CN116168533A - Lane recommendation method, device and equipment - Google Patents

Abstract

The disclosure provides a lane recommendation method, device and equipment, relates to the technical field of artificial intelligence, and particularly relates to the technical field of intelligent traffic and Internet of vehicles. One embodiment of the method comprises the following steps: acquiring driving path information of the vehicle in response to the vehicle driving into or out of the intersection; acquiring security events and queuing information of an intersection; generating recommended lane information based on the travel path information, the security event, and the queuing information; and outputting recommended lane information. According to the embodiment, the traffic jam can be relieved, and the traffic efficiency is improved.

Description

Lane recommendation method, device and equipment

Technical Field

The disclosure relates to the technical field of artificial intelligence, in particular to the technical field of intelligent transportation and Internet of vehicles.

Background

In recent years, with the progress of urban and motorized China, the traffic flow of the central urban area is rapidly increased, the original road facilities are overwhelmed, the traffic jam is more and more serious, and the blocked traffic restricts the urban development to a certain extent.

In order to solve the problem of traffic jam, the construction of traffic facilities is usually perfected, and the wider road supports more traffic flow. However, this solution is effective but is costly and has a long cycle, which in turn leads to further congestion worsening during the repair of the road.

Disclosure of Invention

The embodiment of the disclosure provides a lane recommendation method, a lane recommendation device, lane recommendation equipment, a lane recommendation storage medium and a lane recommendation program product.

In a first aspect, an embodiment of the present disclosure provides a lane recommendation method, including: acquiring driving path information of the vehicle in response to the vehicle driving into or out of the intersection; acquiring security events and queuing information of an intersection; generating recommended lane information based on the travel path information, the security event, and the queuing information; and outputting recommended lane information.

In a second aspect, an embodiment of the present disclosure proposes a lane recommendation apparatus including: a first acquisition module configured to acquire travel path information of a vehicle in response to the vehicle entering or exiting the intersection; the second acquisition module is configured to acquire security events and queuing information of the crossing; a generation module configured to generate recommended lane information based on the travel path information, the security event, and the queuing information; and an output module configured to output recommended lane information.

In a third aspect, an embodiment of the present disclosure proposes an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any one of the implementations of the first aspect.

In a fourth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method as described in any one of the implementations of the first aspect.

In a fifth aspect, embodiments of the present disclosure propose a computer program product comprising a computer program which, when executed by a processor, implements a method as described in any of the implementations of the first aspect.

According to the lane recommendation method provided by the embodiment of the invention, when a user enters an intersection or leaves the intersection, lanes can be recommended according to the security event and queuing information of the intersection, so that traffic jam can be relieved, and traffic efficiency is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of one embodiment of a lane recommendation method according to the present disclosure;

FIG. 2 is a flow chart of yet another embodiment of a lane recommendation method according to the present disclosure;

FIG. 3 is a flow chart of yet another embodiment of a lane recommendation method according to the present disclosure;

FIG. 4 is a link diagram of a lane recommendation method in which embodiments of the present disclosure may be implemented;

FIG. 5 is a scene graph in which a lane recommendation method of an embodiment of the present disclosure may be implemented;

FIG. 6 is yet another scene graph in which a lane recommendation method of an embodiment of the present disclosure may be implemented;

FIG. 7 is a schematic structural view of one embodiment of a lane recommendation device according to the present disclosure;

fig. 8 is a block diagram of an electronic device for implementing a lane recommendation method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

FIG. 1 illustrates aflow 100 of one embodiment of a lane recommendation method according to the present disclosure. The lane recommendation method comprises the following steps:

step 101, obtaining driving path information of the vehicle in response to the vehicle driving into or out of the intersection.

In the present embodiment, when a vehicle is driving into or out of an intersection, the execution subject of the lane recommendation method may acquire travel path information of the vehicle.

