WO2020147361A1 - 用于控制车辆的方法和装置 - Google Patents

用于控制车辆的方法和装置 Download PDF

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Publication number
WO2020147361A1
WO2020147361A1 PCT/CN2019/112542 CN2019112542W WO2020147361A1 WO 2020147361 A1 WO2020147361 A1 WO 2020147361A1 CN 2019112542 W CN2019112542 W CN 2019112542W WO 2020147361 A1 WO2020147361 A1 WO 2020147361A1
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WIPO (PCT)
Prior art keywords
vehicle
demand information
transportation demand
driving
information
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PCT/CN2019/112542
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English (en)
French (fr)
Inventor
王月
闵芮豪
薛晶晶
刘颖楠
饶文龙
王子杰
吴泽琳
Original Assignee
北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to US16/959,276 priority Critical patent/US20210341295A1/en
Publication of WO2020147361A1 publication Critical patent/WO2020147361A1/zh

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    • G06Q50/40—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling

Definitions

  • the embodiments of the present application relate to the field of vehicle control, and in particular to methods and devices for controlling vehicles.
  • unmanned vehicles came into being.
  • the unmanned vehicles are usually dispatched manually in the background according to actual application conditions.
  • the embodiments of the present application propose methods and devices for controlling vehicles.
  • an embodiment of the present application provides a method for controlling a vehicle, including: acquiring transportation demand information; acquiring driving state information of vehicles in a vehicle formation; and obtaining information from the vehicle based on the transportation demand information and the driving state information.
  • the target vehicle is determined in the formation; a dispatch instruction is sent to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the dispatch instruction.
  • the vehicles in the above-mentioned vehicle formation drive according to the driving route corresponding to the vehicle, and the driving route includes multiple stops; and the above-mentioned obtaining transportation demand information includes: obtaining the corresponding driving route of the vehicle in the above-mentioned vehicle formation. The number of objects to be transported at each station in the driving route; according to the obtained number of objects to be transported, transportation demand information is determined.
  • the above-mentioned transportation demand information includes a driving route
  • the above-mentioned driving state information includes the number of objects currently transported by the vehicle
  • the above-mentioned determining the target vehicle from the above-mentioned vehicle formation based on the above-mentioned transportation demand information and the above-mentioned driving state information includes : Determine that the vehicle whose current number of transport objects in the vehicle formation is less than the first preset threshold is a pending vehicle; determine whether the travel route corresponding to the pending vehicle matches the travel route in the transportation demand information; respond to the vehicle corresponding to the pending vehicle The driving route of is matched with the driving route in the above-mentioned transportation demand information, and the target vehicle is determined from the above-mentioned pending vehicles.
  • the above-mentioned transportation demand information includes a driving route
  • the above-mentioned driving state information includes position information
  • the above-mentioned determining a target vehicle from the above-mentioned vehicle formation based on the above-mentioned transportation demand information and the above-mentioned driving state information includes: The driving route in the demand information and the position information of the vehicles in the aforementioned vehicle formation are determined, and the vehicle corresponding to at least one position information whose shortest distance between the aforementioned driving route is less than a second preset threshold is determined; from the determined at least one vehicle Determine the target vehicle.
  • the above method further includes: acquiring driving environment information of the vehicles in the vehicle formation; and determining the target vehicle from the vehicle formation based on the transportation demand information and the driving state information, including: The demand information, the aforementioned driving state information and the acquired driving environment information determine the target vehicle from the aforementioned vehicle formation.
  • an embodiment of the present application provides an apparatus for controlling a vehicle, including: a first acquiring unit configured to acquire transportation demand information; a second acquiring unit configured to acquire the driving status of vehicles in a vehicle formation Information; a vehicle determination unit configured to determine a target vehicle from the vehicle formation based on the transportation demand information and the driving state information; an instruction sending unit configured to send scheduling instructions to the target vehicle to make the target vehicle Execute the transportation task indicated by the transportation demand information according to the above scheduling instruction.
  • the vehicles in the vehicle formation drive according to a driving route corresponding to the vehicle, and the driving route includes a plurality of stations; and the above-mentioned first acquisition unit includes: a quantity determination module configured to respond to the vehicles in the vehicle formation The corresponding driving route acquires the number of objects to be transported at each station in the driving route; the demand determination module is configured to determine transportation demand information according to the acquired number of objects to be transported.
  • the above-mentioned transportation demand information includes a driving route
  • the above-mentioned driving state information includes the number of current transportation objects of the vehicle
  • the above-mentioned vehicle determining unit is further configured to: determine that the current number of transportation objects in the vehicle formation is less than the first predetermined number. Set the threshold vehicle as a pending vehicle; determine whether the travel route corresponding to the pending vehicle matches the travel route in the transportation demand information; in response to the travel route corresponding to the pending vehicle matches the travel route in the transportation demand information, from The target vehicle is determined among the above pending vehicles.
  • the transportation demand information includes a driving route
  • the driving state information includes position information
  • the vehicle determining unit is further configured to: according to the driving route in the transportation demand information and the position information of the vehicles in the vehicle formation , Determining a vehicle corresponding to at least one piece of location information whose shortest distance to the foregoing driving route is less than a second preset threshold; and determining a target vehicle from the determined at least one vehicle.
  • the above-mentioned apparatus further includes: a third acquiring unit configured to acquire driving environment information of vehicles in the aforementioned vehicle formation; and the aforementioned vehicle determining unit is further configured to: according to the aforementioned transportation demand information and the aforementioned driving state information And the obtained driving environment information, the target vehicle is determined from the above-mentioned vehicle formation.
  • an embodiment of the present application provides a server, including: one or more processors; a storage device, on which one or more programs are stored, when the above one or more programs are processed by the above one or more The processor executes, so that the one or more processors above implement the method described in any one of the embodiments of the first aspect.
