US 12,347,314 B2
Vehicle scheduling method, apparatus, and system
Xiankuan Liu, Shenzhen (CN); Weihua Liu, Shenzhen (CN); Qiongying He, Shenzhen (CN); and Meimei Xu, Shenzhen (CN)
Assigned to BYD COMPANY LIMITED
Appl. No. 17/914,376
Filed by BYD COMPANY LIMITED, Guangdong (CN)
PCT Filed Nov. 23, 2020, PCT No. PCT/CN2020/130803
§ 371(c)(1), (2) Date Sep. 26, 2022,
PCT Pub. No. WO2021/189882, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 202010231852.7 (CN), filed on Mar. 27, 2020.
Prior Publication US 2023/0111516 A1, Apr. 13, 2023
Int. Cl. G08G 1/0968 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/096833 (2013.01) [G08G 1/164 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle scheduling method, comprising:
for each preset scheduling period of about 100 millisecond:
acquiring travelling information by a positioning apparatus on a target vehicle, wherein the travelling information comprises a current position coordinate, a travelling angle, and a travelling direction of the target vehicle,
wherein the positioning apparatus is a lidar, a two-dimensional label, or a inertial navigation system, and wherein the target vehicle is an automated guided vehicle;
transmitting the travelling information acquired by the target vehicle to a control platform through a gateway protocol, WLAN, telematics, V2X, or 4G or 5G mobile communication technology;
searching, according to a global path of the target vehicle, a topological map to obtain a current directional path matching the travelling information, wherein the global path indicates a travelling path from an origin to a destination for the target vehicle;
acquiring, at the control platform, attribute information of the target vehicle from the database, wherein the attribute information comprises: a vehicle length, a vehicle width, a maximum speed, and a maximum braking distance of the target vehicle;
determining, at the control platform, a coverage length according to the vehicle length, the maximum speed, and the maximum braking distance, and determining a coverage width according to the vehicle width; and determining, at the control platform, a coverage range according to the coverage length and the coverage width;
determining a right-of-way node sequence of the target vehicle according to the current directional path and THE coverage range of the target vehicle, wherein the right-of-way node sequence comprises a plurality of right-of-way nodes on the topological map;
determining whether each of the right-of-way nodes in the right-of-way node sequence is in a vacant state, wherein the vacant state of a right-of-way node indicates no vehicle occupies the right-of-way node;
and in response to determining that each of the right-of-way nodes in the right-of-way node sequence is in the vacant state, determining right-of-way nodes matching the global path as target right-of-way nodes;
controlling the target vehicle to travel according to a path indicated by the target right-of-way nodes by sending the target right-of-way nodes to the target vehicle;
and controlling the target vehicle to stop travelling in response to a determination that the travelling information acquired by the target vehicle is incorrect.