Wherein an intersection may be a road intersection, i.e. where two or more roads meet. This is the necessary place for vehicles and pedestrians to collect, turn around and evacuate, so the traffic flow is large and traffic jam is easy to occur. The travel path information may be a travel route of the vehicle through the intersection. Generally, if the vehicle is in a cruising state, historical driving path information of the vehicle passing through the intersection can be obtained by using the acquaintance road mode data and used as current driving path information. If the vehicle is in a navigation state, navigation path information of the vehicle can be obtained and used as current driving path information. Meanwhile, the navigation state and the cruising state are supported, various scenes of urban roads can be supported, and the application range is wide.

Step 102, acquiring security events and queuing information of the intersection.

In this embodiment, the executing body may acquire the security event and queuing information of the intersection.

The safety event may be an event that causes a slow traffic of a vehicle on a lane, such as a pedestrian red light running event, a motor vehicle red light running event, a lane construction event, and the like. The queuing information may be information of a vehicle queuing passage on each lane.

Generally, safety events and queuing information can be generated based on intersection lane information and intersection map information, and real-time acquisition and updating can be achieved. Under the condition that the vehicle-mounted terminal (such as a mobile phone, a vehicle central control, a vehicle-mounted intelligent rearview mirror and the like) supports high-precision positioning and high-precision image acquisition, intersection lane information can be acquired through the vehicle-mounted terminal. However, this method has a high hardware requirement for the vehicle-mounted terminal and has low popularity. In order to reduce the popularization cost, the intelligent hardware can be also arranged on the road side to collect the information of the road way. Thus, the vehicle-mounted terminal is not required to support high-precision positioning, and hardware such as a camera, an OBU (On Board Unit) and the like is not required to be mounted On a vehicle, so that the vehicle-mounted terminal can be applied to various vehicle types.

Step 103, generating recommended lane information based on the driving path information, the security event and the queuing information.

In this embodiment, the execution subject may generate the recommended lane information based on the travel path information, the security event, and the queuing information.

In general, the number of available lanes at an intersection can be determined based on travel path information. Based on the safety event and queuing information, a lane with relatively short traffic time in the available lanes can be determined and then used as a recommended lane to be pushed to the vehicle-mounted terminal.

And 104, outputting recommended lane information.

In this embodiment, the execution subject may output recommended lane information.

Usually, recommended lane information is pushed to the in-vehicle terminal. The vehicle-mounted terminal can display the recommended lane by popup or broadcast the recommended lane by voice so as to prompt a driver of the vehicle in real time.

According to the lane recommendation method provided by the embodiment of the invention, when a user enters an intersection or leaves the intersection, lanes can be recommended according to the security event and queuing information of the intersection, so that traffic jam can be relieved, and traffic efficiency is improved.

With continued reference to fig. 2, aflow 200 of yet another embodiment of a lane recommendation method according to the present disclosure is shown. The lane recommendation method comprises the following steps:

step 201, obtaining driving path information of a vehicle in response to the vehicle driving into or out of an intersection.

Step 202, acquiring security events and queuing information of an intersection.

In this embodiment, the specific operations ofsteps 201 to 202 are described in detail insteps 101 to 102 in the embodiment shown in fig. 1, and are not described herein.

Step 203, determining the driving intention of the vehicle at the intersection based on the driving path information.

In the present embodiment, the execution subject of the lane recommendation method may determine the travel intention of the vehicle at the intersection based on the travel path information. Wherein the driving intention may characterize whether the vehicle is driving into or out of the intersection.

If the driving intention characterizes the vehicle driving into or out of the intersection, an available lane is determined based on the safety event,step 204.

In this embodiment, if the driving intention characterizes the entrance or exit of the vehicle, the executing body may determine the available lane based on the security event.

In general, all lanes corresponding to a traveling direction may be determined based on a traveling intention. An unavailable lane may be determined based on the security event. And filtering unavailable lanes from lanes corresponding to the driving direction, and obtaining available lanes corresponding to the driving direction.

A recommended lane is determined from the available lanes based on the lane queuing information,step 205.

In this embodiment, the execution subject may determine the recommended lane from the available lanes based on the lane queuing information.

