Vehicle control method and apparatus, device and computer storage medium

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively connected with the at least one processor;
• wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a method for vehicle control, wherein the method comprises:
• determining vehicles in a preset geo-fencing region including N lanes, the included lanes having a length of Ithreshold, where N is an integer greater than 1;
• determining a vehicle weight of each of the vehicles according to a vehicle type and a waiting duration of each of the vehicles, the vehicle weight reflecting a priority of passage of a vehicle, and the waiting duration being a duration that has been waited from the time when the vehicle entered a respective lane;
• estimating, according to the vehicle weights of the vehicles in each of the lanes in the geo-fencing region and positions of the vehicles in each of the lanes, a duration to be waited in each of the lanes, comprising:
• determining a lane weight of each of the lanes according to the vehicle weights of the vehicles in the lanes in the geo-fencing region;
• and determining, for a first lane with the highest weight, the duration to be waited in the first lane as zero;
• and for other lanes, determining queuing weights of the vehicles in the other lanes according to the vehicle weights of the vehicles in the other lanes;
• determining a number of vehicles to be waited by first vehicles in the lanes according to the queuing weights of the vehicles in the lanes, each queuing weight of the vehicles a being an average value of weights of a first vehicle and subsequent vehicles after the first vehicle in the lane;
• and determining durations to be waited in the lanes according to the number of vehicles to be waited by the first vehicles in the lanes and unit time for the vehicles to pass;
• and
• generating a control instruction for each of the vehicles according to the respective durations to be waited in each of the lanes and the respective positions of the vehicles in each of the lanes, the control instruction comprising a state instruction and a target speed instruction, wherein the state instruction indicates what state each vehicle is in, comprising start, keep, slow and stop, and the target speed instruction indicates what speed each vehicle has achieved.

A vehicle control system, comprising:

• an on board unit arranged in a vehicle, a road side unit and a mobile edge computing device;
• the on board unit being configured to send information of the vehicle to the road side unit after establishing a connection with the road side unit;
• receive a control instruction sent by the road side unit and send the control instruction to the vehicle control system to execute the control instruction;
• the road side unit being configured to send the received information of the vehicle to the mobile edge computing device after establishing a connection with the on board unit;
• and
• forward a control instruction sent by the mobile edge computing device to the on board unit of the corresponding vehicle;
• and
• the mobile edge computing device comprising
• at least one processor;
• and
• a memory communicatively connected with the at least one processor;
• wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a method, wherein the method comprises:
• determining vehicles in a preset geo-fencing region including N lanes, the included lanes having a length of Ithreshold, where N is an integer greater than 1;
• determining a vehicle weight of each of the vehicles according to a vehicle type and a waiting duration of each of the vehicles, the vehicle weight reflecting a priority of passage of a vehicle, and the waiting duration being a duration that has been waited from the time when the vehicle entered a respective lane;
• estimating, according to the vehicle weights of the vehicles in each of the lanes in the geo-fencing region and positions of the vehicles in each of the lanes, a duration to be waited in each of the lanes, comprising:
• determining a lane weight of each of the lanes according to the vehicle weights of the vehicles in the lanes in the geo-fencing region;
• and determining, for a first lane with the highest weight, the duration to be waited in the first lane as zero;
• and for other lanes, determining queuing weights of the vehicles in the other lanes according to the vehicle weights of the vehicles in the other lanes;
• determining a number of vehicles to be waited by first vehicles in the lanes according to the queuing weights of the vehicles in the lanes, each queuing weight of the vehicles being an average value of weights of a first vehicle and subsequent vehicles after the first vehicle in the lane;
• and determining durations to be waited in the lanes according to the number of vehicles to be waited by the first vehicles in the lanes and unit time for the vehicles to pass;
• and
• generating a control instruction for each of the vehicles according to the respective durations to be waited in each of the lanes and the respective positions of the vehicles in each of the lanes, the control instruction comprising a state instruction and a target speed instruction, wherein the state instruction indicates what state each vehicle is in, comprising start, keep, slow and stop, and the target speed instruction indicates what speed each vehicle has achieved.

A non-transitory computer-readable storage medium storing computer instructions therein, wherein the computer instructions are used to cause the computer to perform a method for vehicle control, wherein the method comprises:

• determining vehicles in a preset geo-fencing region including N lanes, the included lanes having a length of Ithreshold, where N is an integer greater than 1;
• determining a vehicle weight of each of the vehicles according to a vehicle type and a waiting duration of each of the vehicles, the vehicle weight reflecting a priority of passage of a vehicle, and the waiting duration being a duration that has been waited from the time when the vehicle entered a respective lane;
• estimating, according to the vehicle weights of the vehicles in each of the lanes in the geo-fencing region and positions of the vehicles in each of the lanes, a duration to be waited in each of the lanes, comprising:
• determining a lane weight of each of the lanes according to the vehicle weights of the vehicles in the lanes in the geo-fencing region;
• and determining, for a first lane with the highest weight, the duration to be waited in the first lane as zero;
• and for other lanes, determining queuing weights of the vehicles in the other lanes according to the vehicle weights of the vehicles in the other lanes;
• determining a number of vehicles to be waited by first vehicles in the lanes according to the queuing weights of the vehicles in the lanes, each queuing weight of the vehicles being an average value of weights of a first vehicle and subsequent vehicles after the first vehicle in the lane;
• and determining durations to be waited in the lanes according to the number of vehicles to be waited by the first vehicles in the lanes and unit time for the vehicles to pass;
• and
• generating a control instruction for each of the vehicles according to the respective durations to be waited in each of the lanes and the respective positions of the vehicles in each of the lanes, the control instruction comprising a state instruction and a target speed instruction, wherein the state instruction indicates what state each vehicle is in, comprising start, keep, slow and stop, and the target speed instruction indicates what speed each vehicle has achieved.