Lane determination method and system, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a lane determination method and system, electronic equipment and a storage medium. The lane determination method comprises the following steps: a terminal device sends a data acquisition request to a roadside device and a sensing device, wherein the data acquisition request is used for requesting lane label data and tunnel portal traffic flow data; the roadside equipment responds to the data acquisition request and returns the lane mark number data to the terminal equipment; the sensing device responds to the data acquisition request and returns tunnel portal traffic flow data to the terminal device; the terminal equipment determines traffic flow data of each lane in the tunnel according to the tunnel portal traffic flow data and the lane mark number data; and the terminal device determines a target lane according to the traffic flow data of each lane in the tunnel. According to the scheme, the safety of tunnel driving is guaranteed, and the driving efficiency of the vehicle is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of computer technology, and in particular, to a lane determination method, system, electronic device, and storage medium. Background Art

[0002] Highway tunnels are passages for automobile transportation. Highway tunnels are prone to traffic congestion in the following situations: tunnels usually have certain speed limits for safety reasons. When vehicles travel at a lower speed in the tunnel, the traffic flow will also be affected, leading to congestion; some drivers are not familiar with the rules and characteristics of highway tunnels, such as not knowing how to use lights or traffic signs in the tunnel, which may cause traffic chaos and congestion; improper driving behaviors such as frequent lane changes and sudden braking may cause congestion. In addition, since lane changes are not allowed in tunnels in most cases, when the above situations occur, once the car enters the congested lane of the tunnel, the driving efficiency will be greatly reduced.

[0003] The existing technology usually sets warning lights at the entrance of the tunnel to indicate which lanes are impassable and which are passable, so as to remind drivers to drive into the passable tunnel. However, due to the poor network in the tunnel, the information used to control the change of the warning lights is not updated in time, which easily leads to the risk of drivers mistakenly entering the congested lane, and it is difficult to effectively improve the driving efficiency of vehicles in the tunnel.

[0004] Therefore, how to improve the driving efficiency of vehicles in tunnels has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a lane determination method, device, electronic device and storage medium to at least partially solve the above-mentioned problem.

[0006] According to a first aspect of an embodiment of the present invention, a lane determination method is provided, comprising a terminal device sending a data acquisition request to a roadside device and a perception device, the data acquisition request being used to request lane number data and tunnel entrance traffic flow data; the roadside device responds to the data acquisition request and returns the lane number data to the terminal device; the perception device responds to the data acquisition request and returns the tunnel entrance traffic flow data to the terminal device; the terminal device determines the traffic flow data of each lane in the tunnel based on the tunnel entrance traffic flow data and the lane number data; the terminal device determines the target lane based on the traffic flow data of each lane in the tunnel.

[0007] In one implementation, the terminal device sends a data acquisition request to the roadside device and the perception device, including determining whether the distance between the terminal device and the roadside device, and between the terminal device and the perception device is within a preset distance threshold; if the distance is within the preset distance threshold, the terminal device sends a data acquisition request to the roadside device and the perception device.

[0008] In another implementation, the perception device returns the tunnel entrance traffic flow data to the terminal device in response to the data acquisition request, including the perception device acquiring the tunnel entrance vehicle data and the tunnel exit vehicle data in response to the data acquisition request; the perception device generates the tunnel entrance traffic flow data based on the tunnel entrance vehicle data and the tunnel exit vehicle data; the perception device returns the tunnel entrance traffic flow data to the terminal device.

[0009] In another implementation, the terminal device determines the traffic flow data of each lane in the tunnel based on the tunnel entrance traffic flow data and the lane number data, including the terminal device classifying the tunnel entrance traffic flow data according to the lane number data to obtain the traffic flow data of each lane in the tunnel.

[0010] In another implementation, the terminal device determines the target lane based on the traffic flow data of each lane in the tunnel, including the terminal device judging the data volume of the traffic flow data of each lane in the tunnel, and determining the lane with the smallest data volume in the traffic flow data of each lane in the tunnel as the target lane.

