CN116704811A

CN116704811A - Vehicle scheduling method and related products

Info

Publication number: CN116704811A
Application number: CN202210175085.1A
Authority: CN
Inventors: 刘思杨
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2023-09-05

Abstract

The application belongs to the technical field of Internet of vehicles, and particularly relates to a vehicle dispatching method and related products. The vehicle scheduling method comprises the following steps: acquiring a state message sent by a road running vehicle through a long-term evolution vehicle network or a mobile communication network, wherein the state message is used for indicating the running state of the road running vehicle and the type of the vehicle, and the type of the vehicle comprises an emergency vehicle or a non-emergency vehicle; determining a vehicle avoidance range corresponding to the real-time position of the emergency vehicle according to the driving state of the emergency vehicle; screening non-emergency vehicles positioned in a vehicle avoiding range according to the running state of the non-emergency vehicles; and pushing a reminding message to the non-emergency vehicles within the vehicle avoidance range, wherein the reminding message is used for indicating the non-emergency vehicles to avoid the emergency vehicles. The application expands the application range of emergency vehicle priority and improves the general applicability and reliability of vehicle dispatching.

Description

Vehicle scheduling method and related products

Technical Field

The application belongs to the technical field of Internet of vehicles, and particularly relates to a vehicle dispatching method, a vehicle dispatching device, a computer readable medium, electronic equipment and a computer program product.

Background

The concept of the internet of things is derived from the internet of things, namely the internet of things of vehicles, and the running vehicles are used as information sensing objects, and network connection between the vehicles and X (namely the vehicles, the people, the roads and the service platforms) is realized by means of a new generation of information communication technology, so that the overall intelligent driving level of the vehicles is improved, safe, comfortable, intelligent and efficient driving feeling and traffic service are provided for people, meanwhile, the traffic running efficiency is improved, and the intelligent level of social traffic service is improved.

Through the wireless communication technology of the internet of vehicles, the system can effectively utilize all vehicle dynamic information in the information network platform, provide different functional services in the vehicle operation, for example, can realize giving priority to various emergency vehicles such as police vehicles, ambulances, fire engines and the like based on the vehicle dynamic information, thereby providing running convenience for the emergency vehicles. The wireless communication technology of the internet of vehicles depends on special vehicle-mounted equipment installed on vehicles, however, in a real road environment, not all vehicles are installed with special vehicle-mounted equipment added to the internet of vehicles, so that priority yielding of emergency vehicles can only be realized in a specific range and is difficult to comprehensively adapt.

Disclosure of Invention

The application provides a vehicle dispatching method, a vehicle dispatching device, a computer readable medium, electronic equipment and a computer program product, which at least overcome the technical problem that the application range is limited when the priority of an emergency vehicle is given off to a certain extent.

In a first aspect, an embodiment of the present application provides a vehicle scheduling method, including:

acquiring a status message sent by a road running vehicle through a long-term evolution vehicle network or a mobile communication network, wherein the status message is used for indicating the running state of the road running vehicle and the type of the vehicle, and the type of the vehicle comprises an emergency vehicle or a non-emergency vehicle;

determining a vehicle avoidance range corresponding to a real-time position of the emergency vehicle according to a driving state of the emergency vehicle;

screening non-emergency vehicles positioned in the vehicle avoiding range according to the running state of the non-emergency vehicles;

pushing a reminding message to a non-emergency vehicle within the vehicle avoiding range, wherein the reminding message is used for indicating the non-emergency vehicle to avoid the emergency vehicle.

In a second aspect, an embodiment of the present application provides a vehicle scheduling method, including:

Receiving a status message, wherein the status message is a message sent by a road surface running vehicle through a long-term evolution vehicle network or a mobile communication network and used for indicating the running state of the vehicle and the type of the vehicle, and the type of the vehicle comprises an emergency vehicle or a non-emergency vehicle;

determining a vehicle influence range corresponding to the real-time position of the current vehicle according to the running state of the current vehicle;

screening emergency vehicles within the influence range of the vehicle according to the driving state of the emergency vehicle;

and outputting a reminding message through the current vehicle, wherein the reminding message is used for indicating the current vehicle to avoid the emergency vehicle.

In a third aspect, an embodiment of the present application provides a vehicle scheduling apparatus, including:

an acquisition module configured to acquire a status message sent by a road-going vehicle through a long term evolution internet of vehicles or a mobile communication network, the status message being used to indicate a running status of the road-going vehicle and a vehicle type, the vehicle type including an emergency vehicle or a non-emergency vehicle;

a determining module configured to determine a vehicle avoidance range corresponding to a real-time position of the emergency vehicle according to a traveling state of the emergency vehicle;

The screening module is configured to screen the non-emergency vehicles positioned in the vehicle avoidance range according to the running state of the non-emergency vehicles;

the pushing module is configured to push a reminding message to a non-emergency vehicle located in the vehicle avoidance range, wherein the reminding message is used for indicating the non-emergency vehicle to avoid the emergency vehicle.

In a fourth aspect, an embodiment of the present application provides a vehicle scheduling apparatus, including:

a receiving module configured to receive a status message, the status message being a message sent by a road-going vehicle over a long term evolution internet of vehicles or a mobile communication network for indicating a vehicle running status and a vehicle type, the vehicle type including an emergency vehicle or a non-emergency vehicle;

a determining module configured to determine a vehicle influence range corresponding to a real-time position of a current vehicle according to a running state of the current vehicle;

a screening module configured to screen emergency vehicles located within the vehicle influence range according to the driving state of the emergency vehicles;

the output module is configured to output a reminding message through the current vehicle, wherein the reminding message is used for indicating the current vehicle to avoid the emergency vehicle.

In a fifth aspect, an embodiment of the present application provides a computer-readable medium on which a computer program is stored, which when executed by a processor implements a vehicle scheduling method as in the above technical solution.

In a sixth aspect, an embodiment of the present application provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the executable instructions to implement the vehicle scheduling method of the above aspects.

In a seventh aspect, embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the vehicle scheduling method in the above aspects.

In the technical scheme provided by the embodiment of the application, the vehicle networking platform can receive the state message sent by the road surface running vehicle through the long-term evolution vehicle networking or the mobile communication network, so that the running state of the vehicle can be collected and analyzed, and whether the type of each vehicle is an emergency vehicle can be judged. After the vehicle avoidance range is determined for the emergency vehicle, non-emergency vehicles which are located in the vehicle avoidance range and possibly influence the priority running of the emergency vehicle can be screened, and finally, a reminding message is sent to the non-emergency vehicles located in the vehicle avoidance range through the mobile communication network, so that the non-emergency vehicles avoid the emergency vehicle. The method enables the vehicle without the vehicle-mounted equipment to be incorporated into the dispatching management of the emergency vehicle for preferential running, expands the application range of the emergency vehicle for preferential running, and improves the general applicability and reliability of vehicle dispatching.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

Fig. 1 shows a system architecture diagram of a vehicle dispatching system to which the technical scheme of the present application is applied.

Fig. 2 shows an emergency vehicle clearance scenario of the vehicle dispatch system of the present application in one application scenario.

Fig. 3 shows an emergency vehicle clearance scenario of the vehicle dispatch system of the present application in another application scenario.

FIG. 4 illustrates a flow chart of steps of a vehicle dispatch method performed by a vehicle networking platform in one embodiment of the application.

FIG. 5 illustrates a schematic view of a vehicle avoidance range delineated for an emergency vehicle in one embodiment of the present application.

Fig. 6 is a flowchart showing steps of pushing a reminder message by the internet-of-vehicle platform through the mobile communication network in one embodiment of the present application.

Fig. 7 shows an interactive flow chart of vehicle scheduling based on cloud decision in an application scenario according to an embodiment of the present application.

Fig. 8 shows a flowchart of the steps of a vehicle scheduling method performed by a vehicle terminal device in one embodiment of the application.

FIG. 9 is a flowchart illustrating steps for outputting a reminder message via a current vehicle in one embodiment of the application.

FIG. 10 shows an interactive flow chart for vehicle scheduling based on end-of-vehicle decisions in one application scenario in accordance with an embodiment of the present application.

Fig. 11 shows a block diagram of a vehicle scheduling device based on cloud decision according to an embodiment of the present application.