In general, the traffic time of each lane may be estimated based on the lane queuing information, and the recommended lane may be determined based on the traffic time of each lane. Wherein the transit time of the recommended lane is relatively short.

And 206, outputting recommended lane information.

In this embodiment, the specific operation ofstep 206 is described in detail instep 104 in the embodiment shown in fig. 1, and will not be described herein.

As can be seen from fig. 2, compared with the embodiment corresponding to fig. 1, theflow 200 of the lane recommendation method in this embodiment highlights the lane recommendation step. Therefore, according to the scheme described in the embodiment, unavailable lanes are filtered according to the security event, lanes with relatively short traffic time are recommended according to the queuing information, and therefore traffic efficiency is further improved.

With further reference to fig. 3, aflow 300 of yet another embodiment of a lane recommendation method according to the present disclosure is shown. The lane recommendation method comprises the following steps:

step 301, obtaining driving path information of a vehicle in response to the vehicle driving into or out of an intersection.

Step 302, acquiring security events and queuing information of an intersection.

Step 303, determining the driving intention of the vehicle at the intersection based on the driving path information.

In this embodiment, the specific operations ofsteps 301 to 303 are described in detail insteps 201 to 203 in the embodiment shown in fig. 2, and are not described herein.

Step 304, it is determined whether the driving intent characterizes the vehicle driving into or out of the intersection.

In the present embodiment, the execution subject of the lane recommendation method may determine whether the driving intention characterizes the vehicle driving in or out of the intersection. If the entrance or exit of the vehicle is characterized, executingstep 305; and otherwise, ending.

Step 305 determines whether the distance between the vehicle and the intersection is within a preset distance range.

In this embodiment, if the driving intention indicates that the vehicle is driving into or out of the intersection, the executing body may determine whether the distance between the vehicle and the intersection is within a preset distance range. If the distance is within the preset distance range, executingstep 306; and otherwise, ending. The distance between the vehicle and the intersection is within a preset distance range, and the fact that the vehicle is about to enter the intersection or leave the intersection is indicated.

Generally, when it is checked that the GPS (Global Positioning System ) of the vehicle reaches the circle with the radius ranging from 150m to 350m at the cloud control intersection, the step-by-step judgment can be performed by using the related intersection where the vehicle is located, lane information, map navigation data, and the like.

Instep 305, it is determined whether the vehicle speed of the vehicle is greater than a preset vehicle speed.

In this embodiment, if the distance is within the preset distance range, the executing body may determine whether the vehicle speed is greater than the preset vehicle speed (e.g. 20 KM/H). If the vehicle speed is greater than the preset vehicle speed, executingstep 306; and otherwise, ending. The speed of the vehicle is greater than the preset speed, and the vehicle is not braked by traffic lights and other events when driving into or out of the intersection.

Step 306, matching the inlet and outlet directions of the intersection and the direction of the vehicle.

In this embodiment, if the vehicle speed is greater than the preset vehicle speed, the execution body may match the direction of the entrance and the exit of the intersection with the direction of the vehicle.

In general, the heading angle of the intelligent rearview mirror can be matched with the direction of an entrance and an exit of an intersection. Meanwhile, if the vehicle is in a cruising state, determining the vehicle orientation by using the acquaintance road mode data; if the vehicle is in a navigation state, the navigation data of the electronic map can be utilized to determine the vehicle orientation.

Step 307, determining the number of lanes corresponding to the entrance/exit direction of the vehicle.

In the present embodiment, the execution body may determine the number of lanes corresponding to the direction of the entrance and exit in correspondence with the direction of the vehicle. The lane corresponding to the entrance/exit direction in which the vehicle is oriented is the lane corresponding to the traveling direction of the vehicle.

Step 308, the number of lanes in which the security event occurred is determined.

In this embodiment, the execution subject may determine the number of lanes in which the security event occurs. Wherein the lane in which the security event occurs is an unavailable lane.

Step 309, calculating the difference between the number of lanes corresponding to the exit and entrance directions of the vehicle, and the number of lanes where the safety event occurs, to obtain the number of available lanes.

