Vehicle queuing and bypassing control method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle queuing and bypassing control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring front vehicle state information corresponding to at least one front vehicle in a target monitoring range and vehicle driving information of a target vehicle; the target monitoring range is the monitoring range of the target vehicle; determining a target lane where the target vehicle is located and vehicle detour information according to the vehicle driving information; and under the condition that the preceding vehicle state information represents that a target preceding vehicle in a parking waiting state exists in the at least one preceding vehicle, the target vehicle is controlled to perform detouring processing according to the vehicle detouring information. According to the technical scheme provided by the invention, the queuing time of the vehicle can be shortened, the vehicle passing efficiency is improved, and meanwhile, the driving safety can be enhanced.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle queuing detour control method, device, electronic device and storage medium. Background Art

[0002] With the continuous development of science and technology, intelligent driving technology is gradually maturing and being applied, bringing unprecedented convenience and safety to people's driving. In traditional queuing parking scenarios, drivers often need to rely on their personal intuition, rich driving experience, and limited perception of real-time traffic information to cope with the complex parking environment on the road. However, relying on the driver's subjective judgment, it is difficult to accurately capture the real-time changes on the road side, which may cause the driver to make misjudgments based on incomplete or biased information. This uncertainty not only increases the safety risks in the driving process, but also causes unnecessary time consumption and waste of resources. Summary of the invention

[0003] The present application provides a vehicle queue detour control method, device, electronic device and storage medium to at least solve the problem of how to improve vehicle traffic efficiency and improve the safety of drivers and passengers in the related technology. The technical solution of the present application is as follows: According to the first aspect of the embodiment of the present application, a vehicle queue detour control method is provided, comprising:

[0004] Acquire the preceding vehicle status information corresponding to at least one preceding vehicle within a target monitoring range and the vehicle driving information of the target vehicle; the target monitoring range is the monitoring range of the target vehicle;

[0005] Determining the target lane and vehicle detour information of the target vehicle according to the vehicle driving information;

[0006] When the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among the at least one leading vehicle, the target vehicle is controlled to perform a detour process according to the vehicle detour information.

[0007] According to a second aspect of an embodiment of the present application, a vehicle queue detour control device is provided, comprising:

[0008] An information acquisition module, used to acquire the preceding vehicle status information corresponding to at least one preceding vehicle within a target monitoring range and the vehicle driving information of the target vehicle; the target monitoring range is the monitoring range of the target vehicle;

[0009] A vehicle detour information determination module, used to determine the target lane where the target vehicle is located and the vehicle detour information according to the vehicle driving information;

[0010] The vehicle detour control module is used to control the target vehicle to perform detour processing according to the vehicle detour information when the front vehicle status information indicates that there is a target front vehicle in a parked waiting state among the at least one front vehicle.

[0011] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a method as described in any one of the above-mentioned first aspects.

[0012] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute any method described in the first aspect of the embodiment of the present application.

[0013] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising computer instructions, which, when executed by a processor, enable a computer to execute any one of the methods described in the first aspect of the embodiment of the present application.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0015] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0016] By obtaining the preceding vehicle status information corresponding to at least one preceding vehicle in the target monitoring range and the vehicle driving information of the target vehicle, the target lane and the vehicle detour information of the target vehicle are determined according to the vehicle driving information; when the preceding vehicle status information indicates that at least one preceding vehicle is in a stopped waiting state, the target vehicle is controlled to perform a detour according to the vehicle detour information; when the preceding vehicle is in a waiting state, the detour can be performed in time to reduce time consumption and improve vehicle traffic efficiency;

[0017] In the process of controlling the vehicle's detour, the preceding vehicle status information and the vehicle's detour information are combined to avoid conflicts between the target vehicle and other vehicles during the detour, thereby improving the driving safety of the driver and passengers; it can also improve the flexibility of the target vehicle in dealing with complex road conditions.

[0018] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 The present invention is a flow chart of a vehicle queue detour control method according to an exemplary embodiment.

[0021] Figure 2 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 1 .

[0022] Figure 3 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 2 .