  • an embodiment of the present application provides a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, the method as described in any embodiment of the first aspect is implemented.
  • the method and device for controlling a vehicle provided by the foregoing embodiment of the present application can first obtain transportation demand information. It is also possible to obtain the driving state information of the vehicles in the vehicle formation. Then according to the transportation demand information and the driving state information, the target vehicle is determined from the vehicle formation. Finally, a dispatching instruction is sent to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the dispatching instruction.
  • the method of this embodiment realizes the automatic dispatch of vehicles in the vehicle formation based on the transportation demand information and the driving state information, thereby improving the use efficiency of the vehicles.
  • Fig. 1 is an exemplary system architecture diagram to which an embodiment of the present application can be applied;
  • Fig. 2 is a flowchart of an embodiment of a method for controlling a vehicle according to the present application
  • Fig. 3 is a schematic diagram of an application scenario of the method for controlling a vehicle according to the present application
  • Fig. 4 is a flowchart of another embodiment of a method for controlling a vehicle according to the present application.
  • Fig. 5 is a schematic structural diagram of an embodiment of a device for controlling a vehicle according to the present application.
  • Fig. 6 is a schematic structural diagram of a computer system suitable for implementing a server according to an embodiment of the present application.
  • FIG. 1 shows an exemplary system architecture 100 to which an embodiment of a method for controlling a vehicle or a device for controlling a vehicle of the present application can be applied.
  • the system architecture 100 may include vehicles 101, 102, 103, a network 104 and a server 105.
  • the network 104 is used to provide a medium for communication links between the vehicles 101, 102, 103 and the server 105.
  • the network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, and so on.
  • the vehicles 101, 102, 103 interact with the server 105 through the network 104 to receive or send signals and so on.
  • Various electronic devices such as image acquisition devices, sensors, vehicle controllers, etc. may be installed on the vehicles 101, 102, and 103.
  • the aforementioned sensors can be used to collect environmental data outside the vehicles 101, 102, 103, and the aforementioned environmental data can be used as map data for making maps.
  • Vehicles 101, 102, 103 may be various vehicles, including but not limited to large passenger cars, tractors, city buses, medium passenger cars, large trucks, small cars, small automatic vehicles, self-driving vehicles, or other intelligent vehicles.
  • the server 105 may be a server that provides various services, for example, a background server that determines the road sections collected by the vehicles 101, 102, and 103.
  • the background server can process the target road section after receiving the map data collection instruction, and feed back the processing result (for example, the sub-road section) to the vehicles 101, 102, 103.
  • the server 105 may be hardware or software.
  • the server 105 can be implemented as a distributed server cluster composed of multiple servers, or as a single server.
  • the server 105 is software, it can be implemented as multiple software or software modules (for example, to provide distributed services), or as a single software or software module. There is no specific limit here.
  • the method for controlling the vehicle provided by the embodiment of the present application is generally executed by the server 105.
  • the device for controlling the vehicle is generally provided in the server 105.
  • the method for controlling a vehicle in this embodiment includes the following steps:
  • Step 201 Obtain transportation demand information.
  • the execution body of the method for controlling the vehicle can obtain the transportation demand information through a wired connection or a wireless connection.
  • the executive body can obtain transportation demand information from other equipment, or automatically generate transportation demand information based on other information.
  • Transportation demand information can be used to indicate a transportation task, which can include, but is not limited to, transportation starting point, transportation destination, transportation route, and transportation object.
  • wireless connection methods can include but are not limited to 3G/4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other currently known or future wireless connection methods .
  • the vehicles in the vehicle formation drive according to a driving route corresponding to the vehicle, and the driving route includes multiple stops.
  • the above step 201 can be specifically implemented by steps not shown in Figure 2: For the driving route corresponding to the vehicles in the vehicle formation, obtain the number of objects to be transported at each station in the driving route; according to the obtained number of objects to be transported , To determine transportation demand information.
  • each vehicle in the vehicle formation travels according to the driving route corresponding to the vehicle.
  • Each driving route can include multiple stops, and objects to be transported can include passengers and cargo. Passengers can wait for vehicles at the station, and goods can be placed at the station waiting to be loaded.
  • the executive body can first obtain the number of objects to be transported at each stop of each driving route. Then, the executive body can determine the transportation demand information according to the acquired number of objects to be transported. For example, the executive body can add up the number of objects to be transported at each station, and when it is determined that the sum is greater than a preset threshold, the transportation demand information of the driving route is generated, and the generated transportation demand information is used to indicate that the driving route requires Dispatch additional vehicles to drive to transport objects to be transported.
  • Step 202 Acquire driving state information of vehicles in the vehicle formation.
  • the vehicle formation may be a formation composed of multiple vehicles.
  • the vehicle can be an unmanned vehicle, a truck, and so on.
  • the driving state information may be information used to characterize the driving state of the vehicle, and may include speed, location, objects transported in the vehicle, the number of objects transported in the vehicle, and so on.
  • the executive body can obtain the driving state information of each vehicle in the vehicle formation in a variety of ways.
  • the driving state information can be acquired through a sensor or an image acquisition device installed in the vehicle.
  • Step 203 Determine the target vehicle from the vehicle formation based on the transportation demand information and the driving state information.
  • the executive body After the executive body obtains transportation demand information and driving status information, it can determine the target vehicle from the vehicle formation.
  • the transportation demand information may include transportation starting points, transportation routes, and so on.
  • the executive body can determine the vehicle closest to the starting point of transportation in the transportation demand information as the target vehicle according to the position of each vehicle in the vehicle formation.
  • the executive body may determine the vehicle that best matches the transportation route in the transportation demand information as the target vehicle based on the driving trajectory of each vehicle in the vehicle formation.
  • the transportation demand information includes a transportation route
  • the driving state information includes the number of objects currently transported by the vehicle.
