CN109299822A - Vehicle scheduling method, device, system and storage medium - Google Patents
Vehicle scheduling method, device, system and storage medium Download PDFInfo
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Abstract
本发明提供一种车辆调度方法、装置、系统及存储介质，该方法，包括：车辆进入小区范围；从缓存单元中获取最新路径的规划信息；根据所述最新路径的规划信息，向所述车辆发送调度控制信息，直到所述车辆离开小区范围或到达目的地。本发明可以根据实时路况信息，由小区对应的MEC服务器对进入小区内的车辆进行分区域路径规划和车辆调度，从而保证车辆调度的实时性和准确性，有效提高了自动驾驶车辆的调度效率，可以有效避免交通阻塞。
The present invention provides a vehicle scheduling method, device, system and storage medium. The method includes: a vehicle entering a cell; obtaining planning information of the latest path from a cache unit; Dispatch control information is sent until the vehicle leaves the cell range or reaches the destination. According to the real-time road condition information, the MEC server corresponding to the cell can carry out sub-regional path planning and vehicle scheduling for vehicles entering the cell, thereby ensuring the real-time and accuracy of vehicle scheduling, and effectively improving the scheduling efficiency of automatic driving vehicles. Traffic jams can be effectively avoided.
Description
Technical field
The present invention relates to traffic management technology fields more particularly to a kind of vehicle dispatching method, device, system and storage to be situated between
Matter.
Background technique
The vehicle congestion problem moment annoyings us in transportation network, with the propulsion of 5G standard and the hair of car networking technology
Exhibition carries out centralized scheduling control to the traveling behavior of automatic driving vehicle based on cellular network and is possibly realized.
Currently, mainly passing through vehicle for the scheduling mode of automatic driving vehicle under traditional car networking scheduling method
Communication with base station in the cell of place is realized.Specifically, base station forwards the interactive information of vehicle termination as wireless access point
It is handled to central server, is handled by data mart modeling, then command information is returned into vehicle termination and goes to execute.Such allusion quotation
The car networking mentality of designing of type, it is ensured that stable scheduling and safety.
But this dispatching method, the signalling of multi-hop will cause biggish time delay, influence dispatching efficiency.
Summary of the invention
The present invention provides a kind of vehicle dispatching method, device, system and storage medium, to realize according to real-time road condition information
The purpose that edge calculations (Mobile Edge Computing, MEC) server partition domain planning path, dispatches buses is moved, is protected
The real-time and accuracy for demonstrate,proving vehicle scheduling, it is possible to prevente effectively from traffic jam.
In a first aspect, the embodiment of the present invention provides a kind of vehicle dispatching method, comprising:
Determine that vehicle enters cell range；
The planning information in newest path is obtained from cache unit；
According to the planning information in the newest path, send scheduling control information to the vehicle, until the vehicle from
It opens cell range or arrives at the destination.
In a kind of possible design, before determining that vehicle enters cell range, further includes:
Receive the path planning request that vehicle is sent；
It is requested according to the path planning, the planning information in newest path is obtained by preset path planning algorithm；
The planning information in the newest path is stored in cache unit, and by path newest in the cache unit
Planning information is synchronized to other cache units that MEC server is corresponded to by way of cell.
In a kind of possible design, before determining that vehicle carries out cell range, further includes:
The planning information in the newest path that the corresponding MEC server of other approach cells is sent is received, and will be described newest
The planning information in path is stored in cache unit.
In a kind of possible design, the path planning request, comprising: current location information, the destination letter of vehicle
Breath.
In a kind of possible design, is requested according to the path planning, obtained most by preset path planning algorithm
The planning information of new route, comprising:
It obtains using the current location of the vehicle as start node, using destination as terminal node, in actual road conditions
Crossing is all feasible paths by way of node, draws directed connected graph according to the feasible path；
According to the directed connected graph, calculate by way of section redundancy；Wherein, described to refer to by way of section redundancy: way
Through the corresponding default congestion threshold value in section and by way of the difference of the current number of vehicles in section；
It is selected from the directed connected graph by the least feasible path of interstitial content as path candidate；
If the number of the path candidate is greater than 1, choose by way of section redundancy and maximum path candidate as rule
The newest path drawn；Wherein, the planning information in the newest path includes: the current location information of vehicle, destination information, has
To connected graph, the newest path of planning, by way of section redundancy.
