CN116142267A - Vehicle control system and vehicle control method - Google Patents

Abstract

The invention provides a vehicle control system and a vehicle control method. The vehicle control system includes: the ground end of the field section comprises a plurality of virtual tracks, a plurality of ground beacons and a plurality of ground readers; the vehicle comprises a vehicle-mounted beacon, a vehicle-mounted reader and a vehicle-mounted host; and the control center is in communication connection with the ground end of the field section and the vehicle and is configured to: acquiring the vehicle-mounted beacon information and/or the position information; determining a status of at least one segment within the field segment based on the vehicle beacon information and/or the location information; and making a shunting plan of the approach according to the state of each section, and sending the shunting plan to the vehicle-mounted host computer of the corresponding vehicle. By adopting the configuration, the vehicle control system can realize automatic dispatching of vehicles in the field section, and prevent the vehicles from collision, inclination, falling and other safety risks, thereby ensuring the shunting safety of the vehicles in the field section.

Description

Vehicle control system and vehicle control method

Technical Field

The invention relates to the field of rail transit, and particularly discloses a vehicle control system, a vehicle control method and a computer readable storage medium.

Background

With the increasing prominence of urban traffic congestion, various public transportation solutions based on electronically guided rubber-tyred trains with intelligent tracks, SRTs, DRTs and the like as vehicles are sequentially proposed. The electronic steering rubber-tyred trolley is driven by full electric power which is used for carrying out electronic constraint on the trolley through active safety control, vehicle-mounted signal control, machine vision control and the like, runs along a virtual track, has the characteristics of flexible multi-module grouping, adaptation to various road rights, small infrastructure investment, high urban adaptability and the like, and has a good application prospect.

However, since an electronically guided rubber-tyred train typically includes multiple consists, its length tends to be greater than a conventional bus. If the bus is operated in a vehicle section and a parking lot in a conventional bus shunting mode, safety risks such as collision, intrusion and falling exist. Therefore, there is a need in the art for a technical means capable of ensuring the shunting safety of multiple marshalling vehicles in a parking lot segment.

To remedy the above-mentioned shortcomings in the art, the present invention provides a vehicle control system, a vehicle control method, and a computer-readable storage medium for implementing automatic dispatch of vehicles in a field section, and preventing safety risks such as collision, tilting, falling, etc. of the vehicles, thereby ensuring the shunting safety of the vehicles in a parking section.

Disclosure of Invention

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

To remedy the foregoing deficiencies in the art, a first aspect of the present invention provides a vehicle control system comprising: the ground end of the field section comprises a plurality of virtual tracks, a plurality of ground beacons and a plurality of ground readers, wherein the ground beacons are arranged along the virtual tracks and display position information, and the ground readers are arranged on the virtual tracks and are used for reading vehicle-mounted beacon information of the vehicle; the vehicle comprises a vehicle-mounted beacon, a vehicle-mounted reader and a vehicle-mounted host, wherein the vehicle-mounted beacon is arranged on the external visual surface of the vehicle and displays the vehicle-mounted beacon information, the vehicle-mounted reader collects the position information displayed by the ground beacon, and the vehicle-mounted host performs vehicle positioning according to the position information and controls the vehicle to run along a corresponding virtual track according to a shunting plan provided by a control center; and the control center is in communication connection with the ground end of the field section and the vehicle and is configured to: acquiring the vehicle-mounted beacon information and/or the position information; determining a status of at least one segment within the field segment based on the vehicle beacon information and/or the location information; and making a shunting plan of the approach according to the state of each section, and sending the shunting plan to the vehicle-mounted host computer of the corresponding vehicle. By adopting the configuration, the vehicle control system can realize automatic dispatching of vehicles in the field section, and prevent the vehicles from collision, inclination, falling and other safety risks, thereby ensuring the shunting safety of the vehicles in the field section.

Optionally, in some embodiments, the plurality of virtual tracks are divided into a plurality of service segments according to service type, and/or the plurality of virtual tracks intersect to form at least one virtual switch, each of the virtual tracks being divided into a plurality of virtual segments according to the at least one virtual switch.

Optionally, in some embodiments, the locations of the entrance and exit of each of the sections are respectively arranged with the surface reader, the control center being further configured to: judging whether vehicles exist in each section according to the vehicle-mounted beacon information read by the ground readers arranged at the entrance and the exit of each section; determining the shape of the section as an occupied state in response to a determination result of the vehicle in the section; and determining the shape of the section as an idle state in response to a determination that there is no vehicle in the section.

Optionally, in some embodiments, the vehicle comprises a plurality of consist, each consist configured with at least one onboard beacon, the control center being further configured to: responding to the reading of a plurality of vehicle-mounted beacon information by any ground reader, and judging the running direction of the vehicle according to the time sequence of each vehicle-mounted beacon information; responding to the judging result of the travelling direction towards the section, determining the ground reader as a ground reader at an entrance position, and generating a corresponding entry record; responding to the judging result of the running direction facing away from the section, determining the ground reader as a ground reader at an exit position, and generating a corresponding out-section record; and judging whether a vehicle exists in the section according to the entry section record and the exit section record.

Optionally, in some embodiments, the control center is further configured to: monitoring a state of the target zone in response to the vehicle traveling to the parked zone according to the shunting plan; responsive to the state restoration idleness of the target section, a shunting plan indicating at least one segment of the virtual track is redetermined based on the position of the target section, the position of the parked section, the position and state of each virtual section, and the position and state of each virtual switch.

Optionally, in some embodiments, the field segment ground end further includes a traffic signal controller and a plurality of traffic signals arranged in front of each virtual switch along the virtual track, the traffic signal controller configured to: acquiring the shunting plan from the control center; and driving the corresponding annunciator to display the driving direction of the vehicle in the corresponding virtual turnout and the state of the virtual turnout according to the shunting plan.

Optionally, in some embodiments, the ground beacon includes a ground fixed beacon and a ground variable beacon, wherein the ground variable beacon is disposed in front of each of the annunciators, displays the position information, the driving direction information, and the virtual switch status information, and the annunciator controller is further configured to: and driving a corresponding ground variable beacon to display the driving direction of the vehicle at a corresponding virtual turnout and the state of the virtual turnout according to the shunting plan, wherein the variable beacon and a corresponding annunciator display the same content.

Optionally, in some embodiments, a first distance in front of the annunciator is arranged with a first ground variable beacon, a second distance in front of the annunciator is arranged with a second ground variable beacon, wherein the first distance is greater than the second distance, the on-board host is further configured to: acquiring the content displayed by the first ground variable beacon and the second ground variable beacon through the vehicle-mounted reader; analyzing the content displayed by the first ground variable beacon and the second ground variable beacon to determine the state of the virtual switch; responding to the analysis result of the first ground variable beacon display prohibition state, taking the annunciator as an endpoint to set a brake control curve for smoothly braking the vehicle, and providing an imposter prompt for a driver of the vehicle; and controlling the vehicle to apply emergency braking and providing an imposter warning to the driver in response to the resolution of the second ground variable beacon display disabled state.