  • the above-mentioned step 203 can be specifically implemented by the following steps not shown in FIG. 2: determining that the vehicle whose current number of transport objects in the vehicle formation is less than the first preset threshold is a pending vehicle; determining whether the driving route corresponding to the pending vehicle is consistent with the transportation The transportation route in the demand information is matched; in response to the driving route corresponding to the pending vehicle matches the transportation route in the transportation demand information, the target vehicle is determined from the pending vehicle.
  • the transportation demand information may include a transportation route
  • the driving state information may include the number of objects currently transported by the vehicle.
  • the above-mentioned transportation objects can be passengers, goods, etc.
  • the executive body can first determine the current number of transport objects for each vehicle in the vehicle formation. Then, it is determined whether each quantity is less than the first preset threshold.
  • the executive body may determine a vehicle whose current number of transport objects is less than the first preset threshold as a pending vehicle.
  • the executive body may further determine whether the driving route corresponding to the pending vehicle matches the transportation route in the transportation demand information.
  • matching may mean that the driving route is the same or partially the same as the transportation route. If the driving route corresponding to the pending vehicle matches the transportation route in the transportation demand information, the execution body can select the target vehicle from the pending vehicle.
  • the transportation demand information includes transportation routes
  • the driving state information includes location information.
  • the above-mentioned step 203 can be specifically implemented by the following steps not shown in FIG. 2: According to the driving route in the transportation demand information and the position information of the vehicles in the vehicle formation, it is determined that the shortest distance to the driving route is less than the second preset threshold. The vehicle corresponding to the at least one location information; the target vehicle is determined from the determined at least one vehicle.
  • the transportation demand information may include a transportation route
  • the driving status information may include the location information of the vehicle.
  • the execution subject may determine at least one piece of position information whose shortest distance from the driving route is less than the second preset threshold value according to the driving route and the position information of each vehicle. Then, at least one vehicle corresponding to the aforementioned at least one piece of position information is determined. Finally, the target vehicle is determined from the aforementioned at least one vehicle. Specifically, the execution subject may determine from at least one vehicle that the vehicle with the smallest number of objects currently transported is the target vehicle.
  • Step 204 Send a scheduling instruction to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the scheduling instruction.
  • the executive body can send scheduling instructions to the target vehicle.
  • the target vehicle can perform the transportation task indicated by the transportation demand information. Specifically, the target vehicle may drive along the transportation route in the transportation demand information to transport the object.
  • FIG. 3 is a schematic diagram of an application scenario of the method for controlling a vehicle according to this embodiment.
  • each unmanned vehicle in the unmanned vehicle formation runs according to the driving route corresponding to each unmanned vehicle.
  • the travel route includes travel route 1, travel route 2, and travel route 3.
  • Each driving route corresponds to 3 unmanned vehicles.
  • Each driving route includes multiple stops (not shown in the figure).
  • the cloud management platform obtains real-time the number of people waiting at each station in the driving route.
  • the cloud management platform determines that the number of people waiting in the driving route 3 exceeds 30, and determines that the transportation demand information is driving route 3.
  • the cloud management platform determines that the number of people waiting in the driving route 1 is less than 5, and the two unmanned vehicles driving along the driving route 1 are used as the target vehicles. And send scheduling instructions to the two unmanned vehicles, so that the two unmanned vehicles drive along the driving route 3.
  • transportation demand information can be obtained. It is also possible to obtain the driving state information of the vehicles in the vehicle formation. Then according to the transportation demand information and the driving state information, the target vehicle is determined from the vehicle formation. Finally, a dispatching instruction is sent to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the dispatching instruction.
  • the method of this embodiment realizes the automatic dispatch of vehicles in the vehicle formation based on the transportation demand information and the driving state information, thereby improving the use efficiency of the vehicles.
  • FIG. 4 shows a process 400 of another embodiment of the method for controlling a vehicle according to the present application.
  • the method of this embodiment includes the following steps:
  • Step 401 Obtain transportation demand information.
  • Step 402 Acquire driving state information of vehicles in the vehicle formation.
  • steps 401 to 402 are similar to the principles of steps 201 to 202, and will not be repeated here.
  • Step 403 Acquire driving environment information of vehicles in the vehicle formation.
  • various collection devices may be installed on the vehicles in the vehicle formation, which may be used to collect the driving environment information of the vehicles.
  • the aforementioned acquisition device may include a radar sensor, a binocular camera, and the like.
  • the aforementioned driving environment information may include traffic light information, obstacle information, lane line information, and the like.
  • Step 404 Determine the target vehicle from the vehicle formation based on the transportation demand information, the driving state information and the acquired driving environment information.
  • the execution subject can determine the target vehicle from the vehicle formation based on the transportation demand information, the driving state information, and the driving environment information of each vehicle. Specifically, the execution subject may determine whether the current road section of the vehicle is congested according to the driving environment information. Further, the execution subject may select the target vehicle from the vehicles that are not congested on the road section on the basis of the transportation demand information and the driving state information. Alternatively, the executive body may judge the congestion of each road section based on the driving environment information of each vehicle. Then, according to the congestion condition of each road section and the transportation route included in the transportation demand information, the transportation route is divided into multiple transportation subtasks. Finally, multiple target vehicles corresponding to each transportation subtask are determined from the vehicle formation, so that multiple target vehicles can perform the transportation subtasks respectively.
  • Step 405 Send a scheduling instruction to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the scheduling instruction.
  • the executive body can send scheduling instructions to the target vehicle.
  • the target vehicle After receiving the dispatch instruction, the target vehicle can perform the transportation task indicated by the transportation demand information.
  • the method for controlling vehicles provided by the above-mentioned embodiments of the present application can combine the driving environment information of each vehicle to send scheduling instructions to the target vehicles in the vehicle formation, thereby enabling more flexible vehicle scheduling.
  • this application provides an embodiment of a device for controlling a vehicle.
  • the device embodiment corresponds to the method embodiment shown in FIG.