In a kind of possible design, determine that vehicle enters after cell range, further includes:
Obtain the traffic information in section in cell；
According to the traffic information in section in the cell, analyze vehicle wait for by the redundancy of lower a road section whether meet
Preset planning condition again；
If meeting preset planning condition again, path is planned again according to preset path planning algorithm,
Obtain the planning information in newest path；
The planning information in the newest path is stored in cache unit, and the planning information in the newest path is same
Step corresponds to the cache unit of MEC server to other by way of cell.
In a kind of possible design, the preset planning condition again refers to: vehicle wait for by lower a road section
Redundancy is less than preset lower limit value.
Second aspect, the embodiment of the present invention provide a kind of vehicle scheduling device, comprising:
Determining module, for determining that vehicle enters cell range；
Module is obtained, for obtaining the planning information in newest path from cache unit；
Control module sends scheduling control information to the vehicle, directly for the planning information according to the newest path
Cell range is left to the vehicle or is arrived at the destination.
In a kind of possible design, further includes:
Receiving module, the path planning request sent for before determining that vehicle enters cell range, receiving vehicle；
Planning module obtains newest path by preset path planning algorithm for requesting according to the path planning
Planning information；
Synchronization module, for the planning information in the newest path to be stored in cache unit, and the caching is single
The planning information in newest path is synchronized to other cache units that MEC server is corresponded to by way of cell in member.
In a kind of possible design, further includes:
Memory module, for before determining that vehicle carries out cell range, receiving the corresponding MEC service of other approach cells
The planning information in the newest path that device is sent, and the planning information in the newest path is stored in cache unit.
In a kind of possible design, the path planning request, comprising: current location information, the destination letter of vehicle
Breath.
In a kind of possible design, the planning module is specifically used for:
It obtains using the current location of the vehicle as start node, using destination as terminal node, in actual road conditions
Crossing is all feasible paths by way of node, draws directed connected graph according to the feasible path；
According to the directed connected graph, calculate by way of section redundancy；Wherein, described to refer to by way of section redundancy: way
Through the corresponding default congestion threshold value in section and by way of the difference of the current number of vehicles in section；
It is selected from the directed connected graph by the least feasible path of interstitial content as path candidate；
If the number of the path candidate is greater than 1, choose by way of section redundancy and maximum path candidate as rule
The newest path drawn；Wherein, the planning information in the newest path includes: the current location information of vehicle, destination information, has
To connected graph, the newest path of planning, by way of section redundancy.
In a kind of possible design, further includes:
Road conditions module, for obtaining the traffic information in section in cell after determining that vehicle enters cell range；
Analysis module, for the traffic information according to section in the cell, analyze vehicle wait for by lower a road section
Whether redundancy meets preset planning condition again；
Planning module satisfies the need if being also used to meet preset planning condition again according to preset path planning algorithm
Diameter is planned again, obtains the planning information in newest path；
Synchronization module is also used to for the planning information in the newest path being stored in cache unit, and will be described newest
The planning information in path is synchronized to other cache units that MEC server is corresponded to by way of cell.
In a kind of possible design, the preset planning condition again refers to: vehicle wait for by lower a road section
Redundancy is less than preset lower limit value.
The third aspect, the embodiment of the present invention provide a kind of vehicle dispatch system, comprising: memory and processor, memory
In be stored with the executable instruction of the processor；Wherein, the processor is configured to next via the executable instruction is executed
Execute vehicle dispatching method described in any one of first aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
It is characterized in that, realizing first aspect described in any item vehicle dispatching methods when the program is executed by processor.
