CN116721534A - Vehicle dispatching method, vehicle dispatching platform, electronic equipment and computer readable storage medium - Google Patents

Abstract

The embodiment of the application relates to the technical field of vehicle dispatching, in particular to a vehicle dispatching method, a vehicle dispatching platform, electronic equipment and a computer readable storage medium. According to the embodiment of the application, the control area is arranged, when each vehicle enters the control area or is sent in the control area, the occupation request is required to be sent to the vehicle dispatching platform, the vehicle dispatching platform sequences the occupation requests through the preset rule after receiving the occupation requests, sequentially processes the occupation requests, and finally sends the processing structure to the vehicles respectively, so that only one vehicle in the control area can be ensured to run, traffic jam is not caused, and the task execution efficiency of the unmanned vehicles is greatly improved.

Description

Vehicle dispatching method, vehicle dispatching platform, electronic equipment and computer readable storage medium

Technical Field

The embodiment of the application relates to the technical field of vehicle dispatching, in particular to a vehicle dispatching method, a vehicle dispatching platform, electronic equipment and a computer readable storage medium.

Background

An automatic driving Car (Self-driving Car), also known as an unmanned Car, a computer-driven Car, or a wheeled mobile robot, is an intelligent vehicle that realizes unmanned by a computer system. The automatic driving automobile relies on the cooperation among an artificial intelligent system, a visual computing system, a radar system, a monitoring system and a global positioning system, so that a computer can automatically and safely operate the automatic driving automobile under the condition of unmanned active operation.

In the prior art, an autonomous vehicle generally travels through a predetermined path to perform a task.

In carrying out the prior art, the applicant has found that at least the following problems exist in the prior art: due to the lack of an effective vehicle dispatching method, when a plurality of unmanned vehicles run simultaneously, due to physical environment factors or task routes crossing, the vehicles can face the problems of narrow road meeting, intersection merging, path crossing, site congestion conflict and the like, so that road section congestion, abnormal running, vehicle collision and the like are caused.

Disclosure of Invention

The embodiment of the application provides a vehicle dispatching method, a vehicle dispatching platform, electronic equipment and a computer readable storage medium, which can solve the problem of congestion of an automatic driving vehicle during running.

In order to solve the technical problems, the application adopts a technical scheme that:

in a first aspect, the present application provides a vehicle scheduling method, the method comprising: receiving occupation requests of a plurality of vehicles for the same control area, wherein the control area refers to an area which is selected by a preset shape frame for an intersection and a road section where vehicle congestion is likely to occur in a high-precision map in advance, and the occupation requests comprise requests of the vehicles for independently occupying the control area to a vehicle dispatching platform; ordering a plurality of occupation requests according to a preset rule; sequentially processing the plurality of sequenced occupation requests; and respectively transmitting the processing results to a plurality of vehicles to ensure that only one vehicle runs in the control area.

The application provides a vehicle dispatching platform, which comprises a receiving module, a dispatching module and a dispatching module, wherein the receiving module is used for receiving occupation requests of a plurality of vehicles for the same control area, wherein the control area refers to an area selected by polygonal frames for intersections and road sections, in which vehicle congestion is likely to occur, in a high-precision map in advance, and the occupation requests comprise requests of the vehicles for independently occupying the control area to the vehicle dispatching platform; the arrangement module is used for ordering the plurality of occupation requests according to a preset rule; the processing module is used for sequentially processing the plurality of the ordered occupation requests; and the sending module is used for respectively sending the processing results to a plurality of vehicles so as to ensure that only one vehicle runs in the control area.

In a third aspect, the application provides an electronic device comprising a processor, and a memory and a communication interface coupled to the processor; the memory is configured to store computer instructions, the communication interface is configured to interact with a vehicle, and the processor is configured to execute the computer program instructions to implement the vehicle scheduling method described in the first aspect.

In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when run on an electronic device, causes the electronic device to perform the vehicle scheduling method described in the first aspect.