  • the device can be applied to various electronic devices.
  • the device 500 for controlling a vehicle in this embodiment includes: a first acquiring unit 501, a second acquiring unit 502, a vehicle determining unit 503, and an instruction sending unit 504.
  • the first obtaining unit 501 is configured to obtain transportation demand information.
  • the second acquiring unit 502 is configured to acquire driving state information of vehicles in the vehicle formation.
  • the vehicle determining unit 503 is configured to determine the target vehicle from the vehicle formation based on the transportation demand information and the driving state information.
  • the instruction sending unit 504 is configured to send a scheduling instruction to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the scheduling instruction.
  • the vehicles in the vehicle formation travel along a driving route corresponding to the vehicle, and the driving route includes multiple stops.
  • the first obtaining unit 501 may further include a quantity determination module and a demand determination module not shown in FIG. 5.
  • the quantity determination module is configured to obtain the quantity of objects to be transported at each station in the driving route for the driving route corresponding to the vehicle in the vehicle formation.
  • the demand determination module is configured to determine transportation demand information according to the acquired number of objects to be transported.
  • the transportation demand information includes a driving route
  • the driving state information includes the number of objects currently transported by the vehicle.
  • the vehicle determining unit 503 may be further configured to: determine that a vehicle whose current number of transport objects in the vehicle formation is less than a first preset threshold is a pending vehicle; determine whether the driving route corresponding to the pending vehicle matches the driving route in the transportation demand information; In response to the travel route corresponding to the pending vehicle matches the travel route in the transportation demand information, the target vehicle is determined from the pending vehicle.
  • the transportation demand information includes a driving route
  • the driving state information includes location information.
  • the vehicle determining unit 503 may be further configured to: according to the driving route in the transportation demand information and the position information of the vehicles in the vehicle formation, determine the position information corresponding to the at least one position information whose shortest distance to the driving route is less than the second preset threshold. Vehicle; Determine the target vehicle from the determined at least one vehicle.
  • the above-mentioned device may further include a third acquiring unit not shown in FIG. 5, configured to acquire driving environment information of vehicles in a vehicle formation. Then, the vehicle determining unit 503 may be further configured to determine the target vehicle from the vehicle formation according to the transportation demand information, the driving state information, and the acquired driving environment information.
  • the device for controlling vehicles provided by the above-mentioned embodiments of the present application realizes automatic dispatch of vehicles in a vehicle formation based on transportation demand information and driving state information, thereby improving the use efficiency of vehicles.
  • the units 501 to 504 recorded in the device 500 for controlling a vehicle respectively correspond to the steps in the method described with reference to FIG. 2. Therefore, the operations and features described above for the method for controlling the vehicle are also applicable to the device 500 and the units contained therein, and will not be repeated here.
  • FIG. 6 shows a schematic structural diagram of an electronic device (for example, the server in FIG. 1) 600 suitable for implementing embodiments of the present disclosure.
  • the electronic device shown in FIG. 6 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present application.
  • the electronic device 600 may include a processing device (such as a central processing unit, a graphics processor, etc.) 601, which may be loaded into random access according to a program stored in a read-only memory (ROM) 602 or from the storage device 608
  • a processing device such as a central processing unit, a graphics processor, etc.
  • the program in the memory (RAM) 603 performs various appropriate operations and processes.
  • various programs and data necessary for the operation of the electronic device 600 are also stored.
  • the processing device 601, ROM 602, and RAM 603 are connected to each other via a bus 604.
  • An input/output (I/O) interface 605 is also connected to the bus 604.
  • the following devices can be connected to the I/O interface 605: including input devices 606 such as touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, liquid crystal display (LCD), speaker, vibration
  • input devices 606 such as touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.
  • An output device 607 such as a storage device; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609.
  • the communication device 609 may allow the electronic device 600 to perform wireless or wired communication with other devices to exchange data.
  • FIG. 6 shows an electronic device 600 having various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or provided instead. Each block shown in FIG. 6 may represent one device or multiple devices as needed.
  • the process described above with reference to the flowchart can be implemented as a computer software program.
  • the embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication device 609, or from the storage device 608, or from the ROM 602.
  • the processing device 601 the above-mentioned functions defined in the method of the embodiment of the present application are executed.
  • the computer-readable medium described 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 may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable signal medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: electric wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
  • the above-mentioned computer-readable medium may be included in the above-mentioned server; or it may exist alone without being assembled into the electronic device.
  • the above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: obtains transportation demand information; obtains driving status information of vehicles in a vehicle formation; based on transportation demand Information and driving status information, determine the target vehicle from the vehicle formation; send a scheduling instruction to the target vehicle, so that the target vehicle executes the transportation task indicated by the transportation demand information according to the scheduling instruction.
  • the computer program code used to perform the operations of the embodiments of the present application can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages such as Java, Smalltalk, C++, It also includes conventional procedural programming languages-such as "C" language or similar programming languages.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, through an Internet service provider Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider Internet connection for example, AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of code that contains one or more logic functions Executable instructions.
  • the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented with dedicated hardware-based systems that perform specified functions or operations Or, it can be realized by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments described in the present application can be implemented in software or hardware.
  • the described unit may also be provided in the processor, for example, it may be described as: a processor includes a first acquiring unit, a second acquiring unit, a vehicle determining unit, and an instruction sending unit. Wherein, the names of these units do not constitute a limitation on the unit itself under certain circumstances.
  • the first obtaining unit can also be described as "a unit for obtaining transportation demand information.”