The present invention provides a kind of vehicle dispatching method, device, system and storage medium, enters cell range by vehicle；
The planning information in newest path is obtained from cache unit；According to the planning information in the newest path, sent to the vehicle
Scheduling control information, until the vehicle leaves cell range or arrives at the destination.The present invention can according to real-time road condition information,
Subregion path planning and vehicle scheduling are carried out to the vehicle entered in cell by cell corresponding MEC server, to guarantee
The real-time and accuracy of vehicle scheduling, effectively increase the dispatching efficiency of automatic driving vehicle, it is possible to prevente effectively from traffic hinders
Plug.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic illustration of an application scenarios of the invention；
Fig. 2 is the flow chart for the vehicle dispatching method that the embodiment of the present invention one provides；
Fig. 3 is directed connected graph of the initial position provided in an embodiment of the present invention to destination；
Fig. 4 is the flow chart of vehicle dispatching method provided by Embodiment 2 of the present invention；
Fig. 5 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention three provides；
Fig. 6 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention four provides；
Fig. 7 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention five provides；
Fig. 8 is the structural schematic diagram for the vehicle dispatch system that the embodiment of the present invention six provides.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the schematic illustration of an application scenarios of the invention, as shown in Figure 1, the service range of MEC server 10 is
The corresponding cell of MEC server 10, when vehicle enters in cell range, with base station 20 data interaction can occur for vehicle, this
When, MEC server 10 can get the current location information of vehicle by determining module 11 from base station 20, then pass through acquisition
Module 12 obtains the planning information in the newest path of the vehicle from cache unit 13.Finally by control module 14 according to newest road
The planning information of diameter generates scheduling control information.Scheduling control information is sent to vehicle by base station 20 by control module 14, directly
Cell range is left to vehicle or is arrived at the destination.
It may be implemented using the above method according to real-time road condition information, by the corresponding MEC server of cell to entering cell
Interior vehicle carries out subregion path planning and vehicle scheduling effectively mentions to guarantee the real-time and accuracy of vehicle scheduling
The high dispatching efficiency of automatic driving vehicle, it is possible to prevente effectively from traffic jam.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow chart for the vehicle dispatching method that the embodiment of the present invention one provides, as shown in Fig. 2, in the present embodiment
Method may include:
S101, determine that vehicle enters cell range.
In the present embodiment, MEC server determines that vehicle enters cell according to information such as base station range, vehicle locations
Range is only scheduled the vehicle for entering this cell, the purpose realizing Regional planning path, dispatching buses.
In an optional embodiment, before executing step S101, MEC server receives the path rule that vehicle is sent
Draw request；It is requested according to path planning, the planning information in newest path is obtained by preset path planning algorithm；By newest road
The planning information of diameter is stored in cache unit, and the planning information in path newest in cache unit is synchronized to other by way of small
Area corresponds to the cache unit of MEC server.
Optionally, path planning is requested, comprising: current location information, the destination information of vehicle.
Optionally, it is requested according to path planning, the planning information in newest path is obtained by preset path planning algorithm,
Include: obtain using the current location of vehicle as start node, using destination as terminal node, with the crossing in actual road conditions be way
All feasible paths through node draw directed connected graph according to feasible path；According to directed connected graph, calculate superfluous by way of section
Remaining；Wherein, by way of section, redundancy refers to: by way of the corresponding default congestion threshold value in section and the vehicle number current by way of section
Purpose difference；It is selected from directed connected graph by the least feasible path of interstitial content as path candidate；If candidate road
The number of diameter is greater than 1, then chooses the newest path by way of section redundancy and maximum path candidate as planning；Wherein, most
The planning information of new route include: the current location information of vehicle, destination information, directed connected graph, planning newest path,
By way of section redundancy.
Specifically, when vehicle is when this MEC server service range initiates path planning request, MEC server receives vehicle
Send path planning request, and from path planning request in extract vehicle current location information, destination information etc..Root
Current location according to vehicle is start node, destination locations are terminal node, and by a to m-tag crossing as node,
Optimal according to this programme offer keeps away peak path planning algorithm, calculates and obtains all feasible paths, is drawn such as according to feasible path
Directed connected graph of the initial position shown in Fig. 3 to destination.By path planning and vehicle dispatching problem be abstracted as solution from
Optimal path problem of the initial position to destination.All junction nodes are connected to according to road information, the number on the section of connection
Word indicates that current road segment works as the vehicle redundancy of front direction, and section redundancy refers to: the corresponding default congestion threshold value in section and road
Section redundancy between the difference of the number of vehicles of Duan Dangqian, such as a, g node as shown in Figure 3 is 20, these data by
Car networking networked devices obtain in real time, the MEC server of cell where being transmitted to.It is preferential to guarantee warp in the optimal path of planning
Least node is crossed, if meeting minimum nodes there are several different accesses, guarantees redundancy and maximum.And need to pay attention to
It is that when redundancy is negative, this road no longer allows to cross in principle, if will lead in this way without an effective access connection
A and m, planning unit can suitably increase congestion threshold value, until guaranteeing effective access.Optimal keeping away according to this programme offer
Peak path planning algorithm, in the directed connected graph of such as Fig. 3, choose it is optimal keep away peak path be a-g-k-l-m as plan most
New route, vehicle are scheduled traveling by the path.After path planning is good, the planning information in newest path is stored in caching
In unit.And according to the map dictionary find needed for this access by way of cell, and by the planning in path newest in cache unit
Synchronizing information corresponds to the cache unit of MEC server to other by way of cell.