Fig. 12 shows a block diagram of a vehicle scheduling device based on vehicle end decision according to an embodiment of the present application.

FIG. 13 shows a block diagram of a computer system suitable for use with an electronic device implementing embodiments of the application.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.

In the embodiments of the present application, related data such as vehicle information is involved, and when various embodiments of the present application are applied to specific products or technologies, approval or consent is required, and collection, use and processing of related data is required to comply with related laws and regulations and standards of related countries and regions.

The technical scheme provided by the embodiment of the application can be mainly applied to the field of intelligent transportation, and is particularly suitable for the V2X Internet of vehicles. The following description is made with respect to related art terms related to the embodiments of the present application.

The intelligent transportation system (Intelligent Traffic System, ITS), also called intelligent transportation system (Intelligent Transportation System), is a comprehensive transportation system which uses advanced scientific technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence, etc.) effectively and comprehensively for transportation, service control and vehicle manufacturing, and enhances the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.

The intelligent vehicle-road cooperative system (Intelligent Vehicle Infrastructure Cooperative Systems, IVICS), which is simply called a vehicle-road cooperative system, is one development direction of an Intelligent Transportation System (ITS). The vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, carries out vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time idle dynamic traffic information acquisition and fusion, fully realizes effective cooperation of people and vehicles and roads, ensures traffic safety, improves traffic efficiency, and forms a safe, efficient and environment-friendly road traffic system.

V2X (Vehicle to Everything) is a new generation of information communication technology for connecting vehicles to everything, where V represents a vehicle and X represents any object that interacts with the vehicle, for example X may mainly include vehicles (Vehicle to Vehicle, V2V), people (Vehicle to Pedestrian, V2P), traffic road side infrastructure (Vehicle to Infrastructure, V2I) and networks (Vehicle to Network, V2N). V2X organically links traffic participation factors such as people, vehicles, roads, clouds and the like together, can support vehicles to obtain more information than single vehicle perception, promotes innovation and application of automatic driving technology, is beneficial to constructing an intelligent traffic system, promotes new mode and new state development of automobiles and traffic services, and has important significance in improving traffic efficiency, saving resources, reducing pollution, reducing accident occurrence rate and improving traffic management.

The LTE-V2X refers to a V2X Internet of vehicles wireless communication technology formed based on long term evolution technology (Long Term Evolution, LTE), is a vehicle communication solution fusing an LTE network, and supports information transmission of an authorized frequency band. LTE-V2X includes two modes of operation, cellular communication (Uu) and direct communication (PC 5).

RSUs, i.e. road side devices (roadsideunits), refer to communication gateways deployed at the road side. The RSU has various forms (wired and wireless) and is mainly used for gathering information of road side traffic facilities and road traffic participants, uploading V2X information to a V2X Internet of vehicles platform and broadcasting the V2X information to the road traffic participants, and is an indispensable anchor point for developing next-generation Internet of vehicles service. The basic functions of the RSU include three aspects of service, management and security. The service function is realized around the V2X service, gathers information of road side traffic facilities and road traffic participants, uploads V2X information to a V2X Internet of vehicles platform, and broadcasts the V2X information to the road traffic participants; the management function is responsible for completing authentication, management and maintenance of the equipment; the security function is responsible for realizing the security protection of information interaction between the RSU equipment and other interaction objects.

Fig. 1 shows a system architecture diagram of a vehicle dispatching system to which the technical scheme of the present application is applied. As shown in fig. 1, a vehicle dispatch system 100 may include a road-going vehicle 101, a roadside device 102, a network base station 103, and a vehicle networking platform 104.

The road surface traveling vehicle 101 may access the V2X internet of vehicles by installing the in-vehicle device OBU or may access the mobile communication network by carrying the terminal device. The OBU is a central communication unit of the vehicle, CAN acquire the basic state of the vehicle through a CAN bus, and realizes vehicle-road coordination through communication modes such as PC 5; the terminal device may include various electronic devices such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart wearable device, a smart payment terminal, and the like. When the on-board unit OBU is installed on the road traveling vehicle 101, data communication can be performed between the on-board unit OBU and the road side device 102, so as to access the internet of vehicles, and send a message to the internet of vehicles platform 104 or receive a message pushed by the internet of vehicles platform 104. When the road surface traveling vehicle 101 is not provided with the on-board device OBU, the on-board device OBU may perform data communication with the network base station 103 through a terminal device carried on the vehicle, access to a mobile communication network, and further perform data interaction with the internet of vehicles platform 104.

The road side equipment 102 is a data convergence center of the road side infrastructure, can realize road side multi-perception fusion and digitalization of road states, and the road side equipment 102 is also a broadcasting node of road management and control information, so that dynamic management and control of road resources can be realized.

The network base station 103, i.e. the public mobile communication base station, is an interface device for mobile devices to access the internet, and is also a form of radio station. Refers to a radio transceiver station for transmitting information with a mobile phone terminal through a mobile communication switching center in a certain radio coverage area. The network base station 103 may include a 4G base station implementing 4G network communication or a 5G base station implementing 5G network communication.

The internet of vehicles platform 104 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligence platforms.

The technical scheme provided by the embodiment of the application can be applied to the vehicle-mounted unit and the terminal equipment which are installed or carried by the road surface running vehicle 101, and the vehicle dispatching by the road surface running vehicle is realized; the method can also be applied to the internet of vehicles platform 104 to realize the vehicle dispatching by the internet of vehicles platform 104; or may also be applied to a vehicle dispatching system including the road-going vehicle 101 and the internet-of-vehicles platform 104, so as to implement the vehicle dispatching by the road-going vehicle 101 and the internet-of-vehicles platform 104 together.

Fig. 2 shows an emergency vehicle clearance scenario of the vehicle dispatch system of the present application in one application scenario. In the application scene, the current vehicle HV is a non-emergency vehicle, has 4G/5G universal access capability and operates vehicle-road cooperative application. The emergency vehicle RV may include a special vehicle for emergency tasks such as police, fire, ambulance, etc., with an onboard PC 5V 2XOBU. Meanwhile, the road side unit V2XRSU is accessed to a PC 5V 2X network to perform data interaction with a vehicle networking platform (namely a V2X cloud platform).

The emergency vehicle RV broadcasts the vehicle information to the outside through the on-board unit OBU, the road side unit V2XRSU receives the vehicle information of the emergency vehicle RV and transmits the vehicle information to the vehicle networking platform, and then the vehicle networking platform pushes the reminding information of the emergency vehicle to the current vehicle HV through the 4G/5G network, and the current vehicle HV gives way to the emergency vehicle RV when receiving the reminding of the emergency vehicle.

Fig. 3 shows an emergency vehicle clearance scenario of the vehicle dispatch system of the present application in another application scenario. In the application scene, the current vehicle HV is a non-emergency vehicle, has 4G/5G universal access capability and operates vehicle-road cooperative application. The emergency vehicle RV also has 4G/5G universal access capability and runs vehicle-road cooperative applications.

The emergency vehicle RV periodically reports vehicle information to the vehicle networking platform through the 4G/5G network, and then the vehicle networking platform pushes the reminding information of the emergency vehicle to the current vehicle HV through the 4G/5G network, and the current vehicle HV gives way to the emergency vehicle RV when receiving the reminding of the emergency vehicle.

In the emergency vehicle yielding schemes of the two application scenarios, even if the emergency vehicle or the non-emergency vehicle is not provided with the LTE-V2XOBU, the emergency vehicle can be accessed to the mobile communication network through the 4G/5G terminal carried by the vehicle, so that the emergency vehicle is prioritized. The 4G/5G terminal can be a vehicle-mounted terminal T-BOX, an APP on a vehicle, an APP on an intelligent rearview mirror, an APP or an applet on a mobile phone, and the like.

The vehicle dispatching system in the embodiment of the application ensures that the emergency vehicle priority is not only suitable for the V2X OBU, but also can realize the emergency vehicle priority between the V2X OBU vehicle and the 4G/5G vehicle or the emergency vehicle priority between the 4G/5G vehicles through the connection of the V2X platform, thereby expanding the application range of the emergency vehicle priority scheme.

The following describes in detail the technical schemes such as the vehicle dispatching method, the vehicle dispatching device, the computer readable medium, the electronic device and the computer program product provided by the application with reference to the specific embodiments.