In this embodiment, the executing body may calculate a difference between the number of lanes corresponding to the direction of the entrance and exit in which the direction of the vehicle is identical and the number of lanes in which the safety event occurs, to obtain the number of available lanes. And filtering unavailable lanes from lanes corresponding to the driving direction to obtain available lanes.

Instep 310, it is determined whether the number of available tracks is greater than 1.

In this embodiment, the execution body may determine whether the number of available tracks is greater than 1. If the number is greater than 1,step 311 is executed; and otherwise, ending.

Step 311, determining whether the difference between the longest queuing length and the shortest queuing length of the available tracks is greater than a preset length threshold.

In this embodiment, if the number of available tracks is greater than 1, the executing body may determine whether the difference between the longest queuing length and the shortest queuing length of the available tracks is greater than a preset length threshold (e.g. 20 m). If the length is greater than the preset length threshold,step 312 is performed; and otherwise, ending. The difference value between the longest queuing length and the shortest queuing length of the lanes is larger than a preset length threshold value, which indicates that the traffic time difference of different lanes is relatively larger.

Atstep 312, it is determined whether the queuing length delay is greater than a preset time threshold.

In this embodiment, if the difference is greater than the preset length threshold, the executing entity may determine whether the queuing length delay is greater than a preset time threshold (e.g. 1 s). If not, executingstep 313; and otherwise, ending. Wherein the queuing length delay is not greater than the preset time threshold, which indicates that the calculation accuracy of the queuing length delay is relatively high.

And step 313, taking the available lane corresponding to the shortest queuing length as a recommended lane.

In this embodiment, if the difference is greater than the preset length threshold and the queuing length delay is not greater than the preset time threshold, the execution body may use the available lane corresponding to the shortest queuing length as the recommended lane.

Typically, the number of available lanes is greater than 1, then the difference between the longest queue length and the shortest queue length needs to be satisfied to be greater than 20m, and the latest queue length delay is less than or equal to 1s. If the traffic line is satisfied, selecting a lane with the shortest queuing length for issuing; if not, calculating every second until the requirement or the driving-out distance and the vehicle speed requirement are met.

And step 314, outputting recommended lane information.

In this embodiment, the specific operation ofstep 314 is described in detail instep 206 in the embodiment shown in fig. 2, and will not be described herein.

As can be seen from fig. 3, theflow 300 of the lane recommendation method in the present embodiment highlights the lane recommendation step compared to the corresponding embodiment of fig. 2. Therefore, according to the scheme described in the embodiment, when the vehicle arrives at the cloud control intersection within the preset distance range, trigger judgment is started, and judgment is gradually performed by using the related intersection where the vehicle is located, the lane information and the map navigation data, so that the optimal lane is recommended.

With further reference to fig. 4, a link diagram of a lane recommendation method according to the present disclosure is shown. As shown in fig. 4, the link of road side perception combined with cloud distribution is adopted, and only very lightweight hardware support is needed, so that information can be received through any intelligent vehicle-mounted terminal such as a mobile phone, a vehicle central control and a vehicle-mounted intelligent rearview mirror. The intelligent hardware such as cameras and radars are arranged on the side of the road to collect the lane information of the road junction, and the intelligent hardware is combined with a high-precision map of the road junction. And (3) deploying a core sensing program on the RSCU (Roadside Computing Unit, a road side computing unit) to perform real-time data processing, sensing and outputting security events and queuing information of the intersection, and transmitting the security events and queuing information to the cloud in real time. In addition, the vehicle-mounted terminal reports the travel path of the vehicle through V2X (vehicle to everything, vehicle-to-outside information exchange) or SDK (Software Development Kit ). Based on the information, the cloud end recommends an optimal driving route for the vehicle through the intelligent scheduling system.

