WO2021189882A1 - 车辆的调度方法、装置和系统 - Google Patents
车辆的调度方法、装置和系统 Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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- Radar, Positioning & Navigation (AREA)
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Abstract
Description
Claims (12)
- 一种车辆的调度方法,包括:按照预设的调度周期,重复执行以下步骤:接收目标车辆采集的行驶信息;根据所述目标车辆的全局路径,在拓扑地图上查找与所述行驶信息匹配的目标有向边;根据所述目标有向边和所述目标车辆的覆盖范围,确定所述目标车辆的路权节点序列,所述路权节点序列包括多个路权节点,所述路权节点为拓扑地图中的节点;若所述路权节点序列中的每个所述路权节点的状态均为空闲状态,将所述路权节点序列中,与所述全局路径匹配的路权节点作为目标路权节点,并将所述目标路权节点发送至所述目标车辆,以使所述目标车辆按照所述目标路权节点指示的路径行驶。
- 根据权利要求1所述的方法,其中,在所述根据所述目标有向边和所述目标车辆的覆盖范围,确定所述目标车辆的路权节点序列之前,所述方法还包括:从预设的数据库中获取所述目标车辆的属性信息,所述属性信息包括:所述目标车辆的车辆长度、车辆宽度、最高速度和最大刹车距离;根据所述车辆长度、所述最高速度和所述最大刹车距离,确定覆盖长度;根据所述车辆宽度确定覆盖宽度;根据所述覆盖长度和所述覆盖宽度,确定所述覆盖范围。
- 根据权利要求1-2中任一项所述的方法,其中,所述行驶信息包括所述目标车辆当前的位置坐标、行驶角度和行驶方向,所述根据所述目标车辆的全局路径,在拓扑地图上查找与所述行驶信息匹配的目标有向边,包括:在所述拓扑地图上查找目标节点,所述目标节点与所述位置坐标之间的欧氏距离最短;根据所述全局路径、所述行驶角度和所述行驶方向,在所述目标节点的至少一个邻接边中,确定所述目标有向边。
- 根据权利要求3所述的方法,其中,所述根据所述全局路径、所述行驶角度和所述行驶方向,在所述目标节点的至少一个邻接边中,确定所述目标有向边,包括:若至少一个所述邻接边中存在第一邻接边,将所述第一邻接边作为所述目标有向边,所述第一邻接边属于所述全局路径,所述第一邻接边的方向与所述行驶方向匹配,且所述位置坐标到所述第一邻接边的距离小于第一距离阈值;若至少一个所述邻接边中不存在所述第一邻接边,发出第一告警信息,所述第一告警信息用于指示所述目标车辆的位置异常。
- 根据权利要求1-4中任一项所述的方法,其中,所述根据所述目标有向边和所述目标车辆的覆盖范围,确定所述目标车辆的路权节点序列,包括:将所述目标有向边两端的路权节点,和所述覆盖范围内包括的路权节点作为所述路权节点序列。
- 根据权利要求1所述的方法,其中,所述若所述路权节点序列中的每个所述路权节点的状态均为空闲状态,将所述路权节点序列中,与所述全局路径匹配的路权节点作为目标路权节点,并将所述目标路权节点发送至所述目标车辆,包括:若所述路权节点序列中的每个所述路权节点的状态均为空闲状态,将每个所述路权节点的状态置为占用状态;依次确定所述路权节点序列中的每个所述路权节点是否属于所述全局路径;将属于所述全局路径的所述路权节点作为所述目标路权节点;将所述目标路权节点按照在所述路权节点序列中的顺序,发送至所述目标车辆。
- 根据权利要求1所述的方法,其中,所述方法还包括:若所述路权节点序列中存在第一路权节点的状态为占用状态,确定占用所述第一路权节点的相邻车辆;确定历史目标路权节点与所述相邻车辆的全局路径是否存在死锁;在所述历史目标路权节点与所述相邻车辆的全局路径不存在死锁的情况下,将所述历史目标路权节点发送至所述目标车辆,以使所述目标车辆按照所述历史目标路权节点指示的路径行驶,所述历史目标路权节点为上一调度周期发送至所述目标车辆的目标路权节点,所述第一路权节点为所述路权节点序列中的任一所述路权节点。
- 根据权利要求1所述的方法,其中,所述方法还包括:若所述路权节点序列中存在第一路权节点的状态为占用状态,确定占用所述第一路权节点的相邻车辆;确定历史目标路权节点与所述相邻车辆的全局路径是否存在死锁;在所述历史目标路权节点与所述相邻车辆的全局路径存在死锁的情况下,发出第二告警信息,所述第二告警信息用于指示所述目标车辆的所述全局路径异常,所述历史目标路权节点为上一调度周期发送至所述目标车辆的目标路权节点,所述第一路权节点为所述路权节点序列中的任一所述路权节点。
- 根据权利要求2-5中任一项所述的方法,其中,在给所述目标车辆分配所述全局路径之前,所述方法还包括:根据所述目标车辆的静止信息,在所述拓扑地图上查找与所述静止信息匹配的静止有向边,所述静止信息包括所述目标车辆的静止位置和静止角度;根据所述静止有向边和所述目标车辆的静止覆盖范围,确定所述目标车辆的静止路权节点序列,所述静止路权节点序列包括多个静止路权节点,所述静止路权节点为所述拓扑地图中的节点;将所述静止路权节点序列中每个所述静止路权节点的状态置为占用状态。
- 根据权利要求9所述的方法,其中,在所述根据所述静止有向边和所述目标车辆的静止覆盖范围,确定所述目标车辆的静止路权节点序列之前,所述方法还包括:根据所述车辆长度和所述车辆宽度确定所述静止覆盖范围。
- 一种车辆的调度装置,其中,所述装置包括:接收模块,用于接收目标车辆采集的行驶信息;匹配模块,用于根据所述目标车辆的全局路径,在拓扑地图上查找与所述行驶信息匹配的目标有向边;确定模块,用于根据所述目标有向边和所述目标车辆的覆盖范围,确定所述目标车辆的路权节点序列,所述路权节点序列中包括多个路权节点,所述路权节点为拓扑地图中的节点;发送模块,用于若所述路权节点序列中的每个所述路权节点的状态均为空闲状态,将所述路权节点序列中,与所述全局路径匹配的所述路权节点作为目标路权节点,并将所述目标路权节点发送至所述目标车辆,以使所述目标车辆按照所述目标路权节点指示的路径行驶。
- 一种车辆调度系统,其中,所述系统包括至少一个车辆和控制平台,所述控制平台包括:一个或多个处理器;存储装置,用于存储一个或多个程序,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执行权利要求1-10中任一项所述的车辆的调度方法的步骤。
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US17/914,376 US20230111516A1 (en) | 2020-03-27 | 2020-11-23 | Vehicle scheduling method, apparatus and system |
BR112022019396A BR112022019396A2 (pt) | 2020-03-27 | 2020-11-23 | Método, aparelho e sistema de agendamento de veículo |
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