and the second determining module is used for determining the vehicle position of the first automobile according to the target distance if the first automobile exists in the plurality of lanes and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the second determining module includes: the first comparison submodule is used for comparing the target distance corresponding to the vehicle position with a first threshold value; the first determining submodule is used for taking the numerical value of the first threshold value as the value of the regional range if the target distance corresponding to the vehicle position is larger than the first threshold value; and the second determining submodule is used for determining the regional range according to the vehicle position and the length of the lane solid line if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the second determining submodule includes: the second comparison sub-module is used for comparing the target distance corresponding to the vehicle position with the length of the lane solid line; the third determining submodule is used for taking the numerical value of the target distance corresponding to the vehicle position as the value of the regional range if the target distance corresponding to the vehicle position is larger than the length of the lane solid line; and the fourth determining submodule is used for taking the numerical value of the lane solid line length as the numerical value of the regional range if the target distance corresponding to the vehicle position is smaller than or equal to the lane solid line length.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the second processing unit includes: the first input subunit is used for inputting vehicle running information and road network information of the automobile to be scheduled into the target model; and the first calculation subunit is used for solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the device further includes the following unit, configured to generate the target model by the following method: the first determining unit is used for determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; the second determining unit is used for determining a target position relation between the automobile to be scheduled and the reference position; the first generation unit is used for generating a target model according to the reference position and the target position relation.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the first generating unit includes: a fourth determining subunit, configured to determine, according to the reference position and the target position relationship, a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled, where the path fleet position information set is a set of position information of a fleet included in a driving path on which the vehicles to be scheduled travel when passing through the target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled where a plurality of vehicles to be scheduled have conflicts when passing through the target intersection, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled where the conflicts exist; the first generation subunit is used for generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; the second generation subunit is used for generating a target model according to the first target function and a plurality of constraint conditions by taking a first target function with a vehicle delay of a plurality of vehicles to be scheduled smaller than a preset threshold value.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the first computing subunit includes: the first calculation module is used for solving the target model according to the linear constraint condition in the constraint conditions to obtain an initial solution of the target model; the first generation module is used for generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and the second calculation module is used for solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, in the traffic scheduling device for an automobile provided in the third embodiment of the present application, the third processing unit includes: a fifth determining subunit, configured to determine a target running speed and a target running acceleration of the vehicle to be scheduled according to traffic scheduling information of the vehicle to be scheduled; and the third generation subunit is used for generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset duration so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

Here, it should be noted that the first obtaining unit 601, the first processing unit 602, the second processing unit 603, and the third processing unit 604 correspond to steps S201 to S204 in embodiment 1, and the above units are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiment one. It should be noted that the above-described module may be operated as a part of the apparatus in the computer terminal 10 provided in the first embodiment.

It should be noted that, the preferred embodiment of the present application in the above examples is the same as the embodiment provided in example 1, the application scenario and the implementation process, but is not limited to the embodiment provided in example 1.

Example 4

Embodiments of the present application may provide a computer terminal, which may be any one of a group of computer terminals. Alternatively, in the present embodiment, the above-described computer terminal may be replaced with a terminal device such as a mobile terminal.

Alternatively, in this embodiment, the above-mentioned computer terminal may be located in at least one network device among a plurality of network devices of the computer network.