FIG. 4 illustrates a flow chart of a vehicle dispatch method performed by the Internet of vehicles platform in one embodiment of the application. As shown in fig. 4, the vehicle scheduling method may include S410 to S440.

S410: a status message sent by a road-going vehicle through a long term evolution internet of vehicles or a mobile communication network is acquired, wherein the status message is used for indicating the running state of the road-going vehicle and the type of the vehicle, and the type of the vehicle comprises an emergency vehicle or a non-emergency vehicle.

S420: a vehicle avoidance range corresponding to a real-time position of the emergency vehicle is determined according to a traveling state of the emergency vehicle.

S430: and screening the non-emergency vehicles positioned in the vehicle avoidance range according to the running state of the non-emergency vehicles.

S440: and pushing a reminding message to the non-emergency vehicles within the vehicle avoidance range, wherein the reminding message is used for indicating the non-emergency vehicles to avoid the emergency vehicles.

In the vehicle scheduling method provided by the embodiment of the application, the vehicle networking platform can receive the state message sent by the road surface running vehicle through the long-term evolution vehicle networking or the mobile communication network, so that the running state of the vehicle can be collected and analyzed, and whether the type of each vehicle is an emergency vehicle can be judged. After the vehicle avoidance range is determined for the emergency vehicle, non-emergency vehicles which are located in the vehicle avoidance range and possibly influence the priority running of the emergency vehicle can be screened, and finally, a reminding message is sent to the non-emergency vehicles located in the vehicle avoidance range through the mobile communication network, so that the non-emergency vehicles avoid the emergency vehicle. According to the method, the application scene of the emergency vehicle for preferential traveling is widened from the long-term evolution vehicle networking to the mobile communication network, so that vehicles without vehicle-mounted equipment can be incorporated into the dispatching management of the emergency vehicle for preferential traveling, the application range of the emergency vehicle for preferential traveling is enlarged, and the general applicability and reliability of vehicle dispatching are improved.

The following describes in detail the respective method steps of the vehicle scheduling method.

In S410, a status message transmitted by the road-going vehicle through the long term evolution internet of vehicles or the mobile communication network is acquired, the status message being used to indicate a running status of the road-going vehicle and a vehicle type including an emergency vehicle or a non-emergency vehicle.

In one embodiment of the application, the road-going vehicles include a vehicle-network-of-vehicles mounted with a long term evolution vehicle-network-of-vehicle unit and a non-vehicle-network-of-vehicles not mounted with a long term evolution vehicle-network-of-vehicle unit.

The long-term evolution vehicle-mounted unit, namely LTE-V2XOBU, refers to vehicle-mounted equipment which is arranged on a vehicle and used for adding the long-term evolution vehicle-mounted unit LTE-V2X, the equipment CAN acquire the basic state of the vehicle through a CAN bus, and externally broadcast the running state information such as the position, the speed, the course angle and the like of the vehicle through communication modes such as PC5, the road side unit RSU collects the running state information broadcast by the vehicle-mounted unit OBU within a certain distance range, and the vehicle-mounted unit RSU further performs summarizing analysis on the running state information.

The vehicle networking vehicle provided with the long-term evolution vehicle networking vehicle-mounted unit can broadcast and send a state message outwards through the vehicle-mounted unit; the internet of vehicles platform can carry out data communication with the vehicle-mounted unit through the long-term evolution internet of vehicles road side unit, so that the state information broadcasted and sent by the internet of vehicles is obtained.

The non-internet-of-vehicles vehicle which is not provided with the long-term evolution internet-of-vehicles vehicle unit can establish point-to-point communication connection with the internet-of-vehicles platform through intelligent terminal equipment carried by the vehicle, so that a status message is sent to the internet-of-vehicles platform through a mobile communication network; the internet of vehicles platform can obtain the status message sent by the non-internet of vehicles through the network base station of the mobile communication network.

In one embodiment of the application, the road-going vehicle sends out a status message, which may be a vehicle base safety message (Basic Safety Message, BSM), at a specified frequency (e.g., 10 Hz) to broadcast the vehicle's travel status information to other objects in the internet of vehicles. Table 1 shows the message content of the road surface traveling vehicle outbound status message in the embodiment of the present application.

TABLE 1

As shown in table 1, the status message transmitted from the road surface traveling vehicle may include information indicating the traveling state of the vehicle such as the position, the vehicle speed, the heading angle, etc., and may further include additional information indicating that the vehicle type is an emergency vehicle.

After acquiring a status message sent by a road running vehicle through a long-term evolution vehicle network or a mobile communication network, the vehicle networking platform can analyze the status message to determine whether the status message carries additional information of an emergency vehicle; if the state information carries the additional information of the emergency vehicle, determining that the road surface running vehicle sending the state information is the emergency vehicle; if the state information does not carry the additional information of the emergency vehicle, the road surface running vehicle sending the state information is determined to be a non-emergency vehicle.

In S420, a vehicle avoidance range corresponding to the real-time position of the emergency vehicle is determined according to the traveling state of the emergency vehicle.

In one embodiment of the application, the internet of vehicles platform can analyze the status information sent by the road surface running vehicle to obtain the status data which is carried in the status information and is used for representing the running status, wherein the status data comprises longitude and latitude coordinates, a vehicle head direction angle and running speed; determining the real-time position and the driving direction of the emergency vehicle according to the longitude and latitude coordinates and the vehicle head direction angle; acquiring a distance threshold value which has positive correlation with the running speed; and according to the distance threshold value, defining a vehicle avoidance range corresponding to the real-time position along the driving direction.

FIG. 5 illustrates a schematic view of a vehicle avoidance range delineated for an emergency vehicle in one embodiment of the present application. As shown in fig. 5, the distance threshold for defining the vehicle avoidance range may include a first distance threshold R1 that coincides with the vehicle traveling direction and a second distance threshold R2 that is perpendicular to the vehicle traveling direction, the first distance threshold R1 being greater than the second distance threshold R2.

The first distance threshold is used to control a normal travel range of the emergency vehicle in the front-rear direction, and the second distance threshold is used to control a vehicle steering range of the emergency vehicle in the left-right direction. The first distance threshold is used as a major half axis, the second distance threshold is used as a minor half axis, and an oval area taking the emergency vehicle as the center can be defined, wherein the oval area is the vehicle avoidance range for following the real-time movement of the emergency vehicle.

The vehicle avoiding range in the embodiment of the application is a range which dynamically changes according to the running speed of the vehicle, and when the running speed of the emergency vehicle is increased, the distance threshold value can be correspondingly increased to define a relatively larger vehicle avoiding range; when the emergency vehicle decreases the speed of travel, the distance threshold may be correspondingly decreased to delineate a relatively small vehicle avoidance range. The vehicle avoiding range is adjusted according to the vehicle running speed, the road range for giving way to the emergency vehicle can be dynamically adjusted in real time, and the interference to other non-emergency vehicles is reduced as much as possible on the premise of ensuring the priority running of the emergency vehicle.

In S430, non-emergency vehicles within the vehicle avoidance range are screened according to the driving state of the non-emergency vehicles.

The running state of the non-emergency vehicle comprises state data such as longitude and latitude coordinates, a headstock direction angle and a running speed of the vehicle, and the relative position and the relative distance between the non-emergency vehicle and the emergency vehicle can be determined according to the state data of the non-emergency vehicle, so that whether the non-emergency vehicle is located in a vehicle avoidance range of the emergency vehicle is judged.

In S440, a reminder message is pushed to the non-emergency vehicle located within the vehicle avoidance range, the reminder message being used to instruct the non-emergency vehicle to avoid the emergency vehicle.

The content of the alert message may include the relative location, relative distance, vehicle type of the emergency vehicle, emergency avoidance level of the emergency vehicle to the non-emergency vehicle. The relative position indicates the direction of the position of the emergency vehicle with respect to the non-emergency vehicle, such as front, rear, left, right, front left, front right, rear left, rear right. The relative distance represents the distance of the emergency vehicle relative to the non-emergency vehicle, which may be a straight line distance or a road surface distance. The vehicle class of emergency vehicles may include fire trucks, ambulances, police cars, and the like. The emergency avoidance level is a reminding level determined according to data such as the vehicle type, the relative position and the relative distance of the emergency vehicle, different reminding contents can be pushed to the non-emergency vehicle based on different reminding levels, for example, the non-emergency vehicle can be reminded to immediately make avoidance when the emergency avoidance level is higher, and the non-emergency vehicle can be reminded to make avoidance within a limited duration when the emergency avoidance level is lower.