Optionally, in some embodiments, the control center is further configured to: according to the parking positions of a plurality of vehicles in a field section, the running state of each vehicle, the departure direction of the field section and the connection condition of each virtual track, a departure shunting plan is formulated to determine the departure sequence and the departure route of each vehicle; and transmitting the departure shunting plan to an on-board host of each vehicle.

Optionally, in some embodiments, the control center further comprises a human-machine interface, the control center further configured to: acquiring a forced instruction through the human-computer interface; and setting the state of any one of the sections to occupied or free according to the forced instruction.

In addition, the second aspect of the invention also provides a vehicle control method. The vehicle control method includes the steps of: acquiring vehicle-mounted beacon information displayed by a vehicle-mounted beacon arranged on an outer visible surface of a vehicle via a plurality of ground readers of a plurality of virtual tracks arranged on a field section; acquiring, via an on-vehicle reader arranged at the vehicle, positional information displayed by a plurality of ground beacons arranged along the virtual trajectory; determining the state of at least one section in the field section according to the vehicle-mounted beacon information and/or the position information, and making a shunting plan of the approach according to the state of each section; and positioning the vehicle according to the position information, and controlling the vehicle to run along the corresponding virtual track according to the result of the vehicle positioning and the shunting plan. By executing the steps, the vehicle control method can realize automatic dispatching of the vehicles in the field section, prevent the vehicles from collision, inclination, falling and other safety risks, and further guarantee the shunting safety of the vehicles in the field section.

Furthermore, a third aspect of the present invention provides a computer-readable storage medium having stored thereon computer instructions. The computer instructions, when executed by a processor, implement the vehicle control method provided in the first aspect of the invention. By implementing the vehicle control method, the computer readable storage medium can realize automatic dispatching of vehicles in the field section, and prevent the vehicles from collision, inclination, falling and other safety risks, so that the shunting safety of the vehicles in the field section is ensured.

Drawings

The above features and advantages of the present invention will be better understood after reading the detailed description of embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily to scale and components having similar related features or characteristics may have the same or similar reference numerals.

Fig. 1 illustrates a schematic structural diagram of a vehicle control system provided in accordance with some embodiments of the present invention.

Fig. 2 illustrates a schematic diagram of a vehicle control method provided in accordance with some embodiments of the present invention.

Fig. 3 illustrates a schematic diagram of a field segment arrangement provided in accordance with some embodiments of the invention.

Fig. 4A and 4B are schematic diagrams illustrating virtual approach indications provided according to some embodiments of the present invention, respectively.

Fig. 5 illustrates a segment out plan schematic of a next day operation provided in accordance with some embodiments of the invention.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples. While the description of the invention will be presented in connection with a preferred embodiment, it is not intended to limit the inventive features to that embodiment. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The following description contains many specific details for the purpose of providing a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal", "vertical" as used in the following description should be understood as referring to the orientation depicted in this paragraph and the associated drawings. This relative terminology is for convenience only and is not intended to be limiting of the invention as it is described in terms of the apparatus being manufactured or operated in a particular orientation.

It will be understood that, although the terms "first," "second," "third," etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms and these terms are merely used to distinguish between different elements, regions, layers and/or sections. Accordingly, a first component, region, layer, and/or section discussed below could be termed a second component, region, layer, and/or section without departing from some embodiments of the present invention.

As noted above, since an electronically guided rubber-tyred train typically includes multiple consists, its length tends to be greater than a conventional bus. If the bus is operated in a vehicle section and a parking lot in a conventional bus shunting mode, safety risks such as collision, intrusion and falling exist. Therefore, there is a need in the art for a technical means capable of ensuring the shunting safety of multiple marshalling vehicles in a parking lot segment.

In order to remedy the above-mentioned shortcomings in the art, the present invention provides a vehicle control system, a vehicle control method, and a computer readable storage medium, which perform vehicle positioning by reading a ground beacon in a field section, perform state analysis of each section in the field section by reading a vehicle-mounted beacon of an approach vehicle, and formulate a shunting plan according to the state analysis result of each section, so as to implement vehicle dispatching of each vehicle in the field section, thereby preventing safety risks such as collision, tilting, falling, etc. of the vehicle, and guaranteeing shunting safety of the vehicle in a parking lot section.

Referring first to fig. 1, fig. 1 illustrates a schematic diagram of a vehicle control system provided in accordance with some embodiments of the present invention.

As shown in fig. 1, in some embodiments of the present invention, the vehicle control system may be divided into a field section ground end, a vehicle end 12, and a control center 13 according to the location. The ground end of the field section is configured with a traffic signal controller 111, traffic signal 112, ground reader 113, wireless base station 114, ground fixed beacon 115, ground variable beacon 116, and virtual track 117. The vehicle end 12 includes, but is not limited to, various vehicles such as a smart rail, an SRT train, a DRT train, an AGV, etc., on which are disposed a vehicle-mounted beacon 121, a communication terminal 122, a vehicle-mounted Human-machine interface (Human-Machine Interface, HMI) 123, a vehicle-mounted reader 124, and a vehicle-mounted host 125. The control center 13 is configured with a server cluster 131, a workstation 132, and a floor controller 133.

Specifically, the server cluster 131 is installed in the farm segment control center 13, and is mainly responsible for deploying the farm segment scheduling management system. The farm segment schedule management system communicates with the ground controller 133 and is capable of acquiring and displaying the idle/occupied status of each service segment within the farm segment divided along the virtual track 117 and supporting automatic/manual scheduling of the shunting.

The workstation 132 is also installed in the field section control center 13, and is mainly responsible for providing a man-machine interaction interface of the field section dispatching management system for dispatching personnel so as to support the functions of manually making dispatching plans and other manual operations.

The ground controller 133 is also installed in the field section control center 13, and is mainly responsible for receiving the data of the vehicle-mounted beacon 121 on the electronic steering wheel electric car 12 read by the ground beacon reader 113, and determining the occupied/idle state of the virtual section where the electronic steering wheel electric car 12 is located by combining the vehicle limit and the vehicle parameter, and handling the corresponding approach plan for the electronic steering wheel electric car 12. Further, the ground controller 133 may also drive the traffic signal controller 111 to display the correct light status for the driver of each vehicle 12 in the field according to the shunting plan provided by the server cluster 131, and send the route status of the virtual switch area in front of each vehicle 12 in the field to the corresponding vehicle.