With further reference to fig. 5, one scenario diagram illustrating a lane recommendation method in which embodiments of the present disclosure may be implemented is shown. As shown in fig. 5, the vehicle is in a cruising state, the vehicle-mounted terminal turns on the device, and path information is acquired through a acquaintance road mode. When the GPS of the vehicle reaches the cloud control intersection within a circle with the radius range of 150-350 m and the vehicle speed is above 20KM/H, starting triggering judgment, and gradually judging by utilizing the related intersection, lane information and map navigation data of the vehicle. Specifically, the heading angle of the intelligent rearview mirror is utilized to match the inlet direction, and meanwhile, the direction of the vehicle is determined by utilizing the acquaintance road mode data. Inquiring whether the lane in the intended driving direction is more than one, if so, ending the lane suggestion in front of the intersection; if the number of the lanes is more than one, the difference between the longest queuing length and the shortest queuing length is required to be met and is more than 20m, the delay of the latest queuing length is not more than 1s, and if the number of the lanes is met, the lane with the shortest queuing length is selected to be issued; if not, calculating every second until the requirement or the driving-out distance and the vehicle speed requirement are met. And finally, after receiving the message, the front end of the intelligent rearview mirror displays a card prompt and a voice prompt to remind a driver to drive an optimal lane.

With further reference to fig. 6, yet another scenario diagram is shown in which a lane recommendation method of an embodiment of the present disclosure may be implemented. As shown in fig. 6, the vehicle is in a navigation state, the vehicle-mounted terminal turns on the device, turns on the map, starts navigation, and obtains path information through the electronic map. When the GPS of the vehicle reaches the cloud control intersection within a circle with the radius range of 150-350 m and the vehicle speed is above 20KM/H, starting triggering judgment, and gradually judging by utilizing the related intersection, lane information and map navigation data of the vehicle. Specifically, the heading angle of the intelligent rearview mirror is utilized to match the inlet direction, and meanwhile, the electronic map is utilized to determine the vehicle orientation. Inquiring whether the lane in the intended driving direction is more than one, if so, ending the lane suggestion in front of the intersection; if the number of the lanes is more than one, the difference between the longest queuing length and the shortest queuing length is required to be met and is more than 20m, the delay of the latest queuing length is not more than 1s, and if the number of the lanes is met, the lane with the shortest queuing length is selected to be issued; if not, calculating every second until the requirement or the driving-out distance and the vehicle speed requirement are met. And finally, after receiving the message, the front end of the intelligent rearview mirror displays a card prompt and a voice prompt to remind a driver to drive an optimal lane.

With further reference to fig. 7, as an implementation of the method shown in the foregoing figures, the present disclosure provides an embodiment of a lane recommendation apparatus, which corresponds to the method embodiment shown in fig. 1, and which is particularly applicable to various electronic devices.

As shown in fig. 7, thelane recommendation device 700 of the present embodiment may include: afirst acquisition module 701, asecond acquisition module 702, ageneration module 703 and anoutput module 704. Wherein, the first obtainingmodule 701 is configured to obtain driving path information of the vehicle in response to the vehicle driving into or out of the intersection; asecond acquisition module 702 configured to acquire security events and queuing information for an intersection; ageneration module 703 configured to generate recommended lane information based on the travel path information, the security event, and the queuing information; theoutput module 704 is configured to output recommended lane information.

In the present embodiment, in the lane recommendation device 700: the specific processing of thefirst acquisition module 701, thesecond acquisition module 702, thegeneration module 703 and theoutput module 704 and the technical effects thereof may refer to the description ofsteps 101 to 104 in the corresponding embodiment of fig. 1, and are not repeated herein.

In some optional implementations of the present embodiment, thefirst acquisition module 701 is further configured to: if the vehicle is in a cruising state, acquiring historical driving path information of the vehicle passing through the intersection; and if the vehicle is in a navigation state, acquiring navigation path information of the vehicle.

In some alternative implementations of the present embodiment, thegenerating module 703 includes: a first determination submodule configured to determine a travel intention of the vehicle at the intersection based on the travel path information; a second determination sub-module configured to determine an available lane based on the security event if the driving intent characterizes a vehicle driving in or out of the intersection; a third determination submodule configured to determine a recommended lane from the available lanes based on the lane queuing information.