Abstract

本申请实施例公开了用于控制车辆的方法和装置。上述方法的一具体实施方式包括：获取运输需求信息；获取车辆编队中车辆的行驶状态信息；基于运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆；向目标车辆发送调度指令，以使目标车辆根据调度指令执行运输需求信息指示的运输任务。该实施方式实现了对车辆编队中车辆的自动调度，从而提高了车辆的使用效率。

Description

用于控制车辆的方法和装置
本专利申请要求于2019年01月15日提交的、申请号为201910037533.X、申请人为北京百度网讯科技有限公司、发明名称为“用于控制车辆的方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请实施例涉及车辆控制领域，具体涉及用于控制车辆的方法和装置。
背景技术
随着人工智能技术的发展，无人车应运而生。对于按照既定路线行驶的无人车来说，一般由人工在后台根据实际应用情况对无人车进行调度。目前没有有效的方法实现对无人车的自动调度。
发明内容
本申请实施例提出了用于控制车辆的方法和装置。
第一方面，本申请实施例提供了一种用于控制车辆的方法，包括：获取运输需求信息；获取车辆编队中车辆的行驶状态信息；基于上述运输需求信息和上述行驶状态信息，从上述车辆编队中确定出目标车辆；向上述目标车辆发送调度指令，以使上述目标车辆根据上述调度指令执行上述运输需求信息指示的运输任务。
在一些实施例中，上述车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点；以及上述获取运输需求信息，包括：对于上述车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量；根据所获取的待运输对象的数量，确定运输需求信息。
在一些实施例中，上述运输需求信息包括行驶路线，上述行驶状态信息包括车辆当前运输对象的数量；以及上述基于上述运输需求信 息和上述行驶状态信息，从上述车辆编队中确定出目标车辆，包括：确定上述车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；确定上述待定车辆所对应的行驶路线是否与运输需求信息中的行驶路线匹配；响应于上述待定车辆所对应的行驶路线与上述运输需求信息中的行驶路线匹配，从上述待定车辆中确定出目标车辆。
在一些实施例中，上述运输需求信息包括行驶路线，上述行驶状态信息包括位置信息；以及上述基于上述运输需求信息和上述行驶状态信息，从上述车辆编队中确定出目标车辆，包括：根据上述运输需求信息中的行驶路线和上述车辆编队中车辆的位置信息，确定与上述行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；从所确定的至少一个车辆中确定出目标车辆。
在一些实施例中，上述方法还包括：获取上述车辆编队中车辆的行驶环境信息；以及上述基于上述运输需求信息和上述行驶状态信息，从上述车辆编队中确定出目标车辆，包括：根据上述运输需求信息、上述行驶状态信息和所获取的行驶环境信息，从上述车辆编队中确定出目标车辆。
第二方面，本申请实施例提供了一种用于控制车辆的装置，包括：第一获取单元，被配置成获取运输需求信息；第二获取单元，被配置成获取车辆编队中车辆的行驶状态信息；车辆确定单元，被配置成基于上述运输需求信息和上述行驶状态信息，从上述车辆编队中确定出目标车辆；指令发送单元，被配置成向上述目标车辆发送调度指令，以使上述目标车辆根据上述调度指令执行上述运输需求信息指示的运输任务。
在一些实施例中，所述车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点；以及上述第一获取单元包括：数量确定模块，被配置成对于上述车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量；需求确定模块，被配置成根据所获取的待运输对象的数量，确定运输需求信息。
在一些实施例中，上述运输需求信息包括行驶路线，上述行驶状态信息包括车辆当前运输对象的数量；以及上述车辆确定单元进一步 被配置成：确定上述车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；确定上述待定车辆所对应的行驶路线是否与运输需求信息中的行驶路线匹配；响应于上述待定车辆所对应的行驶路线与上述运输需求信息中的行驶路线匹配，从上述待定车辆中确定出目标车辆。
在一些实施例中，上述运输需求信息包括行驶路线，上述行驶状态信息包括位置信息；以及上述车辆确定单元进一步被配置成：根据上述运输需求信息中的行驶路线和上述车辆编队中车辆的位置信息，确定与上述行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；从所确定的至少一个车辆中确定出目标车辆。
在一些实施例中，上述装置还包括：第三获取单元，被配置成获取上述车辆编队中车辆的行驶环境信息；以及上述车辆确定单元进一步被配置成：根据上述运输需求信息、上述行驶状态信息和所获取的行驶环境信息，从上述车辆编队中确定出目标车辆。
第三方面，本申请实施例提供了一种服务器，包括：一个或多个处理器；存储装置，其上存储有一个或多个程序，当上述一个或多个程序被上述一个或多个处理器执行，使得上述一个或多个处理器实现如第一方面任一实施例所描述的方法。
第四方面，本申请实施例提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时实现如第一方面任一实施例所描述的方法。
本申请的上述实施例提供的用于控制车辆的方法和装置，首先可以获取运输需求信息。也可以获取车辆编队中车辆的行驶状态信息。然后根据运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆。最后，向目标车辆发送调度指令，从而使目标车辆根据调度指令执行运输需求信息指示的运输任务。本实施例的方法，根据运输需求信息以及行驶状态信息，实现了对车辆编队中车辆的自动调度，从而提高了车辆的使用效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请的一个实施例可以应用于其中的示例性系统架构图；
图2是根据本申请的用于控制车辆的方法的一个实施例的流程图；
图3是根据本申请的用于控制车辆的方法的一个应用场景的示意图；
图4是根据本申请的用于控制车辆的方法的又一个实施例的流程图；
图5是根据本申请的用于控制车辆的装置的一个实施例的结构示意图；
图6是适于用来实现本申请实施例的服务器的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的用于控制车辆的方法或用于控制车辆的装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括车辆101、102、103，网络104和服务器105。网络104用以在车辆101、102、103和服务器105之间提供通信链路的介质。网络104可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