The signal controller 111 is installed at the ground end of the field section, and is capable of receiving a driving command provided by the ground controller 133, and completing driving and collecting the signal lamp according to the driving command. When the ground end of the field section is preferably provided with the variable beacon 116, the annunciator controller 111 can also complete driving of the variable beacon 116 in accordance with the driving command provided by the ground controller 133 so as to display the same indication content as the annunciator 112 in front of the electric guided rubber-tyred car 12.

The annunciator 112 is also mounted on the ground end of the field section and can be driven by the annunciator controller 111 to display corresponding indication content for indicating the driver to drive in the indicated direction. Further, when there are more than three complex scenes such as selectable directions in the virtual switch in front, the annunciator 112 can preferably configure a digital display to explicitly inform the driver of the driving direction in front by displaying indication information such as numerals and characters.

The ground reader 113 is also mounted at the ground end of the field section and is disposed along the virtual track 117. The ground reader 113 is mainly used for reading the beacon ID information of the vehicle-mounted beacon 121 arranged on the electric guided rubber-tyred car 12 and transmitting the read beacon ID information to the ground controller 133. Further, the read range of adjacent ground readers 113 should be guaranteed not to exceed design vehicle operating limits to prevent misreading.

The wireless base station 114 may be a dedicated wireless base station installed inside a field section and dedicated to the vehicle control system, or may be a shared wireless base station provided by a communication carrier. The wireless base station 114 may provide a secure communication link between the control center 13 and the electric guided rubber-tyred car 12 through wireless communication technologies such as 3G, 4G, 5G, WIFI, etc.

The vehicle-mounted beacon 121 may be mounted on the top, side, or other easily detected external visual surface of the electric guided rubber-tyred car 12, and displays identification information such as a beacon ID. Preferably, more than two beacons 121 may be installed per consist of the electric guided rubber-tyred car 12 to accurately indicate the specific location status of each consist of the electric guided rubber-tyred car 12 as not reached, reached or passed by the ground reader 113. Preferably, the in-vehicle beacon ID displayed by each in-vehicle beacon 121 may be unique in the vehicle control system. In this way, the control center 13 can uniquely determine which position of which group of which electric car 12 is passing the corresponding ground reader 113 based on the identified vehicle-mounted beacon ID.

The communication terminal 122 may be mounted on the electric guided rubber-tyred car 12 and include peripheral devices such as an antenna. The communication terminal 122 realizes wireless communication connection between the vehicle 12 and the wireless base station 114 by wireless communication technologies such as 3G, 4G, 5G, WIFI, and the like.

The vehicle-mounted man-machine interface 123 is installed in a cab at one end or both ends of the electric guided rubber-tyred trolley 12, and is mainly used for receiving the route status of the front virtual switch, the status displayed by the front annunciator 112, and the operation prompt information such as the driving destination, providing an operation interface for canceling route, applying for route, etc. for the driver to operate, and transmitting the operation information input by the driver to the ground controller 133 through the vehicle-mounted main machine 125.

The vehicle-mounted reader 124 may be mounted on the bottom, side, or other position of the electric guided rubber-tyred car 12 where the ground beacon is easy to detect, and is mainly used for reading the ground beacon ID displayed by the ground fixed beacon 115 and/or the ground beacon ID displayed by the ground variable beacon information 116 and/or the status of the front beacon 112, and transmitting the read ground beacon ID number and the status of the front beacon 112 to the vehicle-mounted host 125.

The above-described in-vehicle host 125 is mounted to the electric guided rubber-tyred car 12, in which a field section line database is stored. The vehicle-mounted host 125 reads the beacon IDs of the ground beacons around the vehicle 12 through the vehicle-mounted reader 124, and combines the stored line database information according to the read beacon IDs to realize accurate positioning of the vehicle 12. In addition, the in-vehicle host 125 receives the virtual route enable/disable status transmitted from the control center 13 through the wireless base station 114, and prompts the driver to perform a corresponding driving operation through the in-vehicle human-machine interface 123. In addition, the on-board host 125 can also receive the shunting plan provided by the control center 13, and display the corresponding driving direction through the on-board man-machine interface 123, so as to inform the train 12 and/or the driver of selecting the driving direction specified by the driving plan to drive. Further, when the read ground variable beacon 116 information indicates that the vehicle 12 enters a virtual approach path which is forbidden to pass, the on-board host computer 125 can also alarm through the on-board man-machine interface 123 or directly output a braking signal to actively brake the vehicle 12.

The above-mentioned ground fixed beacon 115 is installed at the ground end of the field section, is arranged along the virtual track 117, and displays a fixed ground beacon ID to indicate its installation position. Further, the ground beacon ID displayed by each ground fixed beacon 115 may preferably be a full unique ID number so that the onboard host 125 accurately locates the vehicle 12 based on the ground beacon ID read by the onboard reader 124.

The above-mentioned ground variable beacons 116 are also mounted at the ground end of the field section and are preferably mounted in front of each of the annunciators 112. The floor variable beacon 116 displays a fixed floor beacon ID to indicate its installation position, on the one hand, and is driven by the traffic signal controller 111 to display the traffic direction and traffic state of the traffic signal 112 at the rear. Further, two ground variable beacons 116 may be provided in front of the annunciators 112 in groups, one as a forenotice and the other as a proximity notice for the on-board host 125 to perform corresponding warning and/or braking operations.

The virtual track 117 extends to each service area in the field section via the entrance, exit and/or gateway of the field section, respectively, for constraining the vehicle 12 to travel along the virtual track 117 in cooperation with the electronic steering and steering control system on the vehicle 12. Further, the plurality of virtual tracks 117 distributed within the field section may be divided into a plurality of service sections such as a parking section, a maintenance waiting section, a car washing section, a charging section, a daily maintenance section, and/or a temporary shunting section according to the service type of the approach area and/or the destination area. In addition, the plurality of virtual tracks 117 intersect within the field segment to form at least one virtual switch. Each virtual track 117 may be further divided into a plurality of virtual segments according to at least one virtual switch.

In some non-limiting embodiments, the above-described vehicle control method provided by the second aspect of the invention may be implemented by the above-described vehicle control system provided by the first aspect of the invention. Specifically, the vehicle control system includes a plurality of memories, a plurality of processors, and a plurality of execution terminals. These memories, processors and execution terminals are arranged distributed throughout the control center 13 of the vehicle control system, the vehicle 12, and the field section ground end 11. The memories disposed at each of the ends 11-13 include, but are not limited to, the computer-readable storage medium described above provided in the third aspect of the present invention, on which one or more computer instructions are stored, respectively. The processors disposed at each of the ends 11-13 are communicatively coupled to one or more respective memories configured to read and execute computer instructions stored on the respective memories to perform one or more steps of the vehicle control method, either directly or via respective execution terminals, to cooperatively implement the vehicle control method.