[0011] In another implementation, the lane determination method also includes the terminal device determining whether the terminal device is in the target lane based on the vehicle positioning data; if the terminal device is not in the target lane, the roadside device generates lane change guidance information based on the vehicle positioning data of the terminal device and the distance data between the terminal device and the tunnel entrance to guide the terminal device to change lanes to the target lane.

[0012] In another implementation, the lane determination method further includes if the terminal device is in the target lane, the terminal device maintains the current lane.

[0013] According to the second aspect of the embodiment of the present invention, a lane determination system is provided, including a roadside device, a sensing device and a terminal device, wherein the roadside device and the terminal device are connected in communication, and the terminal device and the sensing device are connected in communication. The terminal device sends a data acquisition request to the roadside device and the sensing device, and the data acquisition request is used to request lane number data and tunnel entrance traffic flow data; the roadside device responds to the data acquisition request and returns the lane number data to the terminal device; the sensing device responds to the data acquisition request and returns the tunnel entrance traffic flow data to the terminal device; the terminal device determines the traffic flow data of each lane in the tunnel according to the tunnel entrance traffic flow data and the lane number data; the terminal device determines the target lane according to the traffic flow data of each lane in the tunnel.

[0014] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, comprising a processor and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the steps executed by the method of the first aspect.

[0015] According to a fourth aspect of an embodiment of the present invention, there is provided a computer storage medium on which a computer program is stored. When the program is executed by a processor, the method of the first aspect described above is implemented.

[0016] In the scheme of the embodiment of the present invention, the terminal device determines the traffic flow data of each lane in the tunnel through the lane markings sent by the roadside device and the tunnel entrance traffic flow data sent by the sensing device, so that the driver of the terminal device can understand the traffic conditions in the tunnel in advance. The terminal device selects a suitable lane as the target lane for passage before entering the tunnel based on the traffic flow data of each lane in the tunnel, thereby avoiding congestion of the terminal device in the tunnel, ensuring the safety of tunnel driving, and improving the driving efficiency of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 The following is a flowchart of the lane determination method according to an embodiment of the present invention.

[0019] Figure 2 For Figure 1 A structural block diagram of a lane determination system corresponding to an embodiment.

[0020] Figure 3 FIG. 4 is a schematic structural diagram of an electronic device according to another embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0022] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0023] In order to simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one or more of the parts with the same structure or function are schematically drawn or only one or more of them are marked.

[0024] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in the field based on the embodiments in the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0025] The specific implementation of the embodiment of the present invention is further described below in conjunction with the accompanying drawings of the embodiment of the present invention.

[0026] See also Figure 1 The following is a flowchart of the lane determination method according to an embodiment of the present invention.

[0027] As shown in the figure, this embodiment mainly includes the following steps:

[0028] Step S110: The terminal device sends a data acquisition request to the roadside device and the sensing device. The data acquisition request is used to request lane number data and tunnel entrance traffic flow data.

[0029] It should be understood that the terminal device is a terminal device with a positioning function, such as a vehicle-side ECU, a vehicle-mounted navigation device, a mobile phone, a navigator, etc.

[0030] It should also be understood that roadside equipment (RSE) refers to equipment installed beside the road or on road facilities for monitoring, control, communication and providing services, such as vehicle detectors, traffic flow monitors, etc. In the embodiment of this solution, the roadside equipment is used to collect lane information of the vehicle and monitor the traffic conditions on the road.

[0031] It should also be understood that perception devices, also known as sensor devices, such as cameras, radars, LiDAR (laser radar), ultrasonic sensors, etc., are devices used to perceive the environment and collect data. These devices can be installed in vehicles, road infrastructure or other locations to detect and capture information about the surrounding environment. Perception devices collect a large amount of data and provide it to vehicle and traffic management systems to achieve functions such as vehicle perception and automated driving.

[0032] It should also be understood that the roadside device and the perception device can be installed at the same location or at different locations. The terminal device and the roadside device, and the terminal device and the perception device are connected in communication to achieve V2X communication.