In this embodiment, the computer terminal may execute the program code of the following steps in the traffic scheduling method of the automobile: acquiring road network information of a target intersection in a road, and determining a plurality of automobiles which are communicated with the target intersection; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and carrying out scheduling treatment on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: in a plurality of cars, screening the cars according to road network information and car operation information of the plurality of cars to determine a plurality of cars to be scheduled, including: determining a lane where the automobile is located according to road network information and vehicle running information of the automobile, and calculating a target distance between the automobile and a lane stop line; determining a regional range according to vehicle running information of the vehicle and a target distance, wherein the regional range represents the regional range of an entrance lane in a plurality of entrance lanes contained in a target intersection; and screening the automobiles in the plurality of automobiles according to the regional range to determine a plurality of automobiles to be scheduled.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: determining the regional range according to the vehicle running information and the target distance of the vehicle comprises the following steps: judging whether a first automobile exists in a plurality of lanes contained in an entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with a lane change behavior; if the first automobile does not exist in the plurality of lanes, taking the first threshold value as the value of the regional range; if a first automobile exists in the plurality of lanes, determining the vehicle position of the first automobile according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: determining a region range according to the vehicle position, the lane solid line length and the first threshold value, wherein the method comprises the following steps of: comparing the target distance corresponding to the vehicle position with a first threshold value; if the target distance corresponding to the vehicle position is greater than a first threshold value, taking the value of the first threshold value as the value of the regional range; and if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value, determining the regional range according to the vehicle position and the length of the lane solid line.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: determining the area range according to the vehicle position and the lane solid line length comprises the following steps: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, taking the value of the target distance corresponding to the vehicle position as the value of the area range; and if the target distance corresponding to the vehicle position is smaller than or equal to the length of the lane solid line, taking the value of the length of the lane solid line as the value of the regional range.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: processing vehicle running information and road network information of the to-be-scheduled vehicle to obtain traffic scheduling information of the to-be-scheduled vehicle, including: inputting vehicle running information and road network information of the to-be-scheduled automobile into a target model; and solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: generating a target model by: determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; determining a target position relation between the automobile to be scheduled and the reference position; and generating a target model according to the reference position and the target position relation.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: generating a target model according to the reference position and the target position relation, including: determining a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled according to the reference position and the target position relation, wherein the path fleet position information set is a set of position information in a fleet contained in a driving path of the vehicles to be scheduled when passing through a target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled, which have conflict when passing through the target intersection, of the vehicles to be scheduled, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled, which have conflict; generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; and taking the fact that the delay of each of the plurality of automobiles to be scheduled is smaller than a preset threshold value as a first objective function, and generating an objective model according to the first objective function and a plurality of constraint conditions.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: solving the target model to obtain traffic scheduling information of the automobiles to be scheduled, wherein the method comprises the following steps: solving the target model according to linear constraint conditions in the constraint conditions to obtain an initial solution of the target model; generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

The computer terminal may further execute program codes for the following steps in the traffic scheduling method of the automobile: according to the traffic scheduling information of the automobile to be scheduled, the automobile to be scheduled is scheduled, which comprises the following steps: determining the target running speed and the target running acceleration of the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled; generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset time length so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

Alternatively, fig. 7 is a block diagram of a computer terminal according to an embodiment of the present application. As shown in fig. 7, the computer terminal 10 may include: one or more (only one shown in fig. 7) processors 102, memory 104. The computer terminal 10 may also include a memory controller by which the memory 104 is controlled and managed; the computer terminal 10 may also include a peripheral interface through which the radio frequency module, the audio module, the display screen, etc. are connected.

The memory may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for traffic scheduling of an automobile in the embodiments of the present application, and the processor executes the software programs and modules stored in the memory, thereby executing various functional applications and data processing, that is, implementing the method for traffic scheduling of an automobile. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory located remotely from the processor, which may be connected to the terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The processor may call the information and the application program stored in the memory through the transmission device to perform the following steps: acquiring road network information of a target intersection in a road, and determining a plurality of automobiles which are communicated with the target intersection; in a plurality of automobiles, screening the automobiles according to road network information and vehicle operation information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information and road network information of the vehicle to be scheduled to obtain traffic scheduling information of the vehicle to be scheduled; and carrying out scheduling treatment on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

Optionally, the above processor may further execute program code for: in a plurality of cars, screening the cars according to road network information and car operation information of the plurality of cars to determine a plurality of cars to be scheduled, including: determining a lane where the automobile is located according to road network information and vehicle running information of the automobile, and calculating a target distance between the automobile and a lane stop line; determining a regional range according to vehicle running information of the vehicle and a target distance, wherein the regional range represents the regional range of an entrance lane in a plurality of entrance lanes contained in a target intersection; and screening the automobiles in the plurality of automobiles according to the regional range to determine a plurality of automobiles to be scheduled.

Optionally, the above processor may further execute program code for: determining the regional range according to the vehicle running information and the target distance of the vehicle comprises the following steps: judging whether a first automobile exists in a plurality of lanes contained in an entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with a lane change behavior; if the first automobile does not exist in the plurality of lanes, taking the first threshold value as the value of the regional range; if a first automobile exists in the plurality of lanes, determining the vehicle position of the first automobile according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

Optionally, the above processor may further execute program code for: determining a region range according to the vehicle position, the lane solid line length and the first threshold value, wherein the method comprises the following steps of: comparing the target distance corresponding to the vehicle position with a first threshold value; if the target distance corresponding to the vehicle position is greater than a first threshold value, taking the value of the first threshold value as the value of the regional range; and if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value, determining the regional range according to the vehicle position and the length of the lane solid line.