车辆101、102、103通过网络104与服务器105交互，以接收或 发送信号等。车辆101、102、103上可以安装有各种电子装置，例如图像采集装置、传感器、车辆控制器等。上述传感器可以用于采集车辆101、102、103外部的环境数据，上述环境数据可以作为制作地图的地图数据。
车辆101、102、103可以是各种车辆，包括但不限于大型客车、牵引车、城市公交车、中型客车、大型货车、小型汽车、小型自动挡汽车、自动驾驶车辆或其它智能车辆等等。
服务器105可以是提供各种服务的服务器，例如确定车辆101、102、103采集的路段的后台服务器。后台服务器可以在接收到地图数据采集指令后，对目标路段进行处理，并将处理结果(例如子路段)反馈给车辆101、102、103。
需要说明的是，服务器105可以是硬件，也可以是软件。当服务器105为硬件时，其可以实现成多个服务器组成的分布式服务器集群，也可以实现成单个服务器。当服务器105为软件时，其可以实现成多个软件或软件模块(例如用来提供分布式服务)，也可以实现成单个软件或软件模块。在此不做具体限定。
需要说明的是，本申请实施例所提供的用于控制车辆的方法一般由服务器105执行。相应地，用于控制车辆的装置一般设置于服务器105中。
应该理解，图1中的车辆、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的车辆、网络和服务器。
继续参考图2，示出了根据本申请的用于控制车辆的方法的一个实施例的流程200。本实施例的用于控制车辆的方法，包括以下步骤：
步骤201，获取运输需求信息。
在本实施例中，用于控制车辆的方法的执行主体(例如图1所示的服务器105)可以通过有线连接方式或者无线连接方式获取运输需求信息。执行主体可以从其它设备处获取运输需求信息，也可以根据其它信息，自动生成运输需求信息。运输需求信息可以用于表示一个运输任务，可以包括但不限于运输起点、运输终点、运输路线、运输对象。
需要指出的是，上述无线连接方式可以包括但不限于3G/4G连接、WiFi连接、蓝牙连接、WiMAX连接、Zigbee连接、UWB(ultra wideband)连接、以及其他现在已知或将来开发的无线连接方式。
在本实施例的一些可选的实现方式中，车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点。上述步骤201具体可以通过图2中未示出的步骤来实现：对于车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量；根据所获取的待运输对象的数量，确定运输需求信息。
本实现方式中，车辆编队中的每个车辆都按照与该车辆对应的行驶路线行驶。每个行驶路线可以包括多个站点，待运输对象可以包括乘客和货物。乘客可以在站点等待车辆，货物可以被放置在站点等待被装载。执行主体可以首先获取每个行驶路线的各站点处待运输对象的数量。然后，执行主体可以根据所获取的待运输对象的数量，确定运输需求信息。例如，执行主体可以对各站点处待运输对象的数量进行加和，当确定和值大于预设阈值时，生成该行驶路线的运输需求信息，所生成的运输需求信息用于表示该行驶路线需要调度额外的车辆来行驶，以运输待运输对象。
步骤202，获取车辆编队中车辆的行驶状态信息。
本实施例中，车辆编队可以是由多个车辆组成的编队。车辆可以是无人车、搬运车等等。行驶状态信息可以是用于表征车辆行驶状态的信息，可以包括速度、位置、车内所运输的对象、车内运输的对象的数量等等。执行主体可以利用多种方式获取车辆编队中各车辆的行驶状态信息。例如，可以通过车辆中安装的传感器或图像采集装置来获取行驶状态信息。
步骤203，基于运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆。
执行主体在获取到运输需求信息和行驶状态信息，可以从车辆编队中确定出目标车辆。例如，运输需求信息中可以包括运输起点、运输路线等。执行主体可以根据车辆编队中各车辆的位置，确定与运输需求信息中的运输起点最近的车辆为目标车辆。或者，执行主体可以 根据车辆编队中各车辆的行驶轨迹，确定与运输需求信息中的运输路线最匹配的车辆为目标车辆。
在本实施例的一些可选的实现方式中，运输需求信息包括运输路线，行驶状态信息包括车辆当前运输对象的数量。上述步骤203具体可以通过图2中未示出的以下步骤来实现：确定车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；确定待定车辆所对应的行驶路线是否与运输需求信息中的运输路线匹配；响应于待定车辆所对应的行驶路线与运输需求信息中的运输路线匹配，从待定车辆中确定出目标车辆。
本实现方式中，运输需求信息可以包括运输路线，行驶状态信息可以包括车辆当前运输对象的数量。上述运输对象可以是乘客、货物等。执行主体可以首先确定车辆编队中每个车辆当前运输对象的数量。然后，判断各数量是否小于第一预设阈值。执行主体可以将当前运输对象的数量小于第一预设阈值的车辆确定为待定车辆。执行主体可以进一步判断待定车辆所对应的行驶路线是否与运输需求信息中的运输路线匹配。此处，匹配可以是指行驶路线与运输路线相同或部分相同。如果待定车辆所对应的行驶路线与运输需求信息中的运输路线匹配，则执行主体可以从待定车辆中选取出目标车辆。
在本实施例的一些可选的实现方式中，运输需求信息包括运输路线，行驶状态信息包括位置信息。上述步骤203具体可以通过图2中未示出的以下步骤来实现：根据运输需求信息中的行驶路线和车辆编队中车辆的位置信息，确定与行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；从所确定的至少一个车辆中确定出目标车辆。
本实现方式中，运输需求信息可以包括运输路线，行驶状态信息可以包括车辆的位置信息。执行主体可以根据行驶路线和各车辆的位置信息，确定与行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息。然后，确定上述至少一个位置信息对应的至少一个车辆。最后，从上述至少一个车辆中确定出目标车辆。具体的，执行主体可以从至少一个车辆中确定出当前运输对象的数量最少的车辆为目标车 辆。
步骤204，向目标车辆发送调度指令，以使目标车辆根据调度指令执行运输需求信息指示的运输任务。
执行主体在确定了目标车辆后，可以向目标车辆发送调度指令。目标车辆在接收到调度指令后，可以执行运输需求信息指示的运输任务。具体的，目标车辆可以按照运输需求信息中的运输路线行驶，以运输对象。
继续参见图3，图3是根据本实施例的用于控制车辆的方法的一个应用场景的示意图。在图3的应用场景中，无人车编队中的各无人车按照与各无人车对应的行驶路线行驶。如图3所示，行驶路线包括行驶路线1、行驶路线2以及行驶路线3。每个行驶路线对应3辆无人车。每个行驶路线中包括多个站点(图中未示出)。云端管理平台实时获取行驶路线中各站点处等车人数。云端管理平台确定行驶路线3中的等车人数超过30，确定运输需求信息为行驶路线3。同时，云端管理平台确定行驶路线1中的等车人数小于5，则将按行驶路线1行驶的两辆无人车作为目标车辆。并向这两辆无人车发送调度指令，使得该两辆无人车按行驶路线3行驶。