In some optional implementations of the present embodiment, thegenerating module 703 further includes a matching submodule further configured to: determining the distance between the vehicle and the intersection; if the distance is within the preset distance range, determining the speed of the vehicle; and if the vehicle speed is greater than the preset vehicle speed, matching the inlet and outlet directions of the crossing and the direction of the vehicle.

In some optional implementations of the present embodiment, the second determination submodule is further configured to: determining the number of lanes corresponding to the direction of the entrance and exit consistent with the direction of the vehicle; determining the number of lanes in which a security event occurs; and calculating the difference value of the number of lanes corresponding to the direction of the entrance and exit consistent with the direction of the vehicle and the number of lanes with the safety event, and obtaining the number of available lanes.

In some optional implementations of this embodiment, the third determination submodule is further configured to: if the number of the available lanes is greater than 1, determining a difference value between the longest queuing length and the shortest queuing length of the available lanes and queuing length delay; and if the difference value is larger than the preset length threshold value and the queuing length delay is not larger than the preset time threshold value, taking the available lane corresponding to the shortest queuing length as the recommended lane.

In some alternative implementations of the present embodiment, the security event and queuing information are generated based on intersection lane information collected at an intersection deployed roadside device and intersection map information.

In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 8 illustrates a schematic block diagram of an exampleelectronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, theapparatus 800 includes acomputing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from astorage unit 808 into a Random Access Memory (RAM) 803. In theRAM 803, various programs and data required for the operation of thedevice 800 can also be stored. Thecomputing unit 801, theROM 802, and theRAM 803 are connected to each other by abus 804. An input/output (I/O)interface 805 is also connected to thebus 804.

Various components indevice 800 are connected to I/O interface 805, including: aninput unit 806 such as a keyboard, mouse, etc.; anoutput unit 807 such as various types of displays, speakers, and the like; astorage unit 808, such as a magnetic disk, optical disk, etc.; and acommunication unit 809, such as a network card, modem, wireless communication transceiver, or the like. Thecommunication unit 809 allows thedevice 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Thecomputing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples ofcomputing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. Thecalculation unit 801 performs the respective methods and processes described above, such as a lane recommendation method. For example, in some embodiments, the lane recommendation method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as thestorage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed ontodevice 800 viaROM 802 and/orcommunication unit 809. When the computer program is loaded into theRAM 803 and executed by thecomputing unit 801, one or more steps of the lane recommendation method described above may be performed. Alternatively, in other embodiments, thecomputing unit 801 may be configured to perform the lane recommendation method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions provided by the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (17)