The embodiment of the application has the beneficial effects that: compared with the prior art, the embodiment of the application has the advantages that the management and control area is arranged, when each vehicle enters the management and control area or is sent in the management and control area, the occupation request is required to be sent to the vehicle dispatching platform, the vehicle dispatching platform sequences the occupation requests through the preset rule after receiving the occupation requests, the occupation requests are sequentially processed, and finally the processing structure is respectively sent to the vehicles, so that only one vehicle in the management and control area can be ensured to run, traffic jam is avoided, and the task execution efficiency of the unmanned vehicles is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of a vehicle dispatch system of the present application;

FIG. 2 is a schematic diagram of an internal structure of a vehicle dispatch platform according to an embodiment of the present application;

FIG. 3 is a schematic view showing an internal structure of an autonomous vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of the overall hardware architecture of an autonomous vehicle according to an embodiment of the present application;

FIG. 5 is a schematic diagram of background analysis of an embodiment of the present application;

FIG. 6 is a flow chart of a vehicle scheduling method of an embodiment of the present application;

fig. 7 is a schematic diagram of an application scenario according to an embodiment of the present application;

FIG. 8 is a schematic diagram of an application scenario according to an embodiment of the present application;

FIG. 9 is a schematic diagram of another application scenario of an embodiment of the present application;

FIG. 10 is a schematic diagram of yet another application scenario of an embodiment of the present application;

fig. 11 is a schematic structural view of a vehicle dispatching platform according to an embodiment of the present application.

Detailed Description

In order that the application may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Before explaining the embodiments of the present application in detail, a simple description is given of the system architecture and application scenario of the embodiments of the present application.

Referring to fig. 1, the autonomous vehicle dispatch system includes a vehicle dispatch platform 11 and a plurality of autonomous vehicles 12. The vehicle dispatching platform 11 is configured to dispatch a plurality of autonomous vehicles 12 in a management range according to the collected current position, current road condition information and original dispatching results of the autonomous vehicles 12, and issue the latest dispatching results to each autonomous vehicle 12; for the autonomous vehicles 12, each autonomous vehicle is located within the management range of the vehicle dispatch platform 11. The autonomous vehicle 12 does not require the driver to drive; the driving tasks are not required to be manually scheduled, but are scheduled by the vehicle scheduling platform 11 for each autonomous vehicle 12 within its management scope. When the automatic driving vehicle acquires the driving task, the driving route can be automatically planned and arranged according to the driving task.

Referring to fig. 2, the vehicle dispatching platform mainly includes a dispatching decision unit 111, a vehicle information collection unit 112, and a transceiver communication unit 113. Wherein, the transceiver communication unit 113 is used for communicating with the automatic driving vehicle 12 shown in fig. 1, and receiving the running information of the automatic driving vehicle 12; the travel information may include a current location, current road condition information, a schedule change request, etc.; the transceiver communication unit 113 may also issue a vehicle schedule dispatch result to the under-automatic driving vehicle 12. A vehicle information collection unit 112 for collecting traveling information of all the automatically driven vehicles within the management range of the vehicle dispatch platform, the traveling information including dynamic information and static information; wherein, the dynamic information generally comprises driving tasks of the automatic driving vehicle, the current position, the driving tasks being executed, the current road condition information and the like; static information generally includes identification information of an autonomous vehicle, such as a license plate, a vehicle model, and the like. The dispatch decision unit 111 is configured to perform global dispatch according to the passenger request and the driving information of the automatic driving vehicle acquired by the vehicle information collection unit 112.

Referring to fig. 3, the autonomous vehicle mainly includes a transceiving communication unit 124, an operation interface 122, a driving task management unit 123, and a traffic information collection unit 121. The transceiver communication unit 124 is configured to communicate with a remote device, such as a vehicle dispatching platform, and send the running information, where the running information may include a current location, current road condition information, a request for changing a schedule, and so on. An operation interface 122 for interacting with the autonomous vehicle through the UI; the driving task management module 303 is configured to maintain a driving task list of an automatically driven vehicle, and support updating the driving task list according to a vehicle scheduling platform or a local decision. The traffic information collecting unit 121 is used for collecting traffic conditions on the driving route of the automatic driving vehicle or at the current position through a GPS (Global Positioning System ) device or a traffic supervision device.