The principle of operation of the vehicle control system will be described below in connection with some embodiments of the vehicle control method. It will be appreciated by those skilled in the art that these examples of vehicle control methods are merely some non-limiting embodiments provided by the present invention, and are intended to clearly illustrate the general concepts of the present invention and to provide some embodiments that are convenient for public implementation, rather than to limit the overall manner and overall functionality of the vehicle control system. Similarly, the vehicle control system is just one non-limiting embodiment provided by the present invention, and does not limit the execution subject of each step in the vehicle control method.

Please refer to fig. 1, fig. 2 and fig. 3 in combination. Fig. 2 illustrates a schematic diagram of a vehicle control method provided in accordance with some embodiments of the present invention. Fig. 3 illustrates a schematic diagram of a field segment arrangement provided in accordance with some embodiments of the invention.

As shown in fig. 1, 2 and 3, when the vehicle 12 completes the operation task at the terminal, it will open from the virtual section 1-1 of the front line to the virtual section 2-1 of the field section entrance along the virtual track 117, and perform daily maintenance, charging, washing, repair, and parking in the field section. In response to reading the ground beacon ID of the ground beacon 115 or 1161 of the virtual zone 2-1 where the venue entrance is located, the on-board host 125 of the vehicle 12 may determine that the vehicle 12 is entering the venue, so that the information on the remaining power, the operation mileage, the operation status, and the like of the vehicle 12 is transmitted to the schedule management system deployed on the server cluster 131 of the control center 13 through the wireless base station 114. In response to the above-mentioned vehicle information provided by the on-vehicle host computer 125, the server cluster 131 of the control center 13 will determine whether the vehicle 12 needs to be charged according to the remaining capacity information of the vehicle 12, determine whether the vehicle 12 needs to be subjected to daily maintenance and/or washing according to the running mileage information, and determine whether the vehicle 12 needs to be maintained according to the running state information.

In some embodiments, in response to a determination that the vehicle 12 needs to be charged, the server cluster 131 may take the charging section 3-1 as an end point, and make a shunting plan for the approach of the vehicle 12 according to the occupied/idle states of each section between the virtual section 2-1 where the field access point is located and the charging section 3-1.

In some embodiments, in response to a determination that the vehicle 12 needs to be overhauled daily, the server cluster 131 may take the daily overhauling section 3-1 as an end point, and make a shunting plan for the approach of the vehicle 12 according to the occupied/idle states of each section between the virtual section 2-1 where the field access is located and the daily overhauling section 3-1.

In some embodiments, in response to a determination that the vehicle 12 needs to be car-washed, the server cluster 131 may take the car-washing section 3-1 as an end point, and make a shunting plan for the approach of the vehicle 12 according to the occupied/idle states of each section between the virtual section 2-1 where the entrance of the farm section is located and the car-washing section 3-1.

In some embodiments, in response to a determination that the vehicle 12 needs to be serviced, the server cluster 131 may take the service section 3-1 as an end point, and make a shunting plan for the approach of the vehicle 12 according to the occupied/idle states of each section between the virtual section 2-1 where the field access is located and the service section 3-1.

In some embodiments, in response to a determination that the vehicle 12 does not have various requirements for charging, routine maintenance, vehicle washing, repair, etc., the server cluster 131 may end the parking section 3-1 and make a shunting plan for the approach of the vehicle 12 based on the occupied/free status of each section between the virtual section 2-1 and the parking section 3-1 where the field access is located.

Specifically, the ground controller 133 of the control center 13 may first read successive in-vehicle beacon IDs (e.g., A1 to F1) by the ground reader 1131 before entering the section, determine the number of the vehicle 12 from these successive in-vehicle beacon IDs, and determine the traveling direction of the vehicle 12 as the entering direction. Conversely, if the continuous vehicle-mounted beacon IDs read by the ground reader 1131 are F1 to A1, the ground controller 133 may determine that the traveling direction of the corresponding vehicle 12 is the departure direction.

The ground controller 133 can then determine whether other vehicles have been parked in each of the service sections 3-1, 3-2 based on the history of the vehicle beacon IDs read by the ground readers 1134 and 1135 at the entrance and exit positions of each of the service sections 3-1, 3-2.

For example, if the ground reader 1134 at the entrance/exit position of the service section 3-1 has once read the sequence of the vehicle-mounted beacon IDs A2 to F2, the ground controller 133 may determine that the traveling direction of the vehicle is toward the service section 3-1 according to the time sequence of reading the respective vehicle-mounted beacon IDs, thereby determining the ground reader 1134 as the ground reader at the entrance position of the service section 3-1 and generating the corresponding entry record. The ground controller 133 may then also query the ground reader 1134 as to whether the onboard beacon ID sequence of F2-A2 was read. In response to the ground reader 1134 not having read the on-board beacon ID sequence of F2-A2, i.e., no corresponding out-of-range record, the ground controller 133 may determine that other vehicles have been parked in the service section 3-1 and, in turn, determine that the service section 3-1 is in an occupied state.

For another example, if the ground reader 1135 at the entrance/exit position of the service section 3-2 ever reads the sequence of the vehicle-mounted beacon IDs A3 to F3, the ground controller 133 may determine the ground reader 1135 as the ground reader at the entrance position of the service section 3-2 according to the time sequence of reading the respective vehicle-mounted beacon IDs, and generate the corresponding entry record. Then, in response to the ground reader 1135 reading the sequence of the vehicle-mounted beacon IDs of F3 to A3, the ground controller 133 may determine that the traveling direction of the vehicle is directed away from the service section 3-2 according to the time sequence of reading the respective vehicle-mounted beacon IDs, thereby determining the ground reader 1135 as the ground reader at the exit position of the service section 3-2, and generating the corresponding outbound record. In response to generating the paired entry and exit records, the surface controller 133 may delete both associated entry and exit records together or transfer them together to the entry and exit records database. At this time, if the service section 3-2 no longer has an unpaired entry record, the ground controller 133 may determine that any vehicle is not parked in the service section 3-2, and thus determine that the service section 3-2 is in an idle state.

Further, in some embodiments of the present invention, if the ground reader 1135 at the entrance/exit position of the service section 3-2 reads the vehicle-mounted beacon ID sequence of A3B3C3D3E3F3 (i.e., the in-section record) and the vehicle-mounted beacon ID sequence of F3E3C3B3A3 (i.e., the out-section record) sequentially, the ground controller 133 may determine that the service section 3-2 is in the occupied state according to the situation that the in-section record and the out-section record are partially mismatched, so as to preferentially ensure the vehicle scheduling safety, and diagnose that the communication connection between the vehicle-mounted beacon, the ground reader, and/or the control center 13 and the ground end of the field section of the corresponding vehicle is failed, thereby prompting the relevant technician to perform the overhaul in time.