FIG. 6 is a flowchart showing the steps of the Internet of vehicles platform pushing a reminder message in one embodiment of the present application. As shown in fig. 6, pushing the alert message to the non-emergency vehicle located within the vehicle avoidance range may include S610 to S640 as follows.

S610: a travel distance between a non-emergency vehicle and an emergency vehicle within a vehicle avoidance range is obtained.

The travel distance may include at least one of a straight distance and a road surface distance.

In one embodiment of the application, each road traveling vehicle periodically sends a status message to the internet of vehicles platform, the internet of vehicles platform can obtain real-time position coordinates of each vehicle by analyzing the status message, and the linear distance between the non-emergency vehicle and the emergency vehicle in the vehicle avoidance range can be calculated according to the real-time position coordinates. The straight line distance is used as the driving distance, so that the data calculated amount in the vehicle dispatching process can be reduced, and the vehicle dispatching efficiency is improved.

In one embodiment of the present application, each road-going vehicle may send map information of the area where the vehicle is located to the internet of vehicles platform, in addition to the real-time position coordinates to the internet of vehicles platform, the map information including road information within a certain distance range around the vehicle. The vehicle networking platform analyzes the state information to obtain map information of the area where the emergency vehicle is located; determining a driving road where the emergency vehicle is located according to the map information; the road surface distance between the non-emergency vehicle and the emergency vehicle within the vehicle avoidance range is determined along the extended path of the travel road. The road surface distance is used as the driving distance, so that the vehicle dispatching precision can be improved, and the method is particularly suitable for the situations of road bending and more vehicle turning.

S620: and predicting the driving time of the emergency vehicle reaching each non-emergency vehicle according to the driving distance.

The vehicle networking can obtain the head direction angle and the running speed of each vehicle by analyzing the state information sent by the road running vehicle. The travel distance is taken as a distance, and the travel time of the emergency vehicle to each non-emergency vehicle can be predicted by combining the head direction angle and the travel speed of each vehicle. The travel duration indicates that after the lapse of the time period, the emergency vehicle will approach the non-emergency vehicle location, resulting in the non-emergency vehicle obstructing the preferential travel of the emergency vehicle.

S630: and mapping the driving distance and the driving duration to obtain the reminding priority of each non-emergency vehicle.

In one embodiment of the present application, a plurality of different distance intervals and duration intervals may be preset, and at the same time, a mapping relationship between each distance interval, duration interval, and alert priority may be set. According to the data interval of the driving distance and the driving duration, the reminding priority of each non-emergency vehicle can be determined.

In one embodiment of the application, the driving distance and the driving duration can be weighted according to a preset weight coefficient to obtain the reminding coefficient of each non-emergency vehicle, and the corresponding reminding priority can be determined according to the numerical value of the reminding coefficient.

In general, a non-emergency vehicle having a small travel distance and a short travel time has a relatively high alert priority, and a non-emergency vehicle having a large travel distance and a long travel time has a relatively low alert priority.

For example, there are two non-emergency vehicles directly in front of an emergency vehicle.

If the positions of the two non-emergency vehicles are close, the running distances of the two non-emergency vehicles are basically consistent; on the basis, if the two driving speeds are different, the non-emergency vehicle with the faster driving speed has a relatively longer driving duration, so that a relatively lower reminding priority can be allocated to the non-emergency vehicle; whereas a non-emergency vehicle having a slower travel speed has a relatively shorter travel duration and therefore may be assigned a relatively higher alert priority.

If the driving time periods of the two non-emergency vehicles are very close, the time periods of the emergency vehicles reaching the two non-emergency vehicles are basically consistent; on the basis, if the driving distances of the two non-emergency vehicles are different, the positions of the non-emergency vehicles with longer driving distances and the emergency vehicles are relatively far, so that relatively low reminding priority can be allocated to the non-emergency vehicles with longer driving distances; whereas a non-emergency vehicle with a shorter distance of travel is located closer to the emergency vehicle and therefore can be assigned a relatively higher alert priority.

According to the method and the device for determining the reminding priority of the non-emergency vehicle, the reminding priority of the non-emergency vehicle is determined from two dimensions of the driving distance and the driving duration, and therefore the flexibility of vehicle scheduling can be improved.

S640: and pushing the reminding message to each non-emergency vehicle according to the reminding priority.

The alert priority is used to reflect how urgent the non-urgent vehicle needs to make an avoidance to the urgent vehicle. The non-emergency vehicles with higher reminding priority indicate that the emergency vehicles do avoidance with higher emergency degree, so that the reminding messages based on the mobile communication network can be preferentially pushed to the non-emergency vehicles.

By assigning alert priorities to non-emergency vehicles and performing ordered vehicle alerts in batches according to alert priorities, stability and reliability of vehicle dispatch can be improved. For example, when the network condition is poor or the road vehicles are crowded, the vehicle reminding is sequentially carried out according to the reminding priority, so that the phenomenon of blocking and delaying when the reminding message is sent can be avoided, and each non-emergency vehicle can be ensured to stably and reliably receive the reminding message, so that the emergency vehicles can be timely avoided.

In one embodiment of the application, the vehicle networking platform can push the reminding message to the non-emergency vehicles within the vehicle avoidance range through the mobile communication network, the stability and the reliability of message push can be improved based on the mobile communication network pushing the reminding message, and when the non-emergency vehicles carry any terminal equipment which can be accessed to the mobile communication network, the reminding message for avoiding the emergency vehicles can be received.

In one embodiment of the application, the internet of vehicles platform can also push a reminding message to the non-emergency vehicles within the vehicle avoidance range through the long term evolution internet of vehicles so as to enable the non-emergency vehicles to avoid the emergency vehicles. The reminding message is synchronously pushed to the non-emergency vehicle through the mobile communication network and the long-term evolution vehicle network, so that the non-emergency vehicle can be ensured to receive the reminding message in time, the timeliness of message pushing is improved, and the non-emergency vehicle can be ensured to avoid the emergency vehicle stably and reliably.

Fig. 7 shows an interactive flow chart of vehicle scheduling based on cloud decision in an application scenario according to an embodiment of the present application. As shown in fig. 7, in this application scenario, the vehicle dispatch is decided by the internet of vehicles platform erected on the cloud server/server cluster, specifically, by the central subsystem or the mobile edge computing node (Mobile Edge Computing, MEC) of the internet of vehicles platform. The interactive flow of the vehicle scheduling includes S710 to S740 as follows.

S710: the non-emergency vehicle HV and the emergency vehicle RV periodically send status messages to the Internet of vehicles platform for reporting the vehicle running status of the vehicle.

For example, the non-emergency vehicle HV and the emergency vehicle RV may broadcast the vehicle basic safety message BSM to the outside at a frequency of 10 Hz. If the long-term evolution vehicle-mounted unit LTE-V2XOBU is installed on the road surface running vehicle, the state information can be sent to the road side unit RSU through the vehicle-mounted unit in a direct communication mode, and then the road side unit RSU transmits the state information to the vehicle networking platform. If the long-term evolution vehicle-mounted unit LTE-V2XOBU is not installed on the road surface running vehicle, point-to-point communication connection can be established between the 4G/5G terminal carried on the vehicle and the vehicle networking platform, so that the state information is sent to the 4G/5G network base station, and then the 4G/5G network base station transmits the state information to the vehicle networking platform. The 4G/5G terminal can be a vehicle-mounted terminal T-BOX, an APP on a vehicle, an APP on an intelligent rearview mirror, an APP or an applet on a mobile phone, and the like.

The status messages sent by the emergency vehicles RV are shown in table 1 above and the status messages sent by the non-emergency vehicles HV are shown in table 2 below. Based on tables 1 and 2, the status message may include optional contents such as time, position, head direction angle, speed, etc., and may further include optional contents such as position confidence, body size, triaxial acceleration, yaw rate, lane, etc. In contrast to non-emergency vehicles, emergency vehicles also need to carry a vehicle type in a status message to indicate that the emergency vehicle is a fire truck, ambulance, police car, or the like.