Fig. 4 is a schematic diagram of the overall hardware architecture of an autonomous vehicle. Referring to fig. 4, the autonomous vehicle includes:

a CPU (Central Processing Unit ) 1201 for controlling, on the one hand, the hardware devices of the various parts of the entire autonomous vehicle; and on the other hand, the running software is used for running operating system software and required application program software, and comprises the running task management software, the traffic road condition information collection software, the UI operation interface software and the like related to the running task management software.

A storage device 1202 for storing various software programs, data, and the like of an autonomous vehicle; the storage device may be one or more of RAM (Random Access Memory ), EPROM (Erasable Prog rammable Read Only Memory, erasable programmable read-only register), SSD (Solid State Disk), SD (Secure Digital) card, and hard Disk, and the software functions of the autopilot scheduling method provided by the embodiment of the present application also run and store on the storage device 402.

The communication device 1203 provides network communication functions for the autonomous vehicle including one or more of cellular network (GSM/UMTS/LTE/CDMA, etc.), WLAN (Wireless Local Area Networks, wireless local area network), NFC (Near Field Communication ), bluetooth, etc.

The antenna device 1204 is a wireless transmitting antenna or a wireless receiving antenna used by the communication device 1203. A GPS device 1205 for providing location information of an autonomous vehicle. The sensor device 1206 may include radar, cameras, etc. for sensing road traffic conditions, road pedestrians, etc. to direct the autonomous vehicle to automatically drive based on road conditions. The power supply device 1207 supplies power to the autonomous vehicle. An I/O (Input/Output) control device 1208 is used to control data interaction between various Input/Output devices, in particular, between the CPU1201 and the I/O interface 1209 and UI operation interface 1210.

The I/O interface 1209 is an external interface provided by the autonomous vehicle, and includes one or more of a USB (Universal Serial Bus ) interface, an SD card interface, a CD (Compact Disc)/DVD (Digital Vers atile Disc ) interface, a key interface, and the like. The UI operation interface 1210 is a GUI (Graphical UserInterface ) operation/display panel provided by the autonomous vehicle for displaying the running state of the autonomous vehicle, the device state, the environment in which the autonomous vehicle is located, the user operation interface, and the operation result; the panel may also be a touch screen for receiving a user touch operation and converting into a user operation instruction.

Before describing the scheme of the application, the background of the application needs to be further described, because the unmanned vehicles are generally applied to an industrial park, the industrial park generally does not set means such as traffic lights and the like capable of managing the passing sequence of the unmanned vehicles, and because the passing strategies of different unmanned vehicles in the park may be different, the phenomenon may cause the vehicles to face the problems of narrow road meeting, intersection merging, path crossing, station congestion and conflict and the like.

Specifically, as shown in fig. 5, when the vehicle 1 travels along the travel route 1, the vehicle 2 may turn around along the travel route 2 or turn around along the travel route 3, and the vehicle 3 may travel straight along the travel route 4, so that the vehicle 1 may cross the travel routes between the vehicle 2 and the vehicle 3, and thus a congestion problem may occur.

Before the technical scheme of the application is proposed, technical terms in the application are described:

management and control area: the intersections and road segments where the vehicle congestion may occur may be framed in a predetermined shape in advance in the high-precision map, and it is understood that the control area at least includes the intersections and road segments where the vehicle congestion may occur and the surrounding areas of the intersection road segments, please refer to fig. 7-9, and for example, the control area may be an intersection or a narrow road segment. It can be understood that the area of the control area is larger than the area of the intersection and the road section, and a parking spot is arranged in the control area.

Parking spot: the parking spot refers to a parking position of an automatic driving vehicle, and the automatic driving vehicle performing an automatic driving task can temporarily stop at the parking spot without affecting normal traffic of a road within or outside a management and control area. It can be understood that the number of parking spots can be one or more, the parking spots are preset when unmanned vehicles are planning paths, and the vehicles can be supplemented or perform tasks at the parking spots, and it can be understood that the positions and the number of the parking spots of different vehicles can be different.

Remaining number of subtasks: in the running process, if the whole running path of the vehicle is planned as a task, because the running process between any two parking spots is scheduled when the parking spot unmanned vehicle is planned, the running process between any two parking spots can be regarded as a subtask, the total number of the subtasks is equal to the number of the parking spots plus one, the total number of the remaining subtasks is the total number of the subtasks minus one when the vehicle passes through one parking spot, and the vehicle is about to finish the running task when the number of the remaining subtasks of the vehicle is smaller. I.e. the number N of coincident points of the driving path of the vehicle and the parking spot, the parking spot through which the vehicle has passed is N1, the number of remaining subtasks is 1+n-N1, and both N and N1 are positive integers.