Translated fromChinese

1.一种车道推荐方法，包括：1. A lane recommendation method, comprising:响应于车辆驶入或驶出路口，获取所述车辆的行驶路径信息；Responsive to the vehicle entering or exiting the intersection, acquiring the traveling path information of the vehicle;获取所述路口的安全事件和排队信息；Obtain security incidents and queuing information at the intersection;基于所述行驶路径信息、所述安全事件和所述排队信息，生成推荐车道信息；generating recommended lane information based on the driving route information, the safety event and the queuing information;输出所述推荐车道信息。Outputting the recommended lane information.2.根据权利要求1所述的方法，其中，所述获取所述车辆的行驶路径信息，包括：2. The method according to claim 1, wherein said obtaining the traveling path information of said vehicle comprises:若所述车辆处于巡航态，获取所述车辆经过所述路口的历史行驶路径信息；If the vehicle is in a cruising state, acquiring historical travel path information of the vehicle passing through the intersection;若所述车辆处于导航态，获取所述车辆的导航路径信息。If the vehicle is in a navigation state, acquiring navigation route information of the vehicle.3.根据权利要求1或2所述的方法，其中，所述基于所述行驶路径信息、所述安全事件和所述排队信息，生成推荐车道信息，包括：3. The method according to claim 1 or 2, wherein said generating recommended lane information based on said driving route information, said safety event and said queuing information comprises:基于所述行驶路径信息确定所述车辆在所述路口的行驶意图；determining the driving intention of the vehicle at the intersection based on the driving route information;若所述行驶意图表征所述车辆进出所述路口，基于所述安全事件确定可用车道；If the driving intention indicates that the vehicle enters or exits the intersection, determining an available lane based on the safety event;基于所述车道排队信息从所述可用车道中确定推荐车道。A recommended lane is determined from the available lanes based on the lane queuing information.4.根据权利要求3所述的方法，其中，在所述基于所述安全事件确定可用车道之前，还包括：4. The method according to claim 3, wherein, before said determining an available lane based on said safety event, further comprising:确定所述车辆与所述路口之间的距离；determining the distance between the vehicle and the intersection;若所述距离在预设距离范围内，确定所述车辆的车速；If the distance is within a preset distance range, determining the speed of the vehicle;若所述车速大于预设车速，匹配所述路口的进出口方向和所述车辆的朝向。If the vehicle speed is greater than the preset vehicle speed, match the direction of the entrance and exit of the intersection with the orientation of the vehicle.5.根据权利要求4所述的方法，其中，所述基于所述安全事件确定可用车道，包括：5. The method according to claim 4, wherein said determining an available lane based on said safety event comprises:确定与所述车辆的朝向一致的进出口方向对应的车道数量；Determining the number of lanes corresponding to the direction of entrance and exit consistent with the orientation of the vehicle;确定发生所述安全事件的车道数量；determining the number of lanes on which the safety incident occurred;计算与所述车辆的朝向一致的进出口方向对应的车道数量和发生所述安全事件的车道数量的差值，得到可用车道数量。Calculate the difference between the number of lanes corresponding to the direction of entrance and exit that is consistent with the direction of the vehicle and the number of lanes where the safety incident occurs, to obtain the number of available lanes.6.根据权利要求5所述的方法，其中，所述基于所述车道排队信息从所述可用车道中确定推荐车道，包括：6. The method according to claim 5, wherein said determining a recommended lane from said available lanes based on said lane queuing information comprises:若所述可用车道数量大于1，确定所述可用车道的最长排队长度与最短排队长度的差值和排队长度延迟；If the number of available lanes is greater than 1, determine the difference between the longest queue length and the shortest queue length of the available lanes and the queue length delay;若所述差值大于预设长度阈值，且所述排队长度延迟不大于预设时间阈值，将最短排队长度对应的可用车道作为推荐车道。If the difference is greater than the preset length threshold and the queue length delay is not greater than the preset time threshold, the available lane corresponding to the shortest queue length is used as the recommended lane.7.根据权利要求1-6中任一项所述的方法，其中，所述安全事件和所述排队信息是基于路口车道信息和路口地图信息生成的，所述路口车道信息是在所述路口部署的路侧设备采集的。7. The method according to any one of claims 1-6, wherein the safety event and the queuing information are generated based on intersection lane information and intersection map information, and the intersection lane information is generated at the intersection Collected by deployed roadside equipment.8.一种车道推荐装置，包括：8. A lane recommendation device, comprising:第一获取模块，被配置成响应于车辆驶入或驶出路口，获取所述车辆的行驶路径信息；A first acquisition module configured to acquire the driving path information of the vehicle in response to the vehicle entering or exiting the intersection;第二获取模块，被配置成获取所述路口的安全事件和排队信息；The second obtaining module is configured to obtain safety events and queuing information of the intersection;生成模块，被配置成基于所述行驶路径信息、所述安全事件和所述排队信息，生成推荐车道信息；a generation module configured to generate recommended lane information based on the driving route information, the safety event and the queuing information;输出模块，被配置成输出所述推荐车道信息。