TABLE 2

S720: the vehicle networking platform screens non-emergency vehicles positioned in a vehicle avoidance range of the emergency vehicle according to the driving states of the emergency vehicle RV and the non-emergency vehicle HV.

The vehicle networking platform calculates the time and distance for the emergency vehicle RV to reach different non-emergency vehicles HV according to the position information (combining map information such as curves and the like when necessary) of the non-emergency vehicles HV and the emergency vehicles RV, so as to judge whether the non-emergency vehicles HV enter the vehicle avoidance range of the emergency vehicles RV.

The vehicle networking platform can analyze the state information sent by the road surface running vehicle to obtain state data which is carried in the state information and used for representing the running state, wherein the state data comprises longitude and latitude coordinates, a vehicle head direction angle and running speed; determining the real-time position and the driving direction of the emergency vehicle according to the longitude and latitude coordinates and the vehicle head direction angle; acquiring a distance threshold value which has positive correlation with the running speed; and according to the distance threshold value, defining a vehicle avoidance range corresponding to the real-time position along the driving direction.

The vehicle avoiding range is a range dynamically changing according to the running speed of the vehicle, and when the running speed of the emergency vehicle is increased, the distance threshold value can be correspondingly increased to define a relatively larger vehicle avoiding range; when the emergency vehicle decreases the speed of travel, the distance threshold may be correspondingly decreased to delineate a relatively small vehicle avoidance range. The vehicle avoiding range is adjusted according to the vehicle running speed, the road range for giving way to the emergency vehicle can be dynamically adjusted in real time, and the interference to other non-emergency vehicles is reduced as much as possible on the premise of ensuring the priority running of the emergency vehicle.

The running state of the non-emergency vehicle comprises state data such as longitude and latitude coordinates, a headstock direction angle and a running speed of the vehicle, and the real-time position of the non-emergency vehicle can be determined according to the state data of the non-emergency vehicle, so that whether the non-emergency vehicle is located in a vehicle avoiding range of the emergency vehicle is judged.

S730: according to different avoidance emergency degrees, the vehicle networking platform pushes reminding information to the non-emergency vehicle HV entering the vehicle avoidance range through the 4G/5G network.

Table 3 shows the message content of the reminder message pushed by the internet of vehicles platform to the non-emergency vehicle HV.

TABLE 3 Table 3

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As shown in table 3, the content of the alert message may mainly include the relative position and the relative distance of the emergency vehicle and the current vehicle, and the type and the emergency avoidance level of the emergency vehicle. The relative position indicates the direction of the position of the emergency vehicle with respect to the current vehicle, such as front, rear, left, right, front left, front right, rear left, rear right. The relative distance represents the distance of the emergency vehicle relative to the current vehicle, which may be a straight line distance or a road surface distance. The vehicle class of emergency vehicles may include fire trucks, ambulances, police cars, and the like. The emergency avoidance level is a reminding level determined according to data such as the vehicle type, the relative position and the relative distance of the emergency vehicle, different reminding contents can be output to a user based on different reminding levels, for example, the user can be reminded to make avoidance immediately when the emergency avoidance level is higher, and the user can be reminded to make avoidance within a limited time period when the emergency avoidance level is lower.

S740: the non-emergency vehicle HV gives way to the emergency vehicle RV when receiving the alert message.

The non-emergency vehicle HV can make adjustments (such as acceleration, deceleration, steering, lane change, etc.) to its own travel according to the content of the alert message, so as to avoid the emergency vehicle RV, so that the emergency vehicle RV can travel preferentially.

Fig. 8 shows a flowchart of the steps of a vehicle scheduling method performed by a vehicle terminal device in one embodiment of the application. As shown in fig. 8, the vehicle scheduling method may mainly include S810 to S840 as follows.

S810: receiving a status message, wherein the status message is a message sent by a road surface running vehicle through a long-term evolution vehicle network or a mobile communication network and used for indicating the running state of the vehicle and the type of the vehicle, and the type of the vehicle comprises an emergency vehicle or a non-emergency vehicle;

s820: determining a vehicle influence range corresponding to the real-time position of the current vehicle according to the running state of the current vehicle;

s830: screening emergency vehicles within the influence range of the vehicles according to the driving state of the emergency vehicles;

s840: and outputting a reminding message through the current vehicle, wherein the reminding message is used for indicating the current vehicle to avoid the emergency vehicle.

In the vehicle scheduling method provided by the embodiment of the application, the vehicle networking platform can receive the state message sent by the road surface running vehicle through the long-term evolution vehicle networking or the mobile communication network, so that the running state of the vehicle can be collected and analyzed, and whether the type of each vehicle is an emergency vehicle can be judged, so that the information of the emergency vehicle can be pushed to the current vehicle through the mobile communication network. The current vehicle determines a vehicle influence range corresponding to the real-time position of the vehicle according to the running state of the current vehicle, then the emergency vehicle positioned in the vehicle influence range can be screened, and finally a reminding message is output through the current vehicle, so that the current vehicle avoids the emergency vehicle. According to the method, the application scene of the emergency vehicle for preferential traveling is widened from the long-term evolution vehicle networking to the mobile communication network, so that vehicles without vehicle-mounted equipment can be incorporated into the dispatching management of the emergency vehicle for preferential traveling, the application range of the emergency vehicle for preferential traveling is enlarged, and the general applicability and reliability of vehicle dispatching are improved.

In S810, a status message is received, the status message being a message transmitted by a road-going vehicle through a long term evolution internet of vehicles or a mobile communication network for indicating a vehicle running status and a vehicle type including an emergency vehicle or a non-emergency vehicle.

The vehicle networking vehicle provided with the long-term evolution vehicle networking vehicle-mounted unit can send a status message outwards through the vehicle-mounted unit; the internet of vehicles platform can carry out data communication with the vehicle-mounted unit through the long-term evolution internet of vehicles road side unit, so that the status message sent by the internet of vehicles is obtained.

In one embodiment of the application, the road running vehicle can firstly send the status message to the internet of vehicles platform, and then the internet of vehicles platform pushes the collected status message to the current vehicle according to actual needs. In other alternative embodiments, the current vehicle may also directly receive the status message sent by the road-going vehicle by establishing a communication link with the road-going vehicle, as the application is not particularly limited.

In one embodiment of the application, the road-going vehicle sends out a status message, which may be a vehicle base safety message (Basic Safety Message, BSM), at a specified frequency (e.g., 10 Hz) to broadcast the vehicle's travel status information to other objects in the internet of vehicles. The message content may be as shown in table 1 above, and will not be described in detail here.

In S820, a vehicle influence range corresponding to the real-time position of the current vehicle is determined according to the running state of the current vehicle.

In one embodiment of the present application, the current vehicle may acquire state data for representing its own driving state in real time, and the state data may include longitude and latitude coordinates, a head direction angle, and a driving speed; the real-time position and the running direction of the current vehicle can be determined according to the longitude and latitude coordinates and the vehicle head direction angle; acquiring a distance threshold value which has positive correlation with the running speed; and according to the distance threshold value, defining a vehicle influence range corresponding to the real-time position along the driving direction.

The distance threshold value for defining the vehicle influence range may include a first distance threshold value R1 in accordance with the vehicle traveling direction and a second distance threshold value R2 perpendicular to the vehicle traveling direction, the first distance threshold value R1 being greater than the second distance threshold value R2.

The first distance threshold is used to control a normal travel range in the front-rear direction of the non-emergency vehicle, and the second distance threshold is used to control a vehicle steering range of the current vehicle in the left-right direction. The first distance threshold is used as a major half axis, the second distance threshold is used as a minor half axis, and an elliptical area taking the current vehicle as the center can be defined, wherein the elliptical area is the influence range of the vehicle moving in real time along with the current vehicle.

The vehicle influence range in the embodiment of the application is a range which dynamically changes according to the running speed of the vehicle, and when the running speed of the current vehicle is increased, the distance threshold value can be correspondingly increased to define a relatively larger vehicle influence range; when the current vehicle decreases the speed of travel, the distance threshold may be correspondingly decreased to delineate a relatively small vehicle impact range. The road range of the emergency vehicle which is yielded by the current vehicle can be dynamically adjusted in real time according to the influence range of the vehicle driving speed, and the interference on the normal driving of the current vehicle is reduced as much as possible on the premise of ensuring the priority driving of the emergency vehicle.