In another alternative embodiment, before executing step S101, the corresponding MEC server of other approach cells is received
The planning information in the newest path sent, and the planning information in newest path is stored in cache unit.
Specifically, when vehicle demand is by way of this MEC server service range, MEC of the MEC server as approach cell
Server, receives the planning information in the newest path that the corresponding MEC server of other approach cells is sent, and by newest path
Planning information is stored in cache unit, connects route information, the traffic information of vehicle scheduling, enters this cell range for vehicle
Service is provided afterwards and is ready work.
S102, the planning information that newest path is obtained from cache unit.
In the present embodiment, MEC server obtains the planning information in the newest path of vehicle, traffic information from cache unit
Deng, for vehicle scheduling control guidance foundation is provided.
S103, according to the planning information in newest path, scheduling control information is sent to vehicle, until vehicle leaves cell model
It encloses or arrives at the destination.
In the present embodiment, MEC server sends scheduling control information, control to vehicle according to the planning information in newest path
Vehicle running path processed, until vehicle leaves cell range or arrives at the destination.
The present embodiment enters cell range by vehicle；The planning information in newest path is obtained from cache unit；According to
The planning information in newest path sends scheduling control information to vehicle, until vehicle leaves cell range or arrives at the destination.It is real
Show according to real-time road condition information, subregion path rule are carried out to the vehicle entered in cell by cell corresponding MEC server
It draws and vehicle scheduling effectively increases the scheduling effect of automatic driving vehicle to guarantee the real-time and accuracy of vehicle scheduling
Rate, it is possible to prevente effectively from traffic jam.
In addition, this implementation before vehicle enters cell range, can receive the path planning request of vehicle transmission；According to
Path planning request, obtains the planning information in newest path by preset path planning algorithm；The planning in newest path is believed
Breath is stored in cache unit, and the planning information in path newest in cache unit is synchronized to other and corresponds to MEC by way of cell
The cache unit of server.Alternatively, receiving the planning letter in the newest path that the corresponding MEC server of other approach cells is sent
Breath, and the planning information in newest path is stored in cache unit.It ensure that the real-time and accuracy of vehicle scheduling, effectively
The dispatching efficiency of automatic driving vehicle is improved, it is possible to prevente effectively from traffic jam.
Fig. 4 is the flow chart of vehicle dispatching method provided by Embodiment 2 of the present invention, as shown in figure 4, in the present embodiment
Method may include:
S201, determine that vehicle enters cell range.
S202, the traffic information for obtaining section in cell.
In the present embodiment, MEC server obtain cell in section traffic information, for vehicle scheduling control provide instruct according to
According to.
Specifically, MEC server is according to all existing vehicles in section in this cell of car networking networked devices real-time statistics
Quantity, parse the redundancy in all sections in current time cell.Wherein, section redundancy refers to: section is corresponding pre-
If the difference of congestion threshold value and the current number of vehicles in section.
S203, according to the traffic information in section in cell, analyze vehicle wait for by lower a road section redundancy it is whether full
The preset planning condition again of foot.
In the present embodiment, MEC server analysis vehicle wait for by lower a road section redundancy, judge the superfluous of lower a road section
Whether remaining meets preset planning condition again.Optionally, preset planning condition again refers to: vehicle wait for by it is next
The redundancy in section is less than preset lower limit value.
Specifically, as shown in Figure 3, it is assumed that certain vehicle will reach the section jf somewhere in gh direction running, and the section hj is vehicle
Lower a road section to be passed through.Since the redundancy in the section hj is -5, and it is consistently less than preset threshold in certain time length, illustrates hj
Section gets congestion, and meets preset planning condition again at this time, triggers shunting scheduling, needs planning path again.
It should be noted that the present embodiment does not limit specifically, planning condition, those skilled in the art can roots again
Increase or reduce planning condition again according to actual conditions.
If S204, meeting preset planning condition again, path is carried out again according to preset path planning algorithm
Planning, obtains the planning information in newest path.