Optionally, the above processor may further execute program code for: determining the area range according to the vehicle position and the lane solid line length comprises the following steps: comparing the target distance corresponding to the vehicle position with the length of the lane solid line; if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, taking the value of the target distance corresponding to the vehicle position as the value of the area range; and if the target distance corresponding to the vehicle position is smaller than or equal to the length of the lane solid line, taking the value of the length of the lane solid line as the value of the regional range.

Optionally, the above processor may further execute program code for: processing vehicle running information and road network information of the to-be-scheduled vehicle to obtain traffic scheduling information of the to-be-scheduled vehicle, including: inputting vehicle running information and road network information of the to-be-scheduled automobile into a target model; and solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, the above processor may further execute program code for: generating a target model by: determining the reference positions of a plurality of automobiles to be scheduled according to the vehicle running information and road network information of the automobiles to be scheduled; determining a target position relation between the automobile to be scheduled and the reference position; and generating a target model according to the reference position and the target position relation.

Optionally, the above processor may further execute program code for: generating a target model according to the reference position and the target position relation, including: determining a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled according to the reference position and the target position relation, wherein the path fleet position information set is a set of position information in a fleet contained in a driving path of the vehicles to be scheduled when passing through a target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled, which have conflict when passing through the target intersection, of the vehicles to be scheduled, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled, which have conflict; generating a plurality of constraint conditions according to the path fleet position information set, the conflict vehicle information set and the conflict distance information set; and taking the fact that the delay of each of the plurality of automobiles to be scheduled is smaller than a preset threshold value as a first objective function, and generating an objective model according to the first objective function and a plurality of constraint conditions.

Optionally, the above processor may further execute program code for: solving the target model to obtain traffic scheduling information of the automobiles to be scheduled, wherein the method comprises the following steps: solving the target model according to linear constraint conditions in the constraint conditions to obtain an initial solution of the target model; generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function; and solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

Optionally, the above processor may further execute program code for: according to the traffic scheduling information of the automobile to be scheduled, the automobile to be scheduled is scheduled, which comprises the following steps: determining the target running speed and the target running acceleration of the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled; generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on the preset time length so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is only illustrative, and the computer terminal may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 7 is not limited to the structure of the electronic device. For example, the computer terminal 10 may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 7, or have a different configuration than shown in FIG. 7.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (RandomAccess Memory, RAM), magnetic or optical disk, and the like.

Example 5

Embodiments of the present application also provide a computer-readable storage medium. Alternatively, in this embodiment, the storage medium may be used to store the program code executed by the traffic scheduling method for an automobile provided in the first embodiment.

Alternatively, in this embodiment, the storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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 Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims

1. A traffic scheduling method of an automobile, comprising:

acquiring road network information of a target intersection in a road, and determining a plurality of automobiles which are communicated with the target intersection;

screening the automobiles according to the road network information and the vehicle running information of the automobiles to determine a plurality of automobiles to be scheduled;

processing the vehicle running information of the to-be-scheduled vehicle and the road network information to obtain traffic scheduling information of the to-be-scheduled vehicle;

and carrying out scheduling processing on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

2. The method of claim 1, wherein among the plurality of cars, screening cars according to the road network information and the car operation information of the plurality of cars, determining a plurality of cars to be scheduled comprises:

Determining a lane where the automobile is located according to the road network information and the vehicle running information of the automobile, and calculating a target distance between the automobile and a lane stop line;

determining a regional range according to the vehicle running information of the vehicle and the target distance, wherein the regional range represents the regional range of an entrance lane in a plurality of entrance lanes contained in the target intersection;

and screening the automobiles in the plurality of automobiles according to the regional range to determine the plurality of automobiles to be scheduled.

3. The method of claim 2, wherein determining a regional range based on the vehicle operating information of the vehicle and the target distance comprises:

judging whether a first automobile exists in a plurality of lanes contained in the entrance lane according to the vehicle running information of the automobile, wherein the first automobile is an automobile with lane changing behavior;

if the first automobile does not exist in the plurality of lanes, taking a first threshold value as the value of the regional range;

and if the first automobile exists in the plurality of lanes, determining the vehicle position of the first automobile according to the target distance, and determining the regional range according to the vehicle position, the lane solid line length and the first threshold value.

4. A method according to claim 3, wherein determining the zone range as a function of the vehicle position, lane solid length and the first threshold comprises:

comparing the target distance corresponding to the vehicle position with the first threshold value;

if the target distance corresponding to the vehicle position is larger than the first threshold value, taking the numerical value of the first threshold value as the value of the regional range;

and if the target distance corresponding to the vehicle position is smaller than or equal to the first threshold value, determining the regional range according to the vehicle position and the lane solid line length.