In S830, emergency vehicles within the range of influence of the vehicle are screened according to the driving state of the emergency vehicle.

The current vehicle may analyze the status message of the emergency vehicle, so as to obtain status data for indicating the driving status of the emergency vehicle, where the status data may include, for example, longitude and latitude coordinates, a head direction angle, a driving speed, and the like of the vehicle, and according to the status data of the emergency vehicle, a relative position and a relative distance between the emergency vehicle and the current vehicle may be determined, so as to determine whether the emergency vehicle is located within a vehicle avoidance range of the emergency vehicle.

In S840, a reminder message is output by the current vehicle, the reminder message being used to instruct the current vehicle to avoid the emergency vehicle.

The content of the alert message may include the relative location, relative distance, type of vehicle, emergency avoidance level of the emergency vehicle to the current vehicle. The relative position indicates the direction of the position of the emergency vehicle with respect to the current vehicle, such as front, rear, left, right, front left, front right, rear left, rear right. The relative distance represents the distance of the emergency vehicle relative to the current vehicle, which may be a straight line distance or a road surface distance. The vehicle class of emergency vehicles may include fire trucks, ambulances, police cars, and the like. The emergency avoidance level is a reminding level determined according to data such as the type, the relative position and the relative distance of the emergency vehicle, different reminding contents can be output through the current vehicle based on different reminding levels, for example, the current vehicle can be reminded to immediately make avoidance when the emergency avoidance level is higher, and the current vehicle can be reminded to make avoidance within a limited time when the emergency avoidance level is lower.

FIG. 9 is a flowchart illustrating steps for outputting a reminder message via a current vehicle in one embodiment of the application. As shown in fig. 9, outputting the alert message by the current vehicle may include S910 to S930 as follows.

S910: a travel distance between the emergency vehicle and the current vehicle within an influence range of the vehicle is acquired.

In one embodiment of the application, the current vehicle can obtain real-time position coordinates of each emergency vehicle by analyzing the state information of the emergency vehicles pushed by the internet of vehicles platform, and the linear distance between the emergency vehicle and the current vehicle in the influence range of the vehicle can be calculated according to the real-time position coordinates. The straight line distance is used as the driving distance, so that the data calculated amount in the vehicle dispatching process can be reduced, and the vehicle dispatching efficiency is improved.

In one embodiment of the application, the internet of vehicles platform can push map information of the area to the current vehicle, in addition to the real-time position coordinates of the emergency vehicle to the current vehicle, wherein the map information comprises road information within a certain distance range around the vehicle. The current vehicle can obtain map information of the area where the emergency vehicle is located by analyzing the state information; determining a driving road where the emergency vehicle is located according to the map information; the road surface distance between the emergency vehicle and the current vehicle, which is located within the range of influence of the vehicle, is determined along the extended path of the driving road. The road surface distance is used as the driving distance, so that the vehicle dispatching precision can be improved, and the method is particularly suitable for the situations of road bending and more vehicle turning.

S920: and predicting the running time of the emergency vehicle reaching the current vehicle according to the running distance.

The current vehicle can acquire the vehicle running state of the current vehicle in real time, and meanwhile, the head direction angle and the running speed of each emergency vehicle can be acquired by analyzing the state information of the emergency vehicle pushed by the Internet of vehicles platform. The travel distance is taken as a distance, and the travel time of each emergency vehicle reaching the current vehicle can be predicted by combining the current vehicle, the head direction angle of the emergency vehicle and the travel speed. The travel duration indicates that after the lapse of the time period, the emergency vehicle will approach the current vehicle position, resulting in the current vehicle obstructing the preferential travel of the emergency vehicle.

S930: and outputting a reminding message carrying the driving distance and the driving duration through the current vehicle.

In one embodiment of the application, the emergency avoidance level of each emergency vehicle can be determined according to the driving distance and the driving duration, and then the corresponding reminding content is output according to the emergency avoidance level. For example, in the embodiment of the application, a plurality of different distance intervals and duration intervals can be preset, and meanwhile, the mapping relation between each distance interval, duration interval and emergency avoidance level can be set. According to the data interval of the driving distance and the driving duration, the emergency avoidance level of the emergency vehicle can be determined.

In one embodiment of the application, the driving distance and the driving duration can be weighted according to a preset weight coefficient to obtain a reminding coefficient of the emergency vehicle, and the corresponding emergency avoidance level can be determined according to the numerical value of the reminding coefficient.

In general, an emergency vehicle having a small travel distance and a short travel time has a relatively high emergency avoidance level, and an emergency vehicle having a large travel distance and a long travel time has a relatively low emergency avoidance level.

According to the embodiment of the application, the emergency avoidance level of the emergency vehicle is determined from two dimensions of the driving distance and the driving duration, so that the flexibility of vehicle scheduling can be improved.

The emergency avoidance level is used to reflect the degree of urgency that the current vehicle needs to avoid the emergency vehicle. By distributing the emergency avoidance level for the emergency vehicle and outputting different reminding contents according to the emergency avoidance level, the stability and reliability of vehicle dispatching can be improved.

In one embodiment of the application, the internet of vehicles platform can also push the status message of the emergency vehicle to the current vehicle through the long term evolution internet of vehicles, so that the current vehicle can avoid the emergency vehicle. The state information is synchronously pushed to the current vehicle through the mobile communication network and the long-term evolution vehicle network, so that the current vehicle can be ensured to receive the state information in time, and the current vehicle can be ensured to avoid the emergency vehicle stably and reliably.

FIG. 10 shows an interactive flow chart for vehicle scheduling based on end-of-vehicle decisions in one application scenario in accordance with an embodiment of the present application. As shown in fig. 10, in this application scenario, the vehicle scheduling is decided by the in-vehicle terminal device, and the interactive flow of which the vehicle scheduling is performed includes S1010 to S1040 as follows.

S1010: the current vehicle HV and the emergency vehicle RV periodically send status messages to the Internet of vehicles platform to report the vehicle running status of the current vehicle HV and the emergency vehicle RV.

For example, the current vehicle HV and the emergency vehicle RV may broadcast the vehicle basic safety message BSM to the outside at a frequency of 10 Hz. If the long-term evolution vehicle-mounted unit LTE-V2XOBU is installed on the road surface running vehicle, the state information can be sent to the road side unit RSU through the vehicle-mounted unit in a direct communication mode, and then the road side unit RSU transmits the state information to the vehicle networking platform. If the long-term evolution vehicle-mounted unit LTE-V2XOBU is not installed on the road surface running vehicle, the state information can be sent to the 4G/5G network base station through a 4G/5G terminal carried on the vehicle, and then the 4G/5G network base station transmits the state information to the vehicle-mounted platform. The 4G/5G terminal can be a vehicle-mounted terminal T-BOX, an APP on a vehicle, an APP on an intelligent rearview mirror, an APP or an applet on a mobile phone, and the like.

The status message sent by the emergency vehicle RV is shown in table 1 above and the status message sent by the current vehicle HV is shown in table 2 above. Based on tables 1 and 2, the status message may include optional contents such as time, position, head direction angle, speed, etc., and may further include optional contents such as position confidence, body size, triaxial acceleration, yaw rate, lane, etc. Compared to current vehicles, emergency vehicles also need to carry a vehicle type in a status message to indicate that the emergency vehicle is a fire truck, ambulance, police car, etc.

S1020: and when the distance between the current vehicle HV and the emergency vehicle RV is smaller than the threshold value, the vehicle networking platform pushes the state message sent by the emergency vehicle to the current vehicle.

The vehicle networking platform can determine the relative distance between the current vehicle HV and the emergency vehicle RV according to the position information of the current vehicle HV and the emergency vehicle RV, and when the distance is smaller than a threshold value, the vehicle networking platform can trigger the emergency vehicle to be pushed to the current vehicle.

Referring to the application scenario shown in fig. 2, in which a status message pushed by an emergency vehicle to a car networking platform and by the car networking platform to a current vehicle may include the message content shown in table 4.

TABLE 4 Table 4

Referring to the application scenario shown in fig. 3, in which a status message pushed by an emergency vehicle to a car networking platform and by the car networking platform to a current vehicle may include the message content shown in table 5.