Occupancy request: according to the application, the management and control area is synchronously arranged in the map and the vehicle dispatching platform in the vehicle, and when the unmanned vehicle needs to pass through the road section, an occupation request is sent to the dispatching platform, wherein the occupation request is used for indicating that the unmanned vehicle needs to run in the management and control area. It will be appreciated that the types of occupancy requests may also be different, for example, for vehicles within a parking spot, for vehicles that are at a point of departure, for vehicles that are outside of a regulatory region, for vehicles that are entering the regulatory region, and for vehicles that are in a parking region. Meanwhile, the occupancy request may also include information of the traveling direction, for example, as shown in fig. 5, the vehicle 1 turns from left to right on the traveling route 1, and the vehicle 2 turns from right to left on the traveling route 3.

And (3) driving resources: the vehicle dispatching platform is used for distributing running resources, the running resources comprise idle states and locking states, when the running resources are in the locking states, the running resources indicate that vehicles in the control area are running, and the vehicle dispatching platform refuses to respond to any occupation request except the running vehicles in the control area. When the running resources are in an idle state, no vehicle runs in the control area, the vehicle scheduling platform distributes the running resources to vehicles with the front occupation request, changes the running resources into a locking state, and distributes the running resources to at most one vehicle, so that only one vehicle runs in the control area is ensured.

In order to solve the above-mentioned problems, referring to fig. 6, in a first aspect, the present application provides a vehicle dispatching method, which is applied to a vehicle dispatching platform and can dispatch a plurality of automatic driving vehicles.

The vehicle scheduling method comprises the following steps:

s100, receiving occupation requests for the same control area sent by a plurality of vehicles.

Specifically, step S100 includes: an occupancy request is received for a vehicle that is launched within or enters the regulatory domain.

S200, arranging a plurality of occupation requests according to a preset rule;

with continued reference to fig. 7, in this step, the vehicle scheduling platform may receive multiple occupancy requests for the same control area within a certain duration span, and at this time, the occupancy requests are not processed and the driving resources are not allocated, so that the multiple occupancy requests need to be ordered, thereby improving the traffic efficiency.

S300, sequentially processing the plurality of ordered occupation requests;

and S400, respectively transmitting the processing results to a plurality of vehicles to ensure that only one vehicle runs in the control area.

In some embodiments, step S400 includes:

s410, if the driving resource is idle, a first instruction is sent to a plurality of vehicles, wherein the first instruction is used for enabling the vehicles with the occupation request arranged at the forefront to drive in a control area and enabling other vehicles to wait at a parking place;

and S420, if the resource state is locked, sending a second instruction to the plurality of vehicles, wherein the second instruction is used for enabling the plurality of vehicles to wait at a parking point in front of the control area, and the plurality of vehicles are sequentially arranged from small to large according to the respective remaining subtasks.

Therefore, in the embodiment of the application, through setting the control area, when each vehicle enters the control area or is sent in the control area, the occupation request is required to be sent to the vehicle dispatching platform, after the vehicle dispatching platform receives the occupation requests, the occupation requests are sequenced through the preset rule, the occupation requests are sequentially processed, and finally the processing structure is respectively sent to the vehicles, so that only one vehicle in the control area can be ensured to run, the traffic jam is not caused, and the task execution efficiency of the unmanned vehicles is greatly improved.

The preset rules of the present application will be described below with reference to specific scenarios.

In some implementations, step S200 includes:

s210, judging whether a plurality of vehicles run in the same direction;

s211, if yes, arranging a plurality of occupation requests in sequence according to the application time.

Referring to fig. 8-9, in this step, taking two vehicles as an example, the driving directions of the two vehicles are determined first, and if the driving directions of the vehicle 1 and the vehicle 2 are consistent, the vehicle that sent the occupancy request first can pass through, so that the waiting time of the vehicle that sent the occupancy request first can be reduced, and the driving resource allocation efficiency is improved.