In the present embodiment, if meeting preset planning condition again, MEC server is according to preset path planning algorithm
Path is planned again, obtains the planning information in newest path
Specifically, as shown in Figure 3, it is assumed that certain vehicle will reach the section jf somewhere in gh direction running, and the section hj is vehicle
Lower a road section to be passed through.At this point, the section hj meets preset planning condition again due to congestion.At this point, with h (under former route
The node of one arrival) it is used as starting point, j (node finally passed through before former route to destination) is used as terminal, still to pass through
Based on minimum nodes, preferentially to customize route again by the redundancy in section and up to principle, the suggestion of this scene divides
Flow path line is h-i-j, this is shunted route as the newest path of vehicle.
S205, the planning information in newest path is stored in cache unit, and the planning information in newest path is synchronous
The cache unit of MEC server is corresponded to by way of cell to other.
In the present embodiment, MEC server according to the map dictionary find needed for this access by way of cell, and will caching it is single
The planning information in newest path is synchronized to other cache units that MEC server is corresponded to by way of cell in member.
S206, the planning information that newest path is obtained from cache unit；
S207, according to the planning information in newest path, scheduling control information is sent to vehicle, until vehicle leaves cell model
It encloses or arrives at the destination.
The present embodiment enters cell range by vehicle；The planning information in newest path is obtained from cache unit；According to
The planning information in newest path sends scheduling control information to vehicle, until vehicle leaves cell range or arrives at the destination.It is real
Show according to real-time road condition information, subregion path rule are carried out to the vehicle entered in cell by cell corresponding MEC server
It draws and vehicle scheduling effectively increases the scheduling effect of automatic driving vehicle to guarantee the real-time and accuracy of vehicle scheduling
Rate, it is possible to prevente effectively from traffic jam.
In addition, this implementation after vehicle enters cell range, obtains the traffic information in section in cell；According in cell
The traffic information in section, analysis vehicle wait for by the redundancy of lower a road section whether meet preset planning condition again；If
Meet preset planning condition again, then path is planned according to preset path planning algorithm again, obtain newest road
The planning information of diameter；The planning information in newest path is stored in cache unit, and the planning information in newest path is synchronous
The cache unit of MEC server is corresponded to by way of cell to other.The real time information according to road conditions is realized, if meeting default item
Part, then plan path and vehicle scheduling again, guarantees the real-time and accuracy of vehicle scheduling, effectively increases automatic
The dispatching efficiency for driving vehicle, it is possible to prevente effectively from traffic jam.
Fig. 5 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention three provides, as shown in figure 5, the present embodiment
Vehicle scheduling device may include:
Determining module 31, for determining that vehicle enters cell range；
Module 32 is obtained, for obtaining the planning information in newest path from cache unit；
Control module 33 sends scheduling control information to vehicle, until vehicle for the planning information according to newest path
It leaves cell range or arrives at the destination.
The vehicle scheduling device of the present embodiment can execute the technical solution in method shown in Fig. 2, implement process
With the associated description in technical principle method shown in Figure 2, details are not described herein again.
Fig. 6 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention four provides, as shown in fig. 6, the present embodiment
Vehicle scheduling device on the basis of Fig. 5, can also include:
Receiving module 34, the path planning request sent for before determining that vehicle enters cell range, receiving vehicle；
Planning module 35 obtains newest path by preset path planning algorithm for requesting according to path planning
Planning information；
Synchronization module 36, for the planning information in newest path to be stored in cache unit, and by cache unit most
The planning information of new route is synchronized to other cache units that MEC server is corresponded to by way of cell.
In a kind of possible design, the vehicle scheduling device of the present embodiment can also include:
Memory module 37, for before determining that vehicle carries out cell range, receiving the corresponding MEC clothes of other approach cells
The planning information in the newest path that business device is sent, and the planning information in newest path is stored in cache unit.
In a kind of possible design, path planning request, comprising: current location information, the destination information of vehicle.
In a kind of possible design, planning module 35 is specifically used for:
Obtain using the current location of vehicle as start node, using destination as terminal node, with the crossing in actual road conditions
To draw directed connected graph according to feasible path by way of all feasible paths of node；
According to directed connected graph, calculate by way of section redundancy；Wherein, by way of section, redundancy refers to: by way of section pair
The default congestion threshold value answered and the difference by way of the current number of vehicles in section；
It is selected from directed connected graph by the least feasible path of interstitial content as path candidate；
If the number of path candidate is greater than 1, choose by way of section redundancy and maximum path candidate as planning
Newest path；Wherein, the planning information in newest path includes: the current location information, destination information, oriented connection of vehicle
Figure, planning newest path, by way of section redundancy.