TABLE 5

Comparing table 4 and table 5, it can be seen that the status message sent by the emergency vehicle to the internet of vehicles platform through the long term evolution internet of vehicles or through the mobile communication network carries the necessary contents such as the longitude and latitude position, the direction angle of the head, the speed, the type of the emergency vehicle and the like of the emergency vehicle, and meanwhile, can also carry the optional contents such as the altitude position, the vehicle body size, the triaxial acceleration, the yaw rate and the like. In addition, compared with the long-term evolution internet of vehicles, when an emergency vehicle sends a status message to the internet of vehicles platform through the mobile communication network, the position confidence and the lane data can be carried in the message content, so that the reliability of the running state of the vehicle can be improved.

S1030: the current vehicle HV screens emergency vehicles within the influence range of the vehicle of the immediate current vehicle according to the driving state of the emergency vehicle RV.

The current vehicle HV calculates the time and distance for the emergency vehicle RV to reach the current vehicle HV according to the emergency vehicle RV and the position information of the current vehicle RV (if necessary, map information such as curves and the like is combined), so as to judge whether the emergency vehicle RV enters the vehicle influence range of the current vehicle HV.

The current vehicle can acquire state data for representing the running state of the current vehicle in real time, wherein the state data can comprise longitude and latitude coordinates, a headstock direction angle and running speed; the real-time position and the running direction of the current vehicle can be determined according to the longitude and latitude coordinates and the vehicle head direction angle; acquiring a distance threshold value which has positive correlation with the running speed; and according to the distance threshold value, defining a vehicle influence range corresponding to the real-time position along the driving direction.

The vehicle influence range of the current vehicle is a range dynamically changing according to the running speed of the vehicle, and when the running speed of the current vehicle is increased, the distance threshold value can be correspondingly increased to define a relatively larger vehicle influence range; when the current vehicle decreases the speed of travel, the distance threshold may be correspondingly decreased to delineate a relatively small vehicle impact range. The road range of the emergency vehicle which is yielded by the current vehicle can be dynamically adjusted in real time according to the influence range of the vehicle driving speed, and the interference on the normal driving of the current vehicle is reduced as much as possible on the premise of ensuring the priority driving of the emergency vehicle.

S1040: and outputting a reminding message by the current vehicle and avoiding the emergency vehicle.

The current vehicle can adjust the running of the current vehicle (such as acceleration, deceleration, steering, lane change and the like) according to the content of the reminding message, so that the emergency vehicle RV is avoided, and the emergency vehicle RV can run preferentially.

The vehicle dispatching scheme provided by the embodiment of the application is a heterogeneous emergency vehicle priority scheme, and the scheme ensures that the emergency vehicle priority is not only suitable for the space between V2X OBUs, but also can realize the emergency vehicle priority between the V2X OBU vehicle and the 4G/5G vehicle or the emergency vehicle priority between the 4G/5G vehicles through the connection of the V2X platforms, thereby expanding the application range of an emergency vehicle priority system.

It should be noted that although the steps of the methods of the present application are depicted in the accompanying drawings in a particular order, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

The following describes an embodiment of the apparatus of the present application that may be used to perform the vehicle scheduling method of the above-described embodiment of the present application.

Fig. 11 schematically shows a block diagram of a vehicle scheduling device based on cloud decision according to an embodiment of the present application. As shown in fig. 11, the vehicle scheduling apparatus 1100 based on cloud decision may mainly include:

An acquisition module 1110 configured to acquire a status message sent by a road-going vehicle through a long term evolution internet of vehicles or a mobile communication network, the status message being used to indicate a running status of the road-going vehicle and a vehicle type, the vehicle type including an emergency vehicle or a non-emergency vehicle;

a determining module 1120 configured to determine a vehicle avoidance range corresponding to a real-time position of the emergency vehicle according to a driving state of the emergency vehicle;

a screening module 1130 configured to screen non-emergency vehicles located within the vehicle avoidance range according to a driving state of the non-emergency vehicle;

a pushing module 1140 is configured to push a reminder message to a non-emergency vehicle located within the vehicle avoidance range, where the reminder message is used to instruct the non-emergency vehicle to avoid the emergency vehicle.

In one embodiment of the application, the road-going vehicles include a vehicle-networking vehicle mounted with a long term evolution vehicle-networking on-board unit and a non-vehicle-networking vehicle not mounted with a long term evolution vehicle-networking on-board unit; the acquisition module 1110 may include:

the internet of vehicles message acquisition module 1111 is configured to acquire a status message sent by an internet of vehicles vehicle through a long term evolution internet of vehicles road side unit;

Mobile network message acquisition module 1112 is configured to acquire status messages sent by non-internet of vehicles through network base stations of the mobile communication network.

In one embodiment of the present application, the cloud decision-based vehicle scheduling apparatus 1100 further includes:

the message analysis module is configured to analyze the state message to determine whether the state message carries the additional information of the emergency vehicle;

the emergency vehicle determining module is configured to determine that the road surface driving vehicle sending the status message is an emergency vehicle if the status message carries additional emergency vehicle information;

and the non-emergency vehicle determining module is configured to determine that the road surface driving vehicle sending the status message is a non-emergency vehicle if the status message does not carry the additional information of the emergency vehicle.

In one embodiment of the present application, the determining module 1120 may include:

the state data obtaining module 1121 is configured to parse the state message to obtain state data, which is carried in the state message and is used for representing a running state, wherein the state data comprises longitude and latitude coordinates, a headstock direction angle and a running speed;

a position and direction determination module 1122 configured to determine a real-time position and a travel direction of the emergency vehicle based on the longitude and latitude coordinates and the head direction angle;

A distance threshold value acquisition module 1123 configured to acquire a distance threshold value in positive correlation with the travel speed;

the avoidance range delineation module 1124 is configured to delineate a vehicle avoidance range corresponding to the real-time location along the travel direction based on the distance threshold.

In one embodiment of the present application, the pushing module 1140 may comprise:

a travel distance acquisition module 1141 configured to acquire a travel distance between the emergency vehicle and a non-emergency vehicle within the vehicle avoidance range;

a travel duration prediction module 1142 configured to predict a travel duration of the emergency vehicle to each non-emergency vehicle based on the travel distance;

the priority determining module 1143 is configured to map the driving distance and the driving duration to obtain a reminding priority of each non-emergency vehicle;

the mobile network pushing module 1144 is configured to push alert messages to each non-emergency vehicle according to the alert priority.

In one embodiment of the present application, the travel distance acquisition module 1141 may be further configured to: analyzing the state message to obtain map information of the area where the emergency vehicle is located; determining a driving road where the emergency vehicle is located according to the map information; a travel distance between a non-emergency vehicle located within the vehicle avoidance range and the emergency vehicle is determined along an extended path of the travel road.

the vehicle networking pushing module is configured to push a reminding message to a non-emergency vehicle located in the vehicle avoidance range through a long-term evolution vehicle networking so that the non-emergency vehicle can avoid the emergency vehicle.

Fig. 12 schematically shows a block diagram of a vehicle scheduling device based on vehicle end decision according to an embodiment of the present application. As shown in fig. 12, the vehicle scheduling apparatus 1200 based on the vehicle end decision may mainly include:

a receiving module 1210 configured to receive a status message, the status message being a message sent by a road-going vehicle over a long term evolution internet of vehicles or a mobile communication network for indicating a vehicle running status and a vehicle type, the vehicle type including an emergency vehicle or a non-emergency vehicle;

a determining module 1220 configured to determine a vehicle influence range corresponding to a real-time position of a current vehicle according to a running state of the current vehicle;

a screening module 1230 configured to screen emergency vehicles within the range of influence of the vehicle according to the driving state of the emergency vehicle;

An output module 1240 configured to output a reminder message through the current vehicle, the reminder message being used to instruct the current vehicle to avoid the emergency vehicle.

In one embodiment of the application, the road-going vehicles include a vehicle-networking vehicle mounted with a long term evolution vehicle-networking on-board unit and a non-vehicle-networking vehicle not mounted with a long term evolution vehicle-networking on-board unit; the method for sending the status message to the internet of vehicles platform by the road running vehicle through the long-term evolution internet of vehicles or the mobile communication network comprises the following steps: the vehicle networking system sends a status message to the vehicle networking platform through a long-term evolution vehicle networking network side unit; and the non-Internet-of-vehicles vehicle sends a status message to the Internet-of-vehicles platform through a mobile communication network.

