Method, system and equipment for automatic car to pass through toll station, and storage medium

Abstract

The invention provides a method, system and equipment for an automatic car to pass through a toll station, and a storage medium. The method comprises the following steps that: when a toll station is in the presence in a way ahead the automatic car, the automatic car sends station passing information to the toll station, wherein the station passing information at least comprises the identificationnumber of the automatic car, highway driving information and a current position; the toll station collects the queuing data of each current toll gate, and according to the queuing data, one toll gateis selected to serve as the target toll gate of the automatic car; the toll station establishes a virtual guidance lane for the current position of the automatic car to the target toll gate of the automatic car, and sends the virtual guidance lane to the automatic car; and after the automatic car is driven through the target toll gate along the virtual guidance lane, according to the highway driving information, a charging money amount is obtained, and the charging money amount is deducted from an account corresponding to the identification number of the automatic car. By use of the method, aphenomenon that the automatic driving car can safely pass through the toll station under a situation of no entity lanes can be guaranteed, and the passing speed of the automatic car and the humanizedexperience of a rider can be improved.

Description

technical field

[0001] The invention relates to the field of path planning, in particular to a method, system, device and storage medium for an automatic car passing through a toll station. Background technique

[0002] At present, self-driving cars facing L3 and L4 levels cannot go up and down the high speed by themselves. The main reason is that the lane lines at the intersection of the highway are unclear and difficult to guide autonomously according to the lane lines. In a prior art, the external environment recognition device recognizes Whether the lane is widened because it indicates whether there is a toll booth and with the assistance of the positioning map, the travel route is planned through the automatic driving controller to pass the toll booth; but because the toll booth may be remodeled, the ETC channel and the manual toll channel may be interchanged or Even the temporary closure of certain ETC channels will prevent self-driving vehicles from passing through th...

Examples

Embodiment Construction

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0042] figure 1 It is a flow chart of the method for an automatic car passing through a toll booth in the present invention. Such as figure 1 As shown, the embodiment of the present invention provides a kind of method that automatic car passes toll booth, comprises the following steps:

[0043] S110, judging whether there is a toll booth on the road ahead of the automatic vehicle, if so, then execute step S120; if not, ...

technical field

[0001] The invention relates to the field of path planning, in particular to a method, system, device and storage medium for an automatic car passing through a toll station. Background technique

[0002] At present, self-driving cars facing L3 and L4 levels cannot go up and down the high speed by themselves. The main reason is that the lane lines at the intersection of the highway are unclear and difficult to guide autonomously according to the lane lines. In a prior art, the external environment recognition device recognizes Whether the lane is widened because it indicates whether there is a toll booth and with the assistance of the positioning map, the travel route is planned through the automatic driving controller to pass the toll booth; but because the toll booth may be remodeled, the ETC channel and the manual toll channel may be interchanged or Even the temporary closure of certain ETC channels will prevent self-driving vehicles from passing through th...

Examples

Embodiment Construction

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0042] figure 1 It is a flow chart of the method for an automatic car passing through a toll booth in the present invention. Such as figure 1 As shown, the embodiment of the present invention provides a kind of method that automatic car passes toll booth, comprises the following steps:

[0043] S110, judging whether there is a toll booth on the road ahead of the automatic vehicle, if so, then execute step S120; if not, ...

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