本申请的上述实施例提供的用于控制车辆的方法，首先可以获取运输需求信息。也可以获取车辆编队中车辆的行驶状态信息。然后根据运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆。最后，向目标车辆发送调度指令，从而使目标车辆根据调度指令执行运输需求信息指示的运输任务。本实施例的方法，根据运输需求信息以及行驶状态信息，实现了对车辆编队中车辆的自动调度，从而提高了车辆的使用效率。
进一步参见图4，其示出了根据本申请的用于控制车辆的方法的另一个实施例的流程400。如图4所示，本实施例的方法包括以下步骤：
步骤401，获取运输需求信息。
步骤402，获取车辆编队中车辆的行驶状态信息。
本实施例中，步骤401～402的原理与步骤201～202的原理类似， 此处不再赘述。
步骤403，获取车辆编队中车辆的行驶环境信息。
本实施例中，车辆编队中的车辆上还可以安装有多种采集装置，可以用于采集车辆的行驶环境信息。上述采集装置可以包括雷达传感器、双目相机等。上述行驶环境信息可以包括交通灯信息、障碍物信息、车道线信息等。
步骤404，根据运输需求信息、行驶状态信息和所获取的行驶环境信息，从车辆编队中确定出目标车辆。
本实施例中，执行主体可以根据运输需求信息、行驶状态信息以及各车辆的行驶环境信息，可以从车辆编队中确定出目标车辆。具体的，执行主体可以根据行驶环境信息判断车辆当前所在路段是否拥堵。进一步的，执行主体可以根据运输需求信息和行驶状态信息，从所行驶的路段不拥堵的车辆中选取出目标车辆。或者，执行主体可以根据各车辆的行驶环境信息，判断各路段的拥堵情况。然后，根据各路段的拥堵情况以及运输需求信息中包括的运输路线，将运输路线划分为多个运输子任务。最后，从车辆编队中确定出多个与各运输子任务对应的目标车辆，以使多个目标车辆分别执行运输子任务。
步骤405，向目标车辆发送调度指令，以使目标车辆根据调度指令执行运输需求信息指示的运输任务。
最后，执行主体可以向目标车辆发送调度指令。目标车辆在接收到调度指令后，可以执行运输需求信息指示的运输任务。
本申请的上述实施例所提供的用于控制车辆的方法，可以结合各车辆的行驶环境信息，向车辆编队中的目标车辆发送调度指令，从而能够更灵活的调度车辆。
进一步参考图5，作为对上述各图所示方法的实现，本申请提供了一种用于控制车辆的装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图5所示，本实施例的用于控制车辆的装置500包括：第一获取单元501、第二获取单元502、车辆确定单元503以及指令发送单元504。
第一获取单元501，被配置成获取运输需求信息。
第二获取单元502，被配置成获取车辆编队中车辆的行驶状态信息。
车辆确定单元503，被配置成基于运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆。
指令发送单元504，被配置成向目标车辆发送调度指令，以使目标车辆根据调度指令执行运输需求信息指示的运输任务。
在本实施例的一些可选的实现方式中，所述车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点。第一获取单元501可以进一步包括图5中未示出的数量确定模块和需求确定模块。
数量确定模块，被配置成对于车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量。
需求确定模块，被配置成根据所获取的待运输对象的数量，确定运输需求信息。
在本实施例的一些可选的实现方式中，运输需求信息包括行驶路线，行驶状态信息包括车辆当前运输对象的数量。车辆确定单元503可以进一步被配置成：确定车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；确定待定车辆所对应的行驶路线是否与运输需求信息中的行驶路线匹配；响应于待定车辆所对应的行驶路线与运输需求信息中的行驶路线匹配，从待定车辆中确定出目标车辆。
在本实施例的一些可选的实现方式中，运输需求信息包括行驶路线，行驶状态信息包括位置信息。车辆确定单元503可以进一步被配置成：根据运输需求信息中的行驶路线和车辆编队中车辆的位置信息，确定与行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；从所确定的至少一个车辆中确定出目标车辆。
在本实施例的一些可选的实现方式中，上述装置还可以进一步包括图5中未示出的第三获取单元，被配置成获取车辆编队中车辆的行驶环境信息。则车辆确定单元503可以进一步被配置成：根据运输需求信息、行驶状态信息和所获取的行驶环境信息，从车辆编队中确定出目标车辆。
本申请的上述实施例提供的用于控制车辆的装置，根据运输需求信息以及行驶状态信息，实现了对车辆编队中车辆的自动调度，从而提高了车辆的使用效率。
应当理解，用于控制车辆的装置500中记载的单元501至单元504分别与参考图2中描述的方法中的各个步骤相对应。由此，上文针对用于控制车辆的方法描述的操作和特征同样适用于装置500及其中包含的单元，在此不再赘述。
下面参考图6，其示出了适于用来实现本公开的实施例的电子设备(例如图1中的服务器)600的结构示意图。图6示出的电子设备仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图6所示，电子设备600可以包括处理装置(例如中央处理器、图形处理器等)601，其可以根据存储在只读存储器(ROM)602中的程序或者从存储装置608加载到随机访问存储器(RAM)603中的程序而执行各种适当的动作和处理。在RAM 603中，还存储有电子设备600操作所需的各种程序和数据。处理装置601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。
通常，以下装置可以连接至I/O接口605：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置606；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置607；包括例如磁带、硬盘等的存储装置608；以及通信装置609。通信装置609可以允许电子设备600与其他设备进行无线或有线通信以交换数据。虽然图6示出了具有各种装置的电子设备600，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。图6中示出的每个方框可以代表一个装置，也可以根据需要代表多个装置。