[0033] Exemplarily, the roadside equipment RSU is set next to the lane below the tunnel entrance, and the camera is set above the tunnel entrance. The vehicle-side ECU sends a data acquisition request to the roadside equipment RSU and the camera, and the data acquisition request is used to request lane marking data and tunnel entrance traffic flow data.

[0034] As another example, the roadside equipment RSU and the camera are both set above the tunnel entrance, and the vehicle-side ECU sends a data acquisition request to the roadside equipment RSU and the camera, and the data acquisition request is used to request lane marking data and tunnel entrance traffic flow data.

[0035] Step S120: The roadside device returns the lane number data to the terminal device in response to the data acquisition request.

[0036] It should be understood that the lane marking data indicates the number of lanes in the road section where the terminal device is currently located, as well as the sequence number of each lane. For example, the road section where the terminal device is currently located has four lanes in total, and the sequence numbers of the four lanes are the first lane, the second lane, the third lane, and the fourth lane respectively.

[0037] It should also be understood that there can be multiple roadside equipment, which can be determined based on the number of lanes.

[0038] For example, the road section where the terminal device is currently located has two lanes, namely the first lane and the second lane, and the roadside device records two sets of lane labels: "D1" and "D2". The roadside device returns the two sets of lane label data to the terminal device.

[0039] Step S130: The sensing device returns the tunnel entrance traffic flow data to the terminal device in response to the data acquisition request.

[0040] It should be understood that there are multiple sensing devices, which are installed at the tunnel exit and tunnel entrance respectively, so the traffic flow at the tunnel entrance can be detected and the traffic flow data at the tunnel entrance can be obtained.

[0041] Exemplarily, the tunnel entrance camera monitors the traffic flow at the tunnel entrance, and the tunnel exit camera monitors the traffic flow at the tunnel exit.

[0042] Step S140: The terminal device determines the traffic flow data of each lane in the tunnel according to the traffic flow data at the tunnel entrance and the lane number data.

[0043] It should be understood that the tunnel entrance traffic flow data is the total traffic flow data of vehicles entering and exiting the tunnel over a period of time, so it is necessary to combine the lane number data to determine the traffic flow data of each lane in the tunnel.

[0044] Step S150: The terminal device determines the target lane according to the traffic flow data of each lane in the tunnel.

[0045] It should be understood that the traffic volume of each lane in the tunnel is different over a period of time, and the traffic volume data of each lane obtained is also different. The target lane is determined based on the traffic volume data of each lane in the tunnel.

[0046] It should also be understood that the target lane is the lane that the vehicle where the vehicle-side ECU is located needs to select before entering the tunnel in order to avoid entering a congested lane or congested section in the tunnel. Entering the tunnel from the target lane can avoid congestion in the tunnel and pass through the tunnel quickly.

[0047] In the scheme of the embodiment of the present invention, the terminal device determines the traffic flow data of each lane in the tunnel through the lane markings sent by the roadside device and the tunnel entrance traffic flow data sent by the sensing device, so that the driver of the terminal device can understand the traffic conditions in the tunnel in advance. The terminal device selects a suitable lane as the target lane for passage before entering the tunnel based on the traffic flow data of each lane in the tunnel, thereby avoiding congestion of the terminal device in the tunnel, ensuring the safety of tunnel driving, and improving the driving efficiency of the vehicle.

[0048] In one implementation, the terminal device sends a data acquisition request to the roadside device and the perception device, including determining whether the distance between the terminal device and the roadside device, and between the terminal device and the perception device is within a preset distance threshold; if the distance is within the preset distance threshold, the terminal device sends a data acquisition request to the roadside device and the perception device.

[0049] It should be understood that, on the one hand, in order to ensure that the vehicle where the vehicle-side ECU is located can drive on the target lane in time before entering the tunnel, and on the other hand, in order to avoid unnecessary waste of communication costs, a preset distance threshold is required. Once it is found that the distance between the terminal device and the roadside device, and the terminal device and the sensing device is within the preset distance threshold, the data request can be sent.