Optionally, in other embodiments, if the ground reader 1135 at the entrance/exit position of the service section 3-2 only reads the on-vehicle beacon ID sequences of A3-F3 (i.e. the entrance records), but does not read the on-vehicle beacon ID sequences of F3-A3 (i.e. the exit records), but the ground reader 113 disposed in the next service section and/or the virtual section reads the on-vehicle beacon ID sequences of A3-F3 or F3-A3, the ground controller 133 may also determine that the service section 3-2 is in an occupied state according to the situation that the entrance records and the exit records of each section are not matched, so as to preferentially ensure the dispatching safety of the vehicle, and diagnose that the communication connection between the on-vehicle beacon, the ground reader, and/or the control center 13 and the ground end of the field section of the corresponding vehicle is failed, thereby prompting the relevant technician to perform the overhaul in time.

Still further, after manually confirming that unpaired entry records are caused by failure of the on-board beacons of the corresponding vehicle, the ground readers, and/or the communication connection of the control center 13 and the ground side of the field segment, and repairing and removing these failures, the dispatcher of the control center 13 may also input a forced instruction to change the status of the segment via the human-machine interface of the workstation 132. In response to the force command acquired via the human-machine interface of the workstation 132, the ground controller 133 can forcibly set the state of the corresponding section to the occupied state or the idle state according to the force command to resume the normal control of the section.

After determining the occupied/free status of each service section 3-1, 3-2 from the on-board beacon information read by each ground reader 113, the ground controller 133 may synchronize the occupied/free status of each service section 3-1, 3-2 to the server cluster 131 of the control center 13, such that the free service section 3-2 is taken as the end point of the entering vehicle 12 by the server cluster 131 and formulate a shunting plan for the entering vehicle 12.

Further, in some embodiments, if all service sections 3-1, 3-2 having the same service function are in an occupied state, the server cluster 131 may further obtain the occupied/free state of temporary waiting sections (e.g., maintenance waiting section, car washing waiting section) of each service section 3-1, 3-2 via the ground controller 133. In response to any temporary waiting area being in the idle state, the server cluster 131 may first make a preliminary shunting plan with the temporary waiting area as a destination, schedule the vehicle 12 to park to the temporary waiting area for waiting, and schedule a subsequent shunting plan to schedule the vehicle 12 to travel to the traffic area 3-2 where the destination is located after the traffic area 3-2 is restored to the idle state.

In addition, in the course of preparing the shunting plan of the vehicle 12, the server cluster 131 may also acquire the vehicle-mounted beacon ID sequences acquired by the ground readers 1132, 1133 disposed at the entrances and exits of the virtual sections (e.g., 2-1) through which the shunting plan passes, via the ground controller 133, so as to determine the occupied/free states of the virtual sections 2-1. If the on-board beacon ID sequences (i.e., entry and exit segment records) collected by the ground readers 1132, 1133 indicate that the virtual segment 2-1 is in an occupied state, the server cluster 131 may select other parallel virtual segments to schedule a shunting for the approach of the vehicle 12.

Further, if one or more virtual sections (e.g., 2-1) through which the shunting plan passes are in an occupied state and the field section does not have a replacement section for the virtual section 2-1, the server cluster 131 may first make a preliminary shunting plan, schedule the vehicle 12 to park in the temporary shunting section, and schedule a subsequent shunting plan to schedule the vehicle 12 to travel to the service section 3-2 where the destination is located after the virtual section 2-1 is restored to an idle state.

In addition, in the course of preparing the shunting plan for the vehicle 12, the server cluster 131 may acquire the vehicle-mounted beacon ID sequences acquired by the ground readers (for example, 1131 and 1132) disposed at the entrances and exits of the virtual switches through which the shunting plan passes through via the ground controller 133, and determine the state in which the virtual switches are permitted/prohibited from passing through as described above.

For example, if the ground reader 1131 has once read the sequence of the vehicle-mounted beacon IDs A2 to F2, the ground controller 133 may determine that the traveling direction of the vehicle is entering the corresponding virtual switch according to the time sequence of reading the respective vehicle-mounted beacon IDs, thereby determining the ground reader 1131 as the ground reader at the entrance position of the virtual switch, and generating the corresponding entry record. The ground controller 133 may then also query the ground reader 1132 as to whether the on-board beacon ID sequences of A2-F2 were read. In response to the ground reader 1132 not having read the on-board beacon ID sequences of A2-F2, i.e., no corresponding exit records, the ground controller 133 may determine that other vehicles are still present in the virtual switch, and thus determine that the virtual switch is in a no-pass state.

For another example, if the ground reader 1131 at the virtual switch entrance position has once read the sequence of the vehicle-mounted beacon IDs A3 to F3, the ground controller 133 may determine the ground reader 1131 as the ground reader at the virtual switch entrance position according to the time sequence of reading the respective vehicle-mounted beacon IDs, and generate the corresponding entry record. Then, in response to the ground reader 1132 also reading the sequence of the vehicle-mounted beacon IDs of A3 to F3, the ground controller 133 may determine that the traveling direction of the vehicle is exiting the virtual switch according to the time sequence of reading the respective vehicle-mounted beacon IDs, thereby determining the ground reader 1132 as the ground reader at the exit position of the virtual switch and generating a corresponding exit record. In response to generating the paired entry and exit records, the surface controller 133 may delete both associated entry and exit records together or transfer them together to an entry and exit records database. At this time, if the virtual switch no longer has an unpaired entry record, the ground controller 133 may determine that no other vehicles are present in the virtual switch, and further determine that the virtual switch is in a state of allowing traffic.

After determining the status of each virtual switch in the field section to permit/prohibit traffic, the server cluster 131 may also preferably formulate a shunting plan for the vehicle 12 to approach, in combination with the status of each section in the field section, and the status of each virtual switch in the field section, and send the formulated shunting plan to the on-board host 125 of the corresponding vehicle 12 to control the vehicle 12 to approach.

It will be appreciated by those skilled in the art that the virtual switch made up of multiple virtual tracks is merely a non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the general concept of the present invention and to provide a specific solution for public implementation, not to limit the scope of the present invention.

Optionally, in other embodiments, for the case that various other roads such as sidewalks and running tracks are also provided in the field section, the control center 13 may also perform similar status monitoring and vehicle control at intersections such as pedestrian intersections and level crossings, so as to further realize safe passing of people and vehicles in the field section.

It will be further appreciated by those skilled in the art that the above-described scheme of determining the status of each section and each virtual switch based on the vehicle beacon information collected by each ground reader 113 is merely a non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the general concept of the present invention and to provide a specific scheme for public implementation, not to limit the scope of the present invention.

Optionally, in other embodiments, the server cluster 131 may also obtain the ground beacon information collected by each on-board reader 124 via the wireless base station 114, and determine the zone and/or virtual switch where each vehicle 12 is located according to the ground beacon information, so as to determine the status of each zone and each virtual switch, which will not be described herein.