An output module configured to output the recommended lane information.9.根据权利要求8所述的装置，其中，所述第一获取模块进一步被配置成：9. The apparatus of claim 8, wherein the first acquisition module is further configured to:若所述车辆处于巡航态，获取所述车辆经过所述路口的历史行驶路径信息；If the vehicle is in a cruising state, acquiring historical travel path information of the vehicle passing through the intersection;若所述车辆处于导航态，获取所述车辆的导航路径信息。If the vehicle is in a navigation state, acquiring navigation route information of the vehicle.10.根据权利要求8或9所述的装置，其中，所述生成模块包括：10. The device according to claim 8 or 9, wherein the generating module comprises:第一确定子模块，被配置成基于所述行驶路径信息确定所述车辆在所述路口的行驶意图；A first determining submodule configured to determine the driving intention of the vehicle at the intersection based on the driving route information;第二确定子模块，被配置成若所述行驶意图表征所述车辆进出所述路口，基于所述安全事件确定可用车道；The second determination submodule is configured to determine an available lane based on the safety event if the driving intention indicates that the vehicle enters or exits the intersection;第三确定子模块，被配置成基于所述车道排队信息从所述可用车道中确定推荐车道。The third determining submodule is configured to determine a recommended lane from the available lanes based on the lane queuing information.11.根据权利要求10所述的装置，其中，所述生成模块还包括匹配子模块，所述匹配子模块进一步被配置成：11. The apparatus according to claim 10, wherein the generating module further comprises a matching submodule, the matching submodule is further configured to:确定所述车辆与所述路口之间的距离；determining the distance between the vehicle and the intersection;若所述距离在预设距离范围内，确定所述车辆的车速；If the distance is within a preset distance range, determining the speed of the vehicle;若所述车速大于预设车速，匹配所述路口的进出口方向和所述车辆的朝向。If the vehicle speed is greater than the preset vehicle speed, match the direction of the entrance and exit of the intersection with the orientation of the vehicle.12.根据权利要求11所述的装置，其中，所述第二确定子模块进一步被配置成：12. The apparatus according to claim 11, wherein the second determining submodule is further configured to:确定与所述车辆的朝向一致的进出口方向对应的车道数量；Determining the number of lanes corresponding to the direction of entrance and exit consistent with the orientation of the vehicle;确定发生所述安全事件的车道数量；determining the number of lanes on which the safety incident occurred;计算与所述车辆的朝向一致的进出口方向对应的车道数量和发生所述安全事件的车道数量的差值，得到可用车道数量。Calculate the difference between the number of lanes corresponding to the direction of entrance and exit that is consistent with the direction of the vehicle and the number of lanes where the safety incident occurs, to obtain the number of available lanes.13.根据权利要求12所述的装置，其中，所述第三确定子模块进一步被配置成：13. The apparatus according to claim 12, wherein the third determining submodule is further configured to:若所述可用车道数量大于1，确定所述可用车道的最长排队长度与最短排队长度的差值和排队长度延迟；If the number of available lanes is greater than 1, determine the difference between the longest queue length and the shortest queue length of the available lanes and the queue length delay;若所述差值大于预设长度阈值，且所述排队长度延迟不大于预设时间阈值，将最短排队长度对应的可用车道作为推荐车道。If the difference is greater than the preset length threshold and the queue length delay is not greater than the preset time threshold, the available lane corresponding to the shortest queue length is used as the recommended lane.14.根据权利要求8-13中任一项所述的装置，其中，所述安全事件和所述排队信息是基于路口车道信息和路口地图信息生成的，所述路口车道信息是在所述路口部署的路侧设备采集的。14. The device according to any one of claims 8-13, wherein the safety event and the queuing information are generated based on intersection lane information and intersection map information, and the intersection lane information is generated at the intersection Collected by deployed roadside equipment.15.一种电子设备，包括：15. An electronic device comprising:至少一个处理器；以及at least one processor; and与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7中任一项所述的方法。The memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform any one of claims 1-7. Methods.16.一种存储有计算机指令的非瞬时计算机可读存储介质，所述计算机指令用于使所述计算机执行权利要求1-7中任一项所述的方法。16. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the method according to any one of claims 1-7.17.一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-7中任一项所述的方法。17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.

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