[0050] Exemplarily, the roadside equipment RSU is set next to the lane below the tunnel entrance, and the camera is set above the tunnel entrance. According to the vehicle positioning data of the vehicle-side ECU, the positioning data of the roadside equipment RSU, and the positioning data of the camera, it is judged whether the distance between the vehicle-side ECU and the roadside equipment RSU is within the preset distance threshold of 1000m, and whether the distance between the vehicle-side ECU and the camera is within the preset distance threshold of 1000m. If it is judged that the distance between the vehicle-side ECU and the roadside equipment RSU is within the preset distance threshold of 1000m, and the distance between the vehicle-side ECU and the camera is also within the preset distance threshold of 1000m, the vehicle-side ECU sends data acquisition requests to the roadside equipment RSU and the camera respectively.

[0051] As another example, if it is determined that the distance between the vehicle-side ECU and the roadside equipment RSU is within the preset distance threshold of 1000m and the distance between the vehicle-side ECU and the camera is not within the preset distance threshold of 1000m, the vehicle-side ECU discards the data acquisition request.

[0052] By determining whether to send a data acquisition request through a preset distance threshold, it is ensured that the vehicle where the vehicle-side ECU is located can drive on the target lane in time before entering the tunnel, and the communication cost is also reduced.

[0053] In another implementation, the perception device returns the tunnel entrance traffic flow data to the terminal device in response to the data acquisition request, including the perception device acquiring the tunnel entrance vehicle data and the tunnel exit vehicle data in response to the data acquisition request; the perception device generates the tunnel entrance traffic flow data based on the tunnel entrance vehicle data and the tunnel exit vehicle data; the perception device returns the tunnel entrance traffic flow data to the terminal device.

[0054] For example, two cameras or two radars are respectively set at the tunnel entrance and tunnel exit. If the camera or radar at the tunnel entrance detects a total of 35 vehicles entering the tunnel within 5 hours, and the camera or radar at the tunnel exit detects a total of 20 vehicles leaving the tunnel, then the tunnel entrance vehicle data is "35" and the tunnel exit vehicle data is "20". The tunnel entrance traffic flow data is generated based on the tunnel entrance vehicle data and the tunnel exit vehicle data, that is, the tunnel entrance vehicle data is subtracted from the tunnel exit vehicle data to obtain "15", which is the tunnel entrance traffic flow data within 5 hours.

[0055] In another implementation, the terminal device determines the traffic flow data of each lane in the tunnel based on the tunnel entrance traffic flow data and the lane number data, including the terminal device classifying the tunnel entrance traffic flow data according to the lane number data to obtain the traffic flow data of each lane in the tunnel.

[0056] It should be understood that there are multiple lane number data and tunnel entrance traffic flow data. When the multiple lane number data and multiple tunnel entrance traffic flow data are generated, they will be marked with timestamps. The lane number data and tunnel entrance traffic flow data with corresponding relationships can be found according to the timestamps, and then the tunnel entrance traffic flow data can be classified according to the lane number data to obtain the traffic flow data of each lane in the tunnel.

[0057] In another implementation, the terminal device determines the target lane based on the traffic flow data of each lane in the tunnel, including the terminal device judging the data volume of the traffic flow data of each lane in the tunnel, and determining the lane with the smallest data volume in the traffic flow data of each lane in the tunnel as the target lane.

[0058] For example, if the road section where the terminal device is currently located is a three-lane road, within 2 hours, the traffic flow data of the first lane in the tunnel is "10", the traffic flow data of the second lane in the tunnel is "40", and the traffic flow data of the third lane in the tunnel is "28", then the first lane is determined as the target lane.

[0059] In another implementation, the lane determination method also includes the terminal device determining whether the terminal device is in the target lane based on the vehicle positioning data; if the terminal device is not in the target lane, the roadside device generates lane change guidance information based on the vehicle positioning data of the terminal device and the distance data between the terminal device and the tunnel entrance to guide the terminal device to change lanes to the target lane.

[0060] In another implementation, the lane determination method further includes if the terminal device is in the target lane, the terminal device maintains the current lane.