In some implementations, the steps following step S210 further include:

s212, if not, judging whether the current is equal to the current;

s2121, counting a plurality of remaining subtasks of a plurality of vehicles;

s2122, sorting the plurality of occupation requests according to the size of the remaining subtasks.

In this step, the running resources are allocated by the running strategy with the task priority, and the vehicle is about to complete the running task when the number of remaining subtasks of the vehicle is smaller, so that the vehicle with the smaller number of remaining subtasks is preferentially passed in order to increase the task completion rate of each vehicle.

Referring to fig. 10, in some implementations, step S2122 further includes:

s21221, identifying a first vehicle, wherein the first remaining subtask number of the first vehicle is minimum;

s21222, according to the sequence of the remaining subtasks from small to large, orderly arranging occupation requests of all vehicles running in the same direction as the first vehicle;

s21223, identifying a second vehicle which runs in the same direction as the first vehicle, wherein the second remaining subtask number of the second vehicle is the largest in all vehicles running in the same direction as the second vehicle;

s21224, identifying a third vehicle, wherein the third vehicle runs opposite to the first vehicle, the third remaining number of subtasks of the third vehicle is larger than the first remaining number of subtasks, and the third occupation request of the third vehicle is arranged behind the second occupation request of the second vehicle.

If the number of the remaining subtasks between the vehicles passing relatively is compared after the first vehicle passes, the processing time of the vehicle dispatching platform and the waiting time of a plurality of vehicles are increased, so in the step, when the number of the first remaining subtasks of the first vehicle is minimum, the running resources can be preferentially obtained, the priority of all vehicles running in the same direction with the first vehicle to obtain the running resources is improved, when the first vehicle passes and the resources are idle, the vehicles running in the same direction with the first vehicle can sequentially obtain the running resources according to the number of the remaining subtasks until the second vehicle obtains the running resources and passes through the control area, the running resources are distributed to the third vehicle, and the vehicle dispatching platform can complete the multi-vehicle dispatching by only carrying out one dispatching instruction.

In some implementations, step S2122 further includes:

s21225, the plurality of occupation requests further comprise a fourth occupation request and a fifth occupation request, wherein the fourth occupation request is an occupation request sent by a fourth vehicle, and the fifth occupation request is an occupation request sent by a fifth vehicle;

s21226, if the fourth remaining number of subtasks of the fourth vehicle is equal to the fifth remaining number of subtasks of the fifth vehicle, randomly arranging the fourth occupancy request and the fifth occupancy request.

In this step, vehicles with equal remaining subtasks are arranged randomly, either before or after the fifth occupancy request. This step may also be combined with steps S21221-S21224, and detailed description thereof will be omitted.

Referring to fig. 11, the present application further provides a vehicle dispatching platform, including:

the receiving module 1000 receives occupation requests of a plurality of vehicles for the same control area, wherein the control area refers to an area which is framed by a preset shape for intersections and road sections where vehicle congestion is likely to occur in a high-precision map in advance, and the occupation requests comprise requests of the vehicles for independently occupying the control area to a vehicle dispatching platform;

an arrangement module 2000, configured to sort the plurality of occupation requests according to a predetermined rule;

a processing module 3000, configured to sequentially process the plurality of ordered occupation requests;

and the execution module 4000 is used for respectively sending the processing results to a plurality of vehicles so as to ensure that only one vehicle runs in the control area.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the application provides electronic equipment, which comprises a processor, a memory and a communication interface, wherein the memory and the communication interface are coupled with the processor; the memory is for storing computer instructions, the communication interface is for interacting data with a vehicle, and the processor is for executing the computer program instructions to implement the vehicle scheduling method as in the first aspect.

Embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform steps that may be carried out in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments. It should be noted that the description of the present application and the accompanying drawings illustrate preferred embodiments of the present application, but the present application may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the application, but are provided for a more thorough understanding of the present application. The above-described features are further combined with each other to form various embodiments not listed above, and are considered to be the scope of the present application described in the specification; further, modifications and variations of the present application may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this application as defined in the appended claims.