The present embodiment enters cell range by vehicle；The planning information in newest path is obtained from cache unit；According to
The planning information in newest path sends scheduling control information to vehicle, until vehicle leaves cell range or arrives at the destination.It is real
Show according to real-time road condition information, subregion path rule are carried out to the vehicle entered in cell by cell corresponding MEC server
It draws and vehicle scheduling effectively increases the scheduling effect of automatic driving vehicle to guarantee the real-time and accuracy of vehicle scheduling
Rate, it is possible to prevente effectively from traffic jam.
In addition, this implementation before vehicle enters cell range, can receive the path planning request of vehicle transmission；According to
Path planning request, obtains the planning information in newest path by preset path planning algorithm；The planning in newest path is believed
Breath is stored in cache unit, and the planning information in path newest in cache unit is synchronized to other and corresponds to MEC by way of cell
The cache unit of server.Alternatively, receiving the planning letter in the newest path that the corresponding MEC server of other approach cells is sent
Breath, and the planning information in newest path is stored in cache unit.It ensure that the real-time and accuracy of vehicle scheduling, effectively
The dispatching efficiency of automatic driving vehicle is improved, it is possible to prevente effectively from traffic jam.
The vehicle scheduling device of the present embodiment can execute the technical solution in method shown in Fig. 2, implement process
With the associated description in technical principle method shown in Figure 2, details are not described herein again.
Fig. 7 is the structural schematic diagram for the vehicle scheduling device that the embodiment of the present invention five provides, as shown in fig. 7, the present embodiment
Vehicle scheduling device device shown in Fig. 5 on the basis of, can also include:
Road conditions module 38, for obtaining the traffic information in section in cell after determining that vehicle enters cell range；
Analysis module 39, for the traffic information according to section in cell, analyze vehicle wait for by lower a road section it is superfluous
Whether remaining meets preset planning condition again；
Planning module 35, if being also used to meet preset planning condition again, according to preset path planning algorithm pair
Path is planned again, obtains the planning information in newest path；
Synchronization module 36 is also used to for the planning information in newest path being stored in cache unit, and by newest path
Planning information is synchronized to other cache units that MEC server is corresponded to by way of cell.
In a kind of possible design, preset planning condition again refers to: vehicle wait for by lower a road section redundancy
Degree is less than preset lower limit value.
The present embodiment enters cell range by vehicle；The planning information in newest path is obtained from cache unit；According to
The planning information in newest path sends scheduling control information to vehicle, until vehicle leaves cell range or arrives at the destination.It is real
Show according to real-time road condition information, subregion path rule are carried out to the vehicle entered in cell by cell corresponding MEC server
It draws and vehicle scheduling effectively increases the scheduling effect of automatic driving vehicle to guarantee the real-time and accuracy of vehicle scheduling
Rate, it is possible to prevente effectively from traffic jam.In addition, this implementation after vehicle enters cell range, obtains the road in section in cell
Condition information；According to the traffic information in section in cell, analyze vehicle wait for by lower a road section redundancy whether meet it is default
Planning condition again；If meeting preset planning condition again, weight is carried out to path according to preset path planning algorithm
New planning, obtains the planning information in newest path；The planning information in newest path is stored in cache unit, and by newest road
The planning information of diameter is synchronized to other cache units that MEC server is corresponded to by way of cell.Realize the real-time letter according to road conditions
Breath plans path and vehicle scheduling again if meeting preset condition, guarantees the real-time and accurately of vehicle scheduling
Property, the dispatching efficiency of automatic driving vehicle is effectively increased, it is possible to prevente effectively from traffic jam.
The vehicle scheduling device of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 4, specific implementation
The associated description of process and technical principle referring to fig. 2, in method shown in Fig. 4, details are not described herein again.
Fig. 8 is the structural schematic diagram for the vehicle dispatch system that the embodiment of the present invention six provides, as shown in figure 8, the present embodiment
Vehicle dispatch system 40 may include: processor 41 and memory 42.
Memory 42 (such as realizes application program, the functional module of above-mentioned vehicle dispatching method for storing computer program
Deng), computer instruction etc.；
Above-mentioned computer program, computer instruction etc. can be with partitioned storages in one or more memories 42.And
Above-mentioned computer program, computer instruction, data etc. can be called with device 41 processed.