[0061] For example, if the target lane is the third lane, and the vehicle positioning data of the vehicle-side ECU indicates that the vehicle where the vehicle-side ECU is located is currently in the first lane, the roadside equipment at the tunnel entrance obtains the vehicle positioning data of the vehicle-side ECU, monitors the distance data between the vehicle where the vehicle-side ECU is located and the tunnel entrance, and generates lane change guidance information based on the vehicle positioning data of the vehicle-side ECU and the distance data between the vehicle where the vehicle-side ECU is located and the tunnel entrance to guide the terminal device to change lanes to the target lane. If the vehicle where the vehicle-side ECU is located is in the target lane, the vehicle where the vehicle-side ECU is located displays the vehicle position information through the instrument and the central control screen, and prompts the terminal to maintain the current lane through the voice system.

[0062] In another implementation, the lane determination method also includes the terminal device determining whether the terminal device is in the target lane based on the vehicle positioning data; if the terminal device is not in the target lane, the terminal device generating lane change guidance information based on the vehicle positioning data and the positioning data of the roadside device; displaying the lane change guidance information through the central control screen of the terminal device; and broadcasting the lane change guidance information through the voice system.

[0063] Exemplarily, the terminal device determines whether the terminal device is in the target lane based on the vehicle positioning data; if the terminal device is not in the target lane, the terminal device obtains the distance data between the terminal device and the tunnel entrance based on the vehicle positioning data and the positioning data of the roadside device, and then the terminal device generates lane change guidance information based on the vehicle positioning data and the distance data; the lane change guidance information is displayed through the central control screen of the terminal device; and the lane change guidance information is broadcast through the voice system.

[0064] In summary, in the scheme of the embodiment of the present invention, the terminal device determines the traffic flow data of each lane in the tunnel through the lane marking sent by the roadside device and the tunnel entrance traffic flow data sent by the sensing device, so that the driver of the terminal device can understand the traffic conditions in the tunnel in advance. The terminal device selects a suitable lane as the target lane for passage before entering the tunnel based on the traffic flow data of each lane in the tunnel, thereby avoiding congestion of the terminal device in the tunnel, ensuring the safety of tunnel driving, and improving the driving efficiency of the vehicle.

[0065] See also Figure 2 For Figure 1 The structural block diagram of the lane determination system corresponding to the embodiment. Mainly includes:

[0066] Terminal device 201;

[0067] Roadside equipment 202;

[0068] The sensing device 203, the roadside device 202 and the terminal device 201 are communicatively connected, and the terminal device 201 and the sensing device 203 are communicatively connected.

[0069] Among them, the terminal device 201 sends a data acquisition request to the roadside device 202 and the perception device 203, and the data acquisition request is used to request lane number data and tunnel entrance traffic flow data; the roadside device 202 responds to the data acquisition request and returns the lane number data to the terminal device 201; the perception device 203 responds to the data acquisition request and returns the tunnel entrance traffic flow data to the terminal device 201; the terminal device 201 determines the traffic flow data of each lane in the tunnel according to the tunnel entrance traffic flow data and the lane number data; the terminal device 201 determines the target lane according to the traffic flow data of each lane in the tunnel.

[0070] It should be understood that the terminal device 201 is a terminal device 201 with a positioning function, such as a vehicle-side ECU, a vehicle-mounted navigation device, a mobile phone, a navigator, etc.

[0071] It should also be understood that roadside equipment 202 (RSE) refers to equipment installed beside the road or on road facilities for monitoring, control, communication and service provision. For example, vehicle detectors, traffic flow monitors, etc. In the embodiment of this solution, the roadside equipment 202 is used to collect lane information of the vehicle and monitor traffic conditions on the road. The perception device 203 is also called a sensor device, such as: a camera, radar, LiDAR (laser radar), ultrasonic sensor, etc., which is a device for sensing the environment and collecting data. These devices can be installed on vehicles, road infrastructure or other locations to detect and capture information about the surrounding environment.