5. The method of claim 4, wherein determining the zone range as a function of the vehicle position and the lane solid length comprises:

comparing the target distance corresponding to the vehicle position with the lane solid line length;

if the target distance corresponding to the vehicle position is greater than the length of the lane solid line, taking the value of the target distance corresponding to the vehicle position as the value of the area range;

and if the target distance corresponding to the vehicle position is smaller than or equal to the lane solid line length, taking the value of the lane solid line length as the value of the area range.

6. The method according to claim 1, wherein processing the vehicle running information of the vehicle to be scheduled and the road network information to obtain traffic scheduling information of the vehicle to be scheduled includes:

inputting the vehicle running information of the to-be-scheduled vehicle and the road network information into a target model;

and solving the target model to obtain the traffic scheduling information of the automobile to be scheduled.

7. The method of claim 6, wherein the object model is generated by:

determining the reference positions of the plurality of automobiles to be scheduled according to the vehicle running information of the automobiles to be scheduled and the road network information;

determining a target position relationship between the automobile to be scheduled and the reference position;

and generating the target model according to the reference position and the target position relation.

8. The method of claim 7, wherein generating the target model from the reference position and the target position relationship comprises:

determining a path fleet position information set, a conflict vehicle information set and a conflict distance information set corresponding to the vehicles to be scheduled according to the reference position and the target position relation, wherein the path fleet position information set is a set of position information in a fleet contained on a driving path of the vehicles to be scheduled when passing through the target intersection, the conflict vehicle information set is a set of vehicle information of the vehicles to be scheduled, which are in conflict when passing through the target intersection, of the vehicles to be scheduled, and the conflict distance information set is a set of conflict distance information corresponding to the vehicles to be scheduled, which are in conflict;

Generating a plurality of constraint conditions according to the path fleet location information set, the conflict vehicle information set and the conflict distance information set;

and generating the target model by taking the fact that the vehicle delay of the plurality of vehicles to be scheduled is smaller than a preset threshold value as a first target function and according to the first target function and the constraint conditions.

9. The method of claim 8, wherein solving the target model to obtain the traffic scheduling information of the car to be scheduled comprises:

solving the target model according to the linear constraint condition in the constraint conditions to obtain an initial solution of the target model;

generating a second objective function according to the nonlinear constraint condition in the constraint conditions and the first objective function;

and solving the target model according to the initial solution and the second target function to obtain the traffic scheduling information of the automobile to be scheduled.

10. The method of claim 1, wherein the scheduling the vehicle to be scheduled according to the traffic scheduling information of the vehicle to be scheduled comprises:

determining the target running speed and the target running acceleration of the automobile to be scheduled according to the traffic scheduling information of the automobile to be scheduled;

Generating a target control instruction according to the target running speed and the target running acceleration, and respectively issuing the target control instruction to the automobile to be scheduled based on a preset duration so as to control the automobile to be scheduled to run according to the target running speed and the target running acceleration.

11. A traffic scheduling method of an automobile, comprising:

acquiring road network information of a target intersection in a road uploaded by a client;

determining a plurality of automobiles in communication with the target intersection in a cloud server; screening the automobiles according to the road network information and the vehicle running information of the automobiles to determine a plurality of automobiles to be scheduled; processing the vehicle running information of the to-be-scheduled vehicle and the road network information to obtain traffic scheduling information of the to-be-scheduled vehicle;

and feeding back the traffic scheduling information of the to-be-scheduled automobile to the client so as to schedule the to-be-scheduled automobile according to the traffic scheduling information of the to-be-scheduled automobile.

12. A traffic scheduling device for an automobile, comprising:

The first acquisition unit is used for acquiring road network information of a target intersection in a road and determining a plurality of automobiles which are communicated with the target intersection;

the first processing unit is used for screening the automobiles in the automobiles according to the road network information and the vehicle running information of the automobiles to determine a plurality of automobiles to be scheduled;

the second processing unit is used for processing the vehicle running information of the vehicle to be scheduled and the road network information to obtain the traffic scheduling information of the vehicle to be scheduled;

and the third processing unit is used for carrying out scheduling processing on the automobiles to be scheduled according to the traffic scheduling information of the automobiles to be scheduled.

13. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the traffic scheduling method of the car according to any one of claims 1 to 10.

14. An electronic device, comprising:

a memory storing an executable program;

a processor for running the program, wherein the program when run performs the traffic scheduling method of the automobile according to any one of claims 1 to 10.