Based on the above description, the vehicle control system, the vehicle control method and the computer readable storage medium provided by the invention can greatly reduce the requirement for manual intervention by combining the residual electric quantity, the driving mileage and the running state of the vehicle 12, various factors such as the actual states of each section and each virtual turnout in the field section to automatically generate the field section scheduling plan, thereby realizing automatic shunting of the vehicle 12 in the field section and reducing the potential safety hazard caused by manual operation and the problem of low shunting efficiency.

As shown in fig. 2, after the shunting plan for the vehicle 12 to approach is prepared, the server cluster 131 may send the prepared shunting plan to the corresponding vehicle 12 and the ground end of the field section through the wireless base station 114, so that the vehicle host 125 performs vehicle positioning according to the position information collected by the vehicle-mounted reader 124, and controls the vehicle 12 to travel along the corresponding virtual track to the destination indicated by the shunting plan according to the received approach instructions of the shunting plan and the ground end of the field section.

Specifically, in response to the shunting plan provided by the server cluster 131, the ground controller 133 may first obtain the on-board beacon ID of the vehicle 12 via the ground reader 1131 of the exit location of the orthographic virtual section 1-1 to determine whether the vehicle 12 is near the virtual section 2-1 where the near field section exit is located. In response to the ground reader 1131 acquiring a sequence of on-board beacon IDs (e.g., A1-F1) indicating the approach of the vehicle 12, the ground controller 133 may apply for an approach for the vehicle 12 according to the shunting plan provided by the server cluster 131.

Then, if it is determined that the front virtual section 2-1 is in the idle state and the virtual switch entering the virtual section 2-1 is in the traffic-allowed state, the ground controller 133 may drive the traffic-entering signal 1121 and the variable beacon 1161 in front of the virtual section 2-1 through the signal controller 111 to display a signal lamp (e.g., a green lamp) allowing communication and display an indication arrow pointing to the driving direction of the virtual section 2-1.

In response to the on-board reader 124 reading the directional arrow displayed by the variable beacon 1161, the on-board host 125 may issue a control command indicating the forward driving direction to the electronic guidance and steering control system of the vehicle 12 in combination with the ground beacon ID, the indication information displayed by the variable beacon 1161, and the vehicle position, so as to control the vehicle 12 to travel along and approach along the corresponding virtual trajectory. In some embodiments, when the vehicle 12 is off track, the onboard host 125 should alert via the human-machine interface 124 and output braking information to actively brake the vehicle 12. In some embodiments, the onboard host 125 may also compare the stored line data at the vehicle end 12 to a sequence of ground beacon IDs read on the driving route. In response to and upon detection of a loss of the ground beacon, the onboard host 125 will also automatically report to the control center 13 via the wireless base station 114 to ensure reliable operation of the vehicle control system.

Further, in some preferred embodiments, in response to the onboard reader 124 reading the signal light information and the directional arrow displayed by the variable beacon 1161, the onboard host 125 may also compare the read signal light information and directional arrow with the received shunting plan. If the shunting plan is inconsistent with the signal light status or the directional arrow read by the onboard reader 124, the onboard host 125 should immediately output an alarm prompt or formulate a braking command to timely brake the vehicle 12. Conversely, if the shunting plan is consistent with the signal light status and the directional arrow read by the onboard reader 124, the onboard host 125 may continue to control the vehicle 12 to proceed toward the virtual switch entering the virtual zone 2-1.

After that, when the vehicle 12 travels along the virtual track to the virtual switch entrance, the on-board host 125 may acquire the traffic light status and the route direction information displayed by the traffic light 1121 via the on-board reader 124, and provide the content displayed by the traffic light 1121 to the driver of the vehicle 12 via the human-machine interface 123. The driver can manually confirm whether the virtual switch in front is allowed to pass according to the signal lamp state displayed by the signal machine 1121, and manually confirm whether the route direction is correct according to the route direction information displayed by the signal machine 1121. Then, according to the confirmation result that the virtual switch in front is actually allowed to pass and the route direction is correct, the driver can perform the operation of applying for the route via the man-machine interface 123 to control the vehicle 12 to travel along the virtual track of the virtual section 2-1 via the virtual switch. In contrast, according to the result of the confirmation that the virtual switch at the front is prohibited from passing or the route direction is wrong, the driver can perform the operation of canceling the route via the human-computer interface 123, thereby preventing the vehicle 12 from being collided, tilted, dropped, etc.

By arranging the annunciator 1121 in front of the virtual switch (for example, 50m in front), the vehicle control system provided by the invention can ensure the real-time performance of the display content of the annunciator 1121, thereby avoiding the unexpected situation that the state of the switch changes after the vehicle 12 passes through the annunciator 1121. By further arranging the variable beacon 1161 further in front (for example, 100m in front) to synchronize the display content of the display signal 1121, the vehicle control system provided by the invention can inform the driver and the actual situation of the front fork of the vehicle-mounted host 125 in advance, so that the driver and the vehicle-mounted host 125 can adjust the driving strategy in time, and the vehicle 12 can be braked safely, reliably and stably.

It will be appreciated by those skilled in the art that the above-mentioned human-machine interface 123, the ground variable beacon 116, the annunciator 112 and the corresponding control schemes thereof are merely specific embodiments for manually controlling the vehicle, and are intended to clearly illustrate the main concept of the present invention and to provide a specific scheme for facilitating public implementation, not to limit the scope of the present invention.

Alternatively, in other embodiments, for the application scenario of the fully-automatic driving vehicle, the vehicle end 12 may not need to configure the human-machine interface 123, the ground variable beacon 116 and the annunciator 112 on the ground end of the field section, and the on-board host 125 may automatically apply for the route and/or cancel the route according to the route status of the front virtual switch provided by the dispatching center 13, so as to achieve the same control effect.

Please further refer to fig. 4A and 4B. Fig. 4A and 4B are schematic diagrams illustrating virtual approach indications provided according to some embodiments of the present invention, respectively.

As shown in fig. 4A, when the virtual switch has only three or less directions of approach, the vehicle control system may configure the traffic signal 112 and the ground variable beacon 116, which display the direction indication arrow, in front of the virtual switch, and indicate whether the front switch allows traffic or not and indicate the direction of traffic of the vehicle 12 at the front switch by adjusting the color of the traffic signal and displaying the direction arrow of traffic.

As shown in fig. 4B, when there are more than three complicated cases such as directions of approach in the virtual switch, the vehicle control system may configure the traffic signal 112 and the ground variable beacon 116 with digital display function and/or text display function in front of the virtual switch, and clearly indicate whether the front fork is allowed to pass or not and indicate the traveling direction of the vehicle 12 at the front fork by adjusting the color of the traffic signal, displaying digital information and/or displaying text information.