[0072] It should also be understood that the perception device 203 collects a large amount of data and provides it to the vehicle and traffic management system to realize functions such as vehicle perception and automated driving. The roadside device 202 and the perception device 203 can be installed in the same location or in different locations. The terminal device 201 is connected to the roadside device 202, and the terminal device 201 is connected to the perception device 203 to realize V2X communication.

[0073] In the scheme of the embodiment of the present invention, the terminal device determines the traffic flow data of each lane in the tunnel through the lane markings sent by the roadside device and the tunnel entrance traffic flow data sent by the sensing device, so that the driver of the terminal device can understand the traffic conditions in the tunnel in advance. The terminal device selects a suitable lane as the target lane for passage before entering the tunnel based on the traffic flow data of each lane in the tunnel, thereby avoiding congestion of the terminal device in the tunnel, ensuring the safety of tunnel driving, and improving the driving efficiency of the vehicle.

[0074] The system of this embodiment is used to implement the corresponding methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0075] In addition, the functional implementation of each device in the system of this embodiment can refer to the description of the corresponding parts in the aforementioned method embodiment, and will not be repeated here.

[0076] See also Figure 3 , an electronic device is provided, and a structural block diagram of an electronic device 300 that can be used as a server or client of the present application will now be described, which is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0077] The electronic device 300 may include: a processor (processor) 302 , a communication interface (Communications Interface) 304 , a memory (memory) 306 , and a communication bus 308 .

[0078] The processor 302, the communication interface 304, and the memory 306 communicate with each other via the communication bus 308. The communication interface 304 is used to communicate with other electronic devices or servers.

[0079] The processor 302 is used to execute the program 310, and specifically can execute the relevant steps in the above method embodiment.

[0080] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0081] The processor 302 may be a processor CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0082] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0083] When executed by the processor 302, the program 310 is used to enable the electronic device to perform a lane determination method, including: the terminal device sends a data acquisition request to the roadside device and the perception device, the data acquisition request is used to request lane number data and tunnel entrance traffic flow data; the roadside device responds to the data acquisition request and returns the lane number data to the terminal device; the perception device responds to the data acquisition request and returns the tunnel entrance traffic flow data to the terminal device; the terminal device determines the traffic flow data of each lane in the tunnel according to the tunnel entrance traffic flow data and the lane number data; the terminal device determines the target lane according to the traffic flow data of each lane in the tunnel.

[0084] In one implementation, when the program 310 is executed by the processor 302, it is also used to enable the electronic device to execute: the terminal device sends a data acquisition request to the roadside device and the perception device, including determining whether the distance between the terminal device and the roadside device, and between the terminal device and the perception device is within a preset distance threshold; if the distance is within the preset distance threshold, the terminal device sends a data acquisition request to the roadside device and the perception device.

[0085] In another implementation, when the program 310 is executed by the processor 302, it is also used to enable the electronic device to execute: the sensing device returns the tunnel entrance traffic flow data to the terminal device in response to the data acquisition request, including the sensing device acquiring the tunnel entrance vehicle data and the tunnel exit vehicle data in response to the data acquisition request; the sensing device generates the tunnel entrance traffic flow data based on the tunnel entrance vehicle data and the tunnel exit vehicle data; the sensing device returns the tunnel entrance traffic flow data to the terminal device.

[0086] In another implementation, when the program 310 is executed by the processor 302, it is also used to enable the electronic device to execute: the terminal device determines the traffic flow data of each lane in the tunnel based on the tunnel entrance traffic flow data and the lane number data, including the terminal device classifying the tunnel entrance traffic flow data according to the lane number data to obtain the traffic flow data of each lane in the tunnel.

[0087] In another implementation, when the program 310 is executed by the processor 302, it is also used to enable the electronic device to execute: the terminal device determines the target lane based on the traffic flow data of each lane in the tunnel, including the terminal device judging the data volume of the traffic flow data of each lane in the tunnel, and determining the lane with the smallest data volume in the traffic flow data of each lane in the tunnel as the target lane.