Claims (10)

1. A vehicle scheduling method, the method comprising:

receiving occupation requests of a plurality of vehicles for the same control area, wherein the control area refers to an area which is selected by a preset shape frame for an intersection and a road section where vehicle congestion is likely to occur in a high-precision map in advance, and the occupation requests comprise requests of the vehicles for independently occupying the control area to a vehicle dispatching platform;

ordering a plurality of occupation requests according to a preset rule;

sequentially processing the plurality of sequenced occupation requests;

and respectively transmitting the processing results to a plurality of vehicles to ensure that only one vehicle runs in the control area.

2. The vehicle scheduling method according to claim 1, characterized in that: said arranging a plurality of said occupancy requests in a predetermined rule comprises:

judging whether a plurality of vehicles run in the same direction or not;

if yes, a plurality of occupation requests are sequentially arranged according to the application time.

3. The vehicle scheduling method according to claim 2, characterized in that: after the judgment of whether the vehicles run in the same direction, the method further comprises the steps of;

if not, counting the number of remaining subtasks of a plurality of vehicles;

and sequencing a plurality of occupied requests according to the size of the residual subtasks.

4. A vehicle scheduling method according to claim 3, characterized in that: the step of ordering the plurality of occupation requests according to the size of the remaining number of subtasks further comprises:

identifying a first vehicle having a first minimum number of remaining subtasks;

according to the sequence from small to large of the remaining subtasks, the occupation requests of all vehicles running in the same direction with the first vehicle are sequentially arranged;

identifying a second vehicle which runs in the same direction as the first vehicle, wherein the second vehicle has the largest second remaining subtask number in all vehicles running in the same direction as the second vehicle;

and identifying a third vehicle, wherein the third vehicle runs opposite to the first vehicle, the third remaining subtask number of the third vehicle is larger than the first remaining subtask number, and a third occupation request of the third vehicle is arranged after a second occupation request of the second vehicle.

5. The vehicle scheduling method according to any one of claims 3 to 4, characterized in that: the ordering of the plurality of occupancy requests according to the size of the remaining number of subtasks further comprises:

the plurality of occupation requests further comprise a fourth occupation request and a fifth occupation request, wherein the fourth occupation request is an occupation request sent by a fourth vehicle, and the fifth occupation request is an occupation request sent by a fifth vehicle;

and if the fourth remaining subtask number of the fourth vehicle is equal to the fifth remaining subtask number of the fifth vehicle, randomly arranging the fourth occupation request and the fifth occupation request.

6. The vehicle scheduling method according to claim 1, characterized in that: the transmitting the processing results to the plurality of vehicles, respectively, includes:

if the driving resource is idle, a first instruction is sent to a plurality of vehicles, wherein the first instruction is used for enabling the vehicles with the occupation request arranged at the forefront to drive in the control area and enabling other vehicles to wait at a parking spot;

and if the resource state is locked, sending a second instruction to a plurality of vehicles, wherein the second instruction is used for enabling the plurality of vehicles to wait at a parking point in front of the control area and sequentially arranging the plurality of vehicles according to the respective remaining subtasks from small to large.

7. The vehicle scheduling method according to claim 1, characterized in that: the receiving the occupation request sent by each vehicle and running in the control area comprises the following steps:

an occupancy request is received for a vehicle that is launched within or enters the regulatory domain.

8. A vehicle dispatch platform, characterized by: comprising the following steps:

the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving occupation requests of a plurality of vehicles for the same control area, the control area refers to an area which is framed by a preset shape for intersections and road sections where vehicle congestion is likely to occur in a high-precision map in advance, and the occupation requests comprise requests of the vehicles for independently occupying the control area to a vehicle dispatching platform;

the arrangement module is used for ordering the plurality of occupation requests according to a preset rule;

the processing module is used for sequentially processing the plurality of the ordered occupation requests;

and the sending module is used for respectively sending the processing results to a plurality of vehicles so as to ensure that only one vehicle runs in the control area.

9. An electronic device, characterized in that: comprising a processor, a memory coupled to the processor, and a communication interface; the memory is for storing computer instructions, the communication interface is for interacting with a vehicle, and the processor is for executing the computer program instructions to implement the vehicle scheduling method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized by: the computer readable storage medium stores a computer program which, when run on an electronic device, causes the electronic device to perform the vehicle scheduling method of any one of claims 1 to 7.