Further, as shown in FIG. 3, in some preferred embodiments, a first ground variable beacon 1163 may be disposed a first distance (e.g., 500 m) in front of the annunciator 1122. A second ground variable beacon 1164 may be disposed a second distance (e.g., 100 m) in front of the annunciator 1122. When the vehicle 12 travels along the virtual track of the virtual section 2-1 to the first ground variable beacon 1163, the on-board host 125 of the vehicle 12 may first collect the display content of the first ground variable beacon 1163 via the on-board reader 124, and then parse the display content to obtain the ground beacon ID, the virtual switch traffic state information and the driving direction indication information recorded therein.

In response to the first ground variable beacon 1163 displaying the no-pass condition, the onboard host 125 will end with the annunciator 1122, formulate a range-speed brake control curve for smoothly braking the vehicle 12, and provide a venture prompt to the driver of the vehicle 12 via the human-machine interface 123 to ask the driver if braking of the vehicle is required. At this time, if the driver confirms that the vehicle is required to be braked, the on-board host 125 can smoothly brake the vehicle 12 according to the formulated S-V brake control curve, so as to ensure the safety of the vehicle 12 and passengers in the vehicle. Conversely, if the driver considers the false entry notification as a false alarm and confirms that braking of the vehicle is not required, the onboard host 125 can control the vehicle 12 to continue traveling along the virtual track to the virtual switch where the traffic signal 1122 is located.

After that, when the vehicle 12 further travels to the second ground variable beacon 1164 along the virtual track of the virtual section 2-1, the on-board host 125 of the vehicle 12 may collect the display content of the second ground variable beacon 1164 via the on-board reader 124, and then analyze the display content to obtain the ground beacon ID, the virtual switch traffic state information and the driving direction indication information recorded therein.

In response to the second ground variable beacon 1164 displaying the no-pass state, the onboard host 125 will immediately control the vehicle 12 to apply emergency braking and provide an imposter warning to the driver of the vehicle 12 via the human-machine interface 123 to inform the cause of the emergency braking.

By arranging the first ground variable beacon 1163 at a first distance (for example: 500 m) far in front of the virtual switch and arranging the second ground variable beacon 1164 at a second distance (for example: 100 m) near in front of the virtual switch, the vehicle control system provided by the invention can further provide a protection function of a hazard signal lamp, so that safety risks such as collision, tilting and falling of vehicles are further prevented, and shunting safety of the vehicles in a parking lot section is guaranteed.

It will be appreciated by those skilled in the art that the vehicle positioning scheme and the approach control scheme shown in fig. 1 based on the ground fixed beacon 115 in combination with the ground variable beacon 116 is only one non-limiting embodiment provided by the present invention, and is intended to clearly illustrate the main concept of the present invention and to provide a specific scheme for public implementation without limiting the scope of the present invention.

Alternatively, in other embodiments, the vehicle control system may also employ a bi-directional loop or a bi-directional beacon instead of the above-described ground fixed beacon 115 and ground variable beacon 116 to achieve the same vehicle positioning effect and approach control effect.

Preferably, in other embodiments, the vehicle control system may also employ a ground variable beacon 116 capable of outputting multiple signal light states, such as signal light inactivity (e.g., no driving light color), signal light errors (e.g., multiple light colors being output simultaneously), etc., for road control of the vehicle 12. When the vehicle-mounted host computer 125 reads the message that the signal lamp is invalid and the signal lamp is wrong, the vehicle-mounted host computer can automatically output an alarm or an active braking command, further prevent the safety risks of collision, inclination, falling and the like of the vehicle, and ensure the shunting safety of the vehicle in the parking lot section.

Referring further to fig. 5, fig. 5 illustrates a schematic diagram of a next day operation out-of-schedule provided in accordance with some embodiments of the present invention.

As shown in fig. 5, in some embodiments of the present invention, before the next day of executing the outbound service, the server cluster 131 of the control center 13 may also automatically generate the outbound schedule of each vehicle 51 to 58 in the farm according to the operation schedule and the parking positions of each vehicle 51 to 58 in the farm. Specifically, the server cluster 131 may first acquire the operation state data of each of the vehicles 51 to 58 to determine the faulty vehicle 54 in which it is impossible to participate in the operation on the same day. Then, the server cluster 131 may make a departure shunting plan according to the parking positions of the vehicles 51 to 58 in the field section, the departure directions of the field section, and the connection conditions of the virtual tracks to determine the departure sequence and the departure route of each of the remaining vehicles 51 to 53, 55 to 58, thereby arranging the faulty vehicle 54 and the vehicle 57 affected by the faulty vehicle 54 to the end of the departure plan. Then, the server cluster 131 may transmit the departure shunting plan to the on-board hosts of the remaining vehicles 51 to 53, 55 to 58 via the wireless base station 114, respectively, so as to control the vehicles 51 to 53, 55 to 58 to enter the positive line according to the departure plan and along the corresponding virtual track, so as to start the operation on the next day.

Through the above description, the vehicle control system, the vehicle control method and the computer readable storage medium provided by the invention can realize automatic dispatching of the vehicles 12 in the parking section and prevent the safety risks of collision, tilting, falling and the like of the vehicles, thereby ensuring the shunting safety of the vehicles in the parking section.

While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood and appreciated by those skilled in the art.

Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Although the server cluster 131, the workstation 132, the ground controller 133, the in-vehicle host 125, and the annunciator controller 111 described in the above embodiments can be implemented by a combination of software and hardware. It is understood that these server clusters 131, workstations 132, ground controllers 133, on-board hosts 125, and annunciator controllers 111 may also be implemented solely in software or hardware. For hardware implementation, the server clusters 131, workstations 132, ground controllers 133, on-board hosts 125, and signal controllers 111 may be implemented in one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic devices for performing the functions described above, or a selected combination thereof. For software implementation, these server clusters 131, workstations 132, ground controllers 133, on-board hosts 125, and signal controllers 111 may be implemented by separate software modules, such as program modules (procedures) and function modules (functions), running on a common chip, each of which performs one or more of the functions and operations described herein.

The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (17)

1. A vehicle control system, characterized by comprising:

the ground end of the field section comprises a plurality of virtual tracks, a plurality of ground beacons and a plurality of ground readers, wherein the ground beacons are arranged along the virtual tracks and display position information, and the ground readers are arranged on the virtual tracks and used for reading vehicle-mounted beacon information of the vehicle;

the vehicle comprises a vehicle-mounted beacon, a vehicle-mounted reader and a vehicle-mounted host, wherein the vehicle-mounted beacon is arranged on an external visual surface of the vehicle and displays the vehicle-mounted beacon information, the vehicle-mounted reader acquires the position information displayed by the ground beacon, and the vehicle-mounted host performs vehicle positioning according to the position information and controls the vehicle to run along a corresponding virtual track according to a shunting plan provided by a control center; and

the control center is in communication connection with the ground end of the field section and the vehicle and is configured to: acquiring the vehicle-mounted beacon information and/or the position information; determining a state of at least one section within the field segment according to the vehicle-mounted beacon information and/or the position information; and making a shunting plan of the approach according to the state of each section, and sending the shunting plan to a vehicle-mounted host computer of the corresponding vehicle.