[0088] In another implementation, when the program 310 is executed by the processor 302, it is also used to enable the electronic device to execute: the terminal device determines whether the terminal device is in the target lane based on the vehicle positioning data; if the terminal device is not in the target lane, the roadside device generates lane change guidance information based on the vehicle positioning data of the terminal device and the distance data between the terminal device and the tunnel entrance to guide the terminal device to change lanes to the target lane.

[0089] In another implementation, if the terminal device is in the target lane, the terminal device maintains the current lane.

[0090] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present invention can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present invention.

[0091] The above-described method according to an embodiment of the present invention may be implemented in hardware, firmware, or as software or computer code that may be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded over a network and will be stored in a local recording medium, so that the method described herein may be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, processor, or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0092] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0093] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A lane determination method, characterized in that: include: The terminal device sends a data acquisition request to the roadside device and the sensing device, wherein the data acquisition request is used to request lane number data and tunnel entrance traffic flow data; The roadside device returns the lane number data to the terminal device in response to the data acquisition request; The sensing device returns the tunnel entrance vehicle flow data to the terminal device in response to the data acquisition request; The terminal device determines the traffic flow data of each lane in the tunnel according to the traffic flow data at the tunnel entrance and the lane number data; The terminal device determines the target lane according to the traffic flow data of each lane in the tunnel.

2. The method according to claim 1, characterized in that The terminal device sends a data acquisition request to the roadside device and the sensing device, including: Determine whether the distance between the terminal device and the roadside device, and the distance between the terminal device and the sensing device is within a preset distance threshold; If the distance is within a preset distance threshold, the terminal device sends a data acquisition request to the roadside device and the perception device.

3. The method according to claim 2, characterized in that The sensing device returns the tunnel entrance vehicle flow data to the terminal device in response to the data acquisition request, including: In response to the data acquisition request, the sensing device acquires tunnel entrance vehicle data and tunnel exit vehicle data; The sensing device generates the tunnel entrance vehicle flow data according to the tunnel entrance vehicle data and the tunnel exit vehicle data; The sensing device returns the tunnel entrance traffic flow data to the terminal device.

4. The method according to claim 3, characterized in that The terminal device determines the traffic flow data of each lane in the tunnel according to the tunnel entrance traffic flow data and the lane number data, including: The terminal device classifies the traffic flow data at the tunnel entrance according to the lane number data to obtain the traffic flow data of each lane in the tunnel.

5. The method according to claim 4, characterized in that The terminal device determines the target lane according to the traffic flow data of each lane in the tunnel, including: The terminal device determines the data volume of the vehicle flow data of each lane in the tunnel, and determines the lane with the smallest data volume among the vehicle flow data of each lane in the tunnel as the target lane.

6. The method according to claim 5, characterized in that The method further comprises: The terminal device determines whether the terminal device is in the target lane according to the vehicle positioning data; If the terminal device is not in the target lane, the roadside device generates lane change guidance information based on the vehicle positioning data of the terminal device and the distance data between the terminal device and the tunnel entrance to guide the terminal device to change lanes to the target lane.

7. The method according to claim 6, characterized in that The method further comprises: If the terminal device is in the target lane, the terminal device maintains the current lane.

8. A lane determination system, characterized in that: include: A roadside device, a sensing device and a terminal device, wherein the roadside device and the terminal device are communicatively connected, and the terminal device and the sensing device are communicatively connected; The terminal device sends a data acquisition request to the roadside device and the sensing device, wherein the data acquisition request is used to request lane number data and tunnel entrance traffic flow data; The roadside device returns the lane number data to the terminal device in response to the data acquisition request; The sensing device returns the tunnel entrance vehicle flow data to the terminal device in response to the data acquisition request; The terminal device determines the traffic flow data of each lane in the tunnel according to the traffic flow data at the tunnel entrance and the lane number data; The terminal device determines the target lane according to the traffic flow data of each lane in the tunnel.

9. An electronic device, characterized in that: include: processor; A memory for storing programs; The program comprises instructions, which, when executed by the processor, cause the processor to perform the steps of the method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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