Processor 41, for executing the computer program of the storage of memory 42, to realize method that above-described embodiment is related to
In each step.
It specifically may refer to the associated description in previous methods embodiment.
Processor 41 and memory 42 can be absolute construction, be also possible to the integrated morphology integrated.Work as processing
When device 41 and memory 42 are absolute construction, memory 42, processor 41 can be of coupled connections by bus 43.
The server of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, specific implementation process and
Associated description of the technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one processor of user equipment executes the computer executed instructions, user equipment
Execute above-mentioned various possible methods.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in user equipment.Certainly, processor and
Storage medium can also be used as discrete assembly and be present in communication equipment.
The application also provides a kind of program product, and program product includes computer program, and computer program is stored in readable
In storage medium, at least one processor of server can read computer program from readable storage medium storing program for executing, at least one
Reason device executes the vehicle dispatching method that computer program makes the server implementation embodiments of the present invention any.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of vehicle dispatching method characterized by comprising
Determine that vehicle enters cell range；
The planning information in newest path is obtained from cache unit；
According to the planning information in the newest path, send scheduling control information to the vehicle, until the vehicle leave it is small
Area's range arrives at the destination.
2. the method according to claim 1, wherein before determining that vehicle enters cell range, further includes:
Receive the path planning request that vehicle is sent；
It is requested according to the path planning, the planning information in newest path is obtained by preset path planning algorithm；
The planning information in the newest path is stored in cache unit, and by the planning in path newest in the cache unit
Synchronizing information corresponds to the cache unit of MEC server to other by way of cell.
3. the method according to claim 1, wherein before determining that vehicle carries out cell range, further includes:
Receive the planning information in the newest path that the corresponding MEC server of other approach cells is sent, and by the newest path
Planning information be stored in cache unit.
4. according to the method described in claim 2, it is characterized in that, the path planning is requested, comprising: the current location of vehicle
Information, destination information.
5. according to the method described in claim 2, it is characterized in that, passing through preset path according to path planning request
Planning algorithm obtains the planning information in newest path, comprising:
Obtain using the current location of the vehicle as start node, using destination as terminal node, with the crossing in actual road conditions
To draw directed connected graph according to the feasible path by way of all feasible paths of node；
According to the directed connected graph, calculate by way of section redundancy；Wherein, described to refer to by way of section redundancy: by way of road
The corresponding default congestion threshold value of section and the difference by way of the current number of vehicles in section；
It is selected from the directed connected graph by the least feasible path of interstitial content as path candidate；
If the number of the path candidate is greater than 1, choose by way of section redundancy and maximum path candidate as planning
Newest path；Wherein, the planning information in the newest path includes: the current location information, destination information, oriented company of vehicle
Lead to figure, the newest path of planning, by way of section redundancy.
6. method described in -5 any one according to claim 1, which is characterized in that determine that vehicle enters after cell range,
Further include:
Obtain the traffic information in section in cell；
According to the traffic information in section in the cell, analyze vehicle wait for by lower a road section redundancy whether meet it is default
Planning condition again；
If meeting preset planning condition again, path is planned again according to preset path planning algorithm, is obtained
The planning information in newest path；
The planning information in the newest path is stored in cache unit, and the planning information in the newest path is synchronized to
Other correspond to the cache unit of MEC server by way of cell.
7. according to the method described in claim 6, it is characterized in that, the preset planning condition again refers to: vehicle wait for through
The redundancy of the lower a road section crossed is less than preset lower limit value.
8. a kind of vehicle scheduling device characterized by comprising
Determining module, for determining that vehicle enters cell range；
Module is obtained, for obtaining the planning information in newest path from cache unit；
Control module sends scheduling control information, Zhi Daosuo to the vehicle for the planning information according to the newest path
Vehicle is stated to leave cell range or arrive at the destination.
9. a kind of vehicle dispatch system characterized by comprising memory and processor are stored with the processing in memory
The executable instruction of device；Wherein, the processor is configured to come perform claim requirement 1-7 institute via the execution executable instruction
The vehicle dispatching method stated.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Claim 1-7 described in any item vehicle dispatching methods are realized when execution.
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| CN201811110634.7A CN109299822A (en) | 2018-09-21 | 2018-09-21 | Vehicle scheduling method, device, system and storage medium |
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