2. The vehicle control system of claim 1, wherein a plurality of the virtual tracks are divided into a plurality of service segments according to service type, and/or

The virtual tracks intersect to form at least one virtual switch, and each virtual track is divided into a plurality of virtual sections according to the at least one virtual switch.

3. The vehicle control system of claim 2, wherein the service section comprises at least one of a parking section, a maintenance waiting section, a car wash section, a charging section, a routine maintenance section, and a temporary shunting section.

4. The vehicle control system of claim 2, wherein the locations of the entrance and exit of each of the sections are respectively arranged with the ground reader, the control center being further configured to:

judging whether vehicles exist in each section according to vehicle-mounted beacon information read by a ground reader arranged at an entrance and an exit of each section;

determining the shape of the section as an occupied state in response to a determination result of a vehicle in the section; and

and determining the shape of the section as an idle state in response to a determination that there is no vehicle in the section.

5. The vehicle control system of claim 4, wherein the vehicle comprises multiple consist, each of the consist configured with at least one onboard beacon, the control center further configured to:

responding to the fact that any ground reader reads a plurality of vehicle-mounted beacon information, and judging the running direction of the vehicle according to the time sequence of each read vehicle-mounted beacon information;

determining the ground reader as a ground reader of an entrance position in response to a determination that the traveling direction is toward the section, and generating a corresponding entry record;

responding to the judgment result of the travel direction facing away from the section, determining the ground reader as a ground reader at an exit position, and generating a corresponding out-segment record; and

and judging whether a vehicle exists in the section according to the entry section record and the exit section record.

6. The vehicle control system of claim 5, wherein the control center is further configured to:

and diagnosing faults of the vehicle-mounted beacon, the ground reader and/or the communication connection according to the entry segment record and the exit segment record.

7. The vehicle control system of claim 2, wherein the ground readers are disposed at the locations of the entrance and exit of each virtual switch, respectively, the control center being further configured to:

judging whether vehicles exist in each virtual turnout according to vehicle-mounted beacon information read by a ground reader arranged at an entrance and an exit of each virtual turnout;

responding to the judging result of the vehicle in the virtual turnout, and determining the route shape of the virtual turnout as a forbidden state; and

and determining the shape of the section as an allowable state in response to a determination result that there is no vehicle in the section.

8. The vehicle control system of claim 1, wherein the control center is further configured to:

determining a target section of the vehicle according to the residual electric quantity, the running mileage and/or the running state of the vehicle;

judging whether a stopped section needs to be determined according to the state of the target section;

determining an idle parked section according to the position of the target section in response to a judgment result that the parked section needs to be determined; and

determining a shunting plan indicating at least one section of the virtual track according to the position of the target section or the stopped section, the position and the state of each virtual section and the position and the state of each virtual turnout.

9. The vehicle control system of claim 8, wherein the control center is further configured to:

monitoring a state of the target zone in response to the vehicle traveling to the parked zone according to the shunting plan;

responsive to the state restoration idleness of the target section, a shunting plan indicating at least one segment of the virtual track is redetermined according to the position of the target section, the position of the parked section, the position and state of each virtual section, and the position and state of each virtual switch.

10. The vehicle control system of claim 1, wherein the field section ground end further comprises a traffic signal controller and a plurality of traffic signals arranged in front of each virtual switch along the virtual track, the traffic signal controller configured to:

acquiring the shunting plan from the control center; and

and driving a corresponding signal machine to display the driving direction of the vehicle in the corresponding virtual turnout and the state of the virtual turnout according to the shunting plan.

11. The vehicle control system of claim 10, wherein the vehicle further comprises a human-machine interface, the on-board host machine further configured to:

Acquiring content displayed by the annunciator through the vehicle-mounted reader;

providing content displayed by the annunciator to a driver of the vehicle via the human-machine interface;

acquiring an operation instruction input by the driver through the human-computer interface; and

and controlling the vehicle to run along the corresponding virtual track according to the operation instruction.

12. The vehicle control system of claim 10 or 11, wherein the ground beacons include a ground fixed beacon and a ground variable beacon, wherein the ground variable beacon is disposed in front of each of the annunciators and displays the position information, the direction of travel information, and the virtual switch status information, and wherein the annunciator controller is further configured to:

and driving a corresponding ground variable beacon to display the driving direction of the vehicle at a corresponding virtual turnout and the state of the virtual turnout according to the shunting plan, wherein the variable beacon and a corresponding annunciator display the same content.

13. The vehicle control system of claim 12, wherein a first ground variable beacon is disposed a first distance in front of the traffic signal and a second ground variable beacon is disposed a second distance in front of the traffic signal, wherein the first distance is greater than the second distance, the on-board host is further configured to:

Acquiring the content displayed by the first ground variable beacon and the second ground variable beacon through the vehicle-mounted reader;

analyzing the content displayed by the first ground variable beacon and the second ground variable beacon to determine the state of the virtual turnout;

responding to the analysis result of the first ground variable beacon display prohibition state, taking the annunciator as an endpoint to set a brake control curve for smoothly braking the vehicle, and providing an imposter prompt for a driver of the vehicle; and

and controlling the vehicle to apply emergency braking and providing an imposter warning to the driver in response to the analysis result of the second ground variable beacon display prohibition state.

14. The vehicle control system of claim 1, wherein the control center is further configured to:

according to the parking positions of a plurality of vehicles in a field section, the running state of each vehicle, the direction of the field section and the connection condition of each virtual track, a shunting plan of the field is formulated to determine the departure sequence and the departure route of each vehicle; and

and sending the departure shunting plan to an on-board host computer of each vehicle.

15. The vehicle control system of claim 1, wherein the control center further comprises a human-machine interface, the control center further configured to:

acquiring a forced instruction through the human-computer interface; and

and setting the state of any section to be occupied or free according to the forced instruction.

16. A vehicle control method characterized by comprising the steps of:

acquiring vehicle-mounted beacon information displayed by a vehicle-mounted beacon arranged on an outer visible surface of a vehicle via a plurality of ground readers of a plurality of virtual tracks arranged on a field section;

acquiring, via an on-vehicle reader arranged at the vehicle, positional information displayed by a plurality of ground beacons arranged along the virtual trajectory;

determining the state of at least one section in the field section according to the vehicle-mounted beacon information and/or the position information, and making a shunting plan of an approach according to the state of each section; and

and positioning the vehicle according to the position information, and controlling the vehicle to run along the corresponding virtual track according to the result of vehicle positioning and the shunting plan.

17. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the vehicle control method of claim 16.

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