特别地，根据本申请的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本申请的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程 序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置609从网络上被下载和安装，或者从存储装置608被安装，或者从ROM 602被安装。在该计算机程序被处理装置601执行时，执行本申请的实施例的方法中限定的上述功能。需要说明的是，本申请的实施例所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请的实施例中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请的实施例中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
上述计算机可读介质可以是上述服务器中所包含的；也可以是单独存在，而未装配入该电子设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：获取运输需求信息；获取车辆编队中车辆的行驶状态信息；基于运输需求信息和行驶状态信息，从车辆编队中确定出目标车辆；向目标车辆发送调度指令，以使目标车辆根据调度指令执行运输 需求信息指示的运输任务。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请的实施例的操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请的实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括第一获取单元、第二获取单元、车辆确定单元和指令发送单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，第一获取单元还可以被描述为“获取运输需求信息的单元”。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请的实施例中所涉及的发明范围， 并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请的实施例中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (12)

  1. 一种用于控制车辆的方法，包括：
    获取运输需求信息；
    获取车辆编队中车辆的行驶状态信息；
    基于所述运输需求信息和所述行驶状态信息，从所述车辆编队中确定出目标车辆；
    向所述目标车辆发送调度指令，以使所述目标车辆根据所述调度指令执行所述运输需求信息指示的运输任务。
  2. 根据权利要求1所述的方法，其中，所述车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点；以及
    所述获取运输需求信息，包括：
    对于所述车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量；
    根据所获取的待运输对象的数量，确定运输需求信息。
  3. 根据权利要求2所述的方法，其中，所述运输需求信息包括行驶路线，所述行驶状态信息包括车辆当前运输对象的数量；以及
    所述基于所述运输需求信息和所述行驶状态信息，从所述车辆编队中确定出目标车辆，包括：
    确定所述车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；
    确定所述待定车辆所对应的行驶路线是否与所述运输需求信息中的行驶路线匹配；
    响应于确定所述待定车辆所对应的行驶路线与所述运输需求信息中的行驶路线匹配，从所述待定车辆中确定出目标车辆。
  4. 根据权利要求1所述的方法，其中，所述运输需求信息包括行驶路线，所述行驶状态信息包括位置信息；以及
    所述基于所述运输需求信息和所述行驶状态信息，从所述车辆编队中确定出目标车辆，包括：
    根据所述运输需求信息中的行驶路线和所述车辆编队中车辆的位置信息，确定与所述行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；
    从所确定的至少一个车辆中确定出目标车辆。
  5. 根据权利要求1-4任一项所述的方法，其中，所述方法还包括：
    获取所述车辆编队中车辆的行驶环境信息；以及
    所述基于所述运输需求信息和所述行驶状态信息，从所述车辆编队中确定出目标车辆，包括：
    根据所述运输需求信息、所述行驶状态信息和所获取的行驶环境信息，从所述车辆编队中确定出目标车辆。
  6. 一种用于控制车辆的装置，包括：
    第一获取单元，被配置成获取运输需求信息；
    第二获取单元，被配置成获取车辆编队中车辆的行驶状态信息；
    车辆确定单元，被配置成基于所述运输需求信息和所述行驶状态信息，从所述车辆编队中确定出目标车辆；
    指令发送单元，被配置成向所述目标车辆发送调度指令，以使所述目标车辆根据所述调度指令执行所述运输需求信息指示的运输任务。
  7. 根据权利要求6所述的装置，其中，所述车辆编队中的车辆按照与车辆对应的行驶路线行驶，行驶路线包括多个站点；以及
    所述第一获取单元包括：
    数量确定模块，被配置成对于所述车辆编队中车辆对应的行驶路线，获取该行驶路线中各站点的待运输对象的数量；
    需求确定模块，被配置成根据所获取的待运输对象的数量，确定运输需求信息。
  8. 根据权利要求7所述的装置，其中，所述运输需求信息包括行驶路线，所述行驶状态信息包括车辆当前运输对象的数量；以及
    所述车辆确定单元进一步被配置成：
    确定所述车辆编队中当前运输对象的数量小于第一预设阈值的车辆为待定车辆；
    确定所述待定车辆所对应的行驶路线是否与所述运输需求信息中的行驶路线匹配；
    响应于确定所述待定车辆所对应的行驶路线与所述运输需求信息中的行驶路线匹配，从所述待定车辆中确定出目标车辆。
  9. 根据权利要求6所述的装置，其中，所述运输需求信息包括行驶路线，所述行驶状态信息包括位置信息；以及
    所述车辆确定单元进一步被配置成：
    根据所述运输需求信息中的行驶路线和所述车辆编队中车辆的位置信息，确定与所述行驶路线之间的最短距离小于第二预设阈值的至少一个位置信息所对应的车辆；
    从所确定的至少一个车辆中确定出目标车辆。
  10. 根据权利要求6-9任一项所述的装置，其中，所述装置还包括：
    第三获取单元，被配置成获取所述车辆编队中车辆的行驶环境信息；以及
    所述车辆确定单元进一步被配置成：
    根据所述运输需求信息、所述行驶状态信息和所获取的行驶环境信息，从所述车辆编队中确定出目标车辆。
  11. 一种服务器，包括：
    一个或多个处理器；
    存储装置，其上存储有一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-5中任一所述的方法。
  12. 一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如权利要求1-5中任一所述的方法。
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