In one embodiment of the present application, the determining module 1220 may include:

a state data acquisition module 1221 configured to acquire state data for representing a running state of a current vehicle, the state data including longitude and latitude coordinates, a head direction angle, and a running speed;

a position and direction determination module 1222 configured to determine a real-time position and a direction of travel of the current vehicle from the latitude and longitude coordinates and the head direction angle;

A distance threshold value acquisition module 1223 configured to acquire a distance threshold value in positive correlation with the travel speed;

an influence range delineation module 1224 configured to delineate a vehicle influence range corresponding to the real-time location along the travel direction based on the distance threshold.

In one embodiment of the present application, the output module 1240 may include:

a travel distance acquisition module 1241 configured to acquire a travel distance between the current vehicle and an emergency vehicle located within the vehicle influence range;

a travel duration prediction module 1242 configured to predict a travel duration of the emergency vehicle to the current vehicle based on the travel distance;

and a reminder message output module 1243 configured to output a reminder message carrying the distance traveled and the length of travel through the current vehicle.

In one embodiment of the present application, the travel distance acquisition module 1241 may be further configured to: analyzing the state message to obtain map information of the area where the emergency vehicle is located; determining a driving road where the emergency vehicle is located according to the map information; a travel distance between the emergency vehicle and the current vehicle within the vehicle influence range is determined along an extended path of the travel road.

Specific details of the vehicle scheduling device provided in each embodiment of the present application have been described in the corresponding method embodiments, and are not described herein.

Fig. 13 schematically shows a block diagram of a computer system of an electronic device for implementing an embodiment of the application.

It should be noted that, the computer system 1300 of the electronic device shown in fig. 13 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 13, the computer system 1300 includes a central processing unit 1301 (Central Processing Unit, CPU) which can execute various appropriate actions and processes according to a program stored in a Read-Only Memory 1302 (ROM) or a program loaded from a storage portion 1308 into a random access Memory 1303 (Random Access Memory, RAM). In the random access memory 1303, various programs and data necessary for the system operation are also stored. The cpu 1301, the rom 1302, and the ram 1303 are connected to each other via a bus 1304. An Input/Output interface 1305 (i.e., an I/O interface) is also connected to bus 1304.

The following components are connected to the input/output interface 1305: an input section 1306 including a keyboard, a mouse, and the like; an output portion 1307 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, a speaker, and the like; a storage portion 1308 including a hard disk or the like; and a communication section 1309 including a network interface card such as a local area network card, a modem, or the like. The communication section 1309 performs a communication process via a network such as the internet. The drive 1310 is also connected to the input/output interface 1305 as needed. Removable media 1311, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memory, and the like, is installed as needed on drive 1310 so that a computer program read therefrom is installed as needed into storage portion 1308.

In particular, the processes described in the various method flowcharts may be implemented as computer software programs according to embodiments of the application. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via the communication portion 1309 and/or installed from the removable medium 1311. The computer programs, when executed by the central processor 1301, perform the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A vehicle scheduling method, characterized by comprising:

2. The vehicle scheduling method of claim 1, wherein the road traveling vehicle comprises a vehicle-networking vehicle mounted with a long term evolution vehicle-networking on-board unit and a non-vehicle-networking vehicle not mounted with a long term evolution vehicle-networking on-board unit; acquiring a status message sent by a road-going vehicle through a long term evolution internet of vehicles or a mobile communication network, comprising:

acquiring a state message sent by a vehicle networking vehicle through a long-term evolution vehicle networking road side unit;

and acquiring the status message sent by the non-internet-of-vehicle through a network base station of the mobile communication network.

3. The vehicle scheduling method according to claim 1, wherein determining a vehicle avoidance range corresponding to a real-time position of the emergency vehicle according to a traveling state of the emergency vehicle includes:

Analyzing the state message to obtain state data which is carried in the state message and is used for representing a running state, wherein the state data comprises longitude and latitude coordinates, a headstock direction angle and a running speed;

determining a real-time position and a driving direction of the emergency vehicle according to the longitude and latitude coordinates and the head direction angle;

acquiring a distance threshold value which has positive correlation with the running speed;

and according to the distance threshold, defining a vehicle avoidance range corresponding to the real-time position along the driving direction.

4. The vehicle scheduling method of claim 1, wherein pushing a reminder message to a non-emergency vehicle within the vehicle avoidance range comprises:

acquiring a driving distance between a non-emergency vehicle and the emergency vehicle within the vehicle avoidance range;

predicting the travel time of the emergency vehicle to each non-emergency vehicle according to the travel distance;

mapping the driving distance and the driving duration to obtain reminding priority of each non-emergency vehicle;

and pushing reminding messages to each non-emergency vehicle according to the reminding priority.

5. The vehicle scheduling method according to claim 4, wherein acquiring a travel distance between a non-emergency vehicle located within the vehicle avoidance range and the emergency vehicle includes:

Analyzing the state message to obtain map information of the area where the emergency vehicle is located;

determining a driving road where the emergency vehicle is located according to the map information;

a travel distance between a non-emergency vehicle located within the vehicle avoidance range and the emergency vehicle is determined along an extended path of the travel road.

6. The vehicle scheduling method according to any one of claims 1 to 5, characterized in that after acquiring the status message transmitted by the road-running vehicle through the long term evolution internet of vehicles or the mobile communication network, the method further comprises:

analyzing the status message to determine whether the status message carries additional information of the emergency vehicle;

if the state information carries the additional information of the emergency vehicle, determining that the road surface running vehicle sending the state information is the emergency vehicle;

and if the state information does not carry the additional information of the emergency vehicle, determining that the road surface running vehicle sending the state information is a non-emergency vehicle.

7. A vehicle scheduling method, characterized by comprising:

8. The vehicle scheduling method of claim 7, wherein the road traveling vehicle comprises a vehicle-networking vehicle mounted with a long term evolution vehicle-networking on-board unit and a non-vehicle-networking vehicle not mounted with a long term evolution vehicle-networking on-board unit; the method for sending the status message to the internet of vehicles platform by the road running vehicle through the long-term evolution internet of vehicles or the mobile communication network comprises the following steps:

the vehicle networking system sends a status message to the vehicle networking platform through a long-term evolution vehicle networking network side unit;

and the non-Internet-of-vehicles vehicle sends a status message to the Internet-of-vehicles platform through a mobile communication network.

9. The vehicle scheduling method according to claim 7, wherein determining a vehicle influence range corresponding to a real-time position of a current vehicle according to a running state of the current vehicle includes:

Acquiring state data for representing the running state of the current vehicle, wherein the state data comprises longitude and latitude coordinates, a headstock direction angle and a running speed;

determining the real-time position and the running direction of the current vehicle according to the longitude and latitude coordinates and the headstock direction angle;

and according to the distance threshold, defining a vehicle influence range corresponding to the real-time position along the running direction.

10. The vehicle scheduling method according to any one of claims 7 to 9, characterized by outputting a reminder message through the current vehicle, comprising:

acquiring a driving distance between an emergency vehicle located in the vehicle influence range and the current vehicle;

predicting the running time of the emergency vehicle reaching the current vehicle according to the running distance;

and outputting a reminding message carrying the driving distance and the driving duration through the current vehicle.

11. The vehicle scheduling method according to claim 10, characterized in that acquiring a travel distance between the emergency vehicle located within the vehicle influence range and the current vehicle includes:

a travel distance between the emergency vehicle and the current vehicle within the vehicle influence range is determined along an extended path of the travel road.

12. A vehicle scheduling apparatus, characterized by comprising:

13. A vehicle scheduling apparatus, characterized by comprising:

14. A computer readable medium, characterized in that the computer readable medium has stored thereon a computer program which, when executed by a processor, implements the vehicle scheduling method of any one of claims 1 to 11.

15. An electronic device, comprising:

A processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to execute the executable instructions to cause the electronic device to implement the vehicle scheduling method of any one of claims 1 to 11.

16. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the vehicle scheduling method of any one of claims 1 to 11.