[0023] Figure 4 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 3 .

[0024] Figure 5 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 4 .

[0025] Figure 6 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 5 .

[0026] Figure 7 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 6 .

[0027] Figure 8 is a schematic diagram of a target vehicle detouring according to an exemplary embodiment Figure 7 .

[0028] Fig. 9 The invention is a device block diagram of a vehicle queue detour control device according to an exemplary embodiment.

[0029] Fig.10 A frame diagram of an electronic device for controlling vehicle queue detours according to an exemplary embodiment Figure 1 .

[0030] Fig.11 A frame diagram of an electronic device for controlling vehicle queue detours according to an exemplary embodiment Figure 2 . DETAILED DESCRIPTION

[0031] In order to enable ordinary persons in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application specification will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application specification. Obviously, the described embodiments are only part of the embodiments of the specification, not all of the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by ordinary persons in the art without creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0033] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0034] The word "exemplary" used exclusively herein means "serving as an example, embodiment or illustrative". Any embodiment described herein as "exemplary" is not necessarily to be construed as being superior or better than other embodiments. The term "and / or" herein is merely a description of an association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of types. For example, including at least one of A, B, and C may represent any one or more elements selected from the set consisting of A, B, and C.

[0035] Unless otherwise specified, the directions in this document should be understood as follows: the direction closer to the user is the front, and the direction away from the user is the rear.

[0036] In addition, in order to better illustrate the present application, numerous specific details are given in the specific embodiments below. Those skilled in the art should understand that the present application can also be implemented without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application. It should be noted that a possible sequence of steps is shown in the following figure, and it is not actually limited to strictly follow this sequence. Some steps can be executed in parallel without relying on each other. The user information (including but not limited to user device information, user personal information, user behavior information, etc.) and data (including but not limited to data for display, training data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0037] Figure 1 FIG. 1 is a flow chart of a vehicle queue detour control method according to an exemplary embodiment. Figure 1 As shown, the following steps may be included.

[0038] In step S101, the preceding vehicle status information corresponding to at least one preceding vehicle within a target monitoring range and the vehicle driving information of the target vehicle are obtained; the target monitoring range is the monitoring range of the target vehicle.

[0039] In the embodiments of this specification, the target monitoring range may refer to the monitoring range of the target vehicle. For example, a circle with a radius of fifty meters and the target vehicle as the center is the target monitoring range. This application does not limit the target monitoring range.

[0040] The status information of the preceding vehicle may refer to the status information of the vehicle in front of the target vehicle within the target monitoring range. Among them, the status information of the preceding vehicle may include the preceding vehicle being in a parked waiting state and the preceding vehicle being in a driving state. This application does not limit the number of preceding vehicles. The target vehicle may refer to any vehicle on the road. The vehicle driving information may refer to the information obtained by sensors, road test units and other equipment during the driving of the target vehicle, wherein the vehicle driving information includes the current speed of the vehicle, the lane the vehicle is in, the preset driving route of the vehicle, etc., which is not limited in this application.

[0041] In a possible implementation, in intelligent driving, the target vehicle's laser radar and on-board camera can obtain the state information of the leading vehicle corresponding to at least one leading vehicle. For example, the state information of all leading vehicles within the target monitoring range can be obtained. If the leading vehicle blocks the leading vehicle, the target vehicle's laser radar and on-board camera can only accurately obtain the state information of the leading vehicle. However, the state information of the leading vehicle blocked by the leading vehicle cannot be accurately obtained by the laser radar and on-board camera. At this time, the information exchange technology between the vehicle in the target vehicle and the outside world (Vehicle to Everything, V2X) is required, which covers multiple communication modes such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). The target vehicle can accurately obtain the vehicle status information of all the preceding vehicles within the target monitoring range by combining V2X with sensors, such as laser radar, vehicle-mounted cameras, etc., such as the preceding vehicle in driving state, the preceding vehicle in parking waiting state, and the vehicle driving information of the target vehicle. In this application, the preceding vehicle status information and the target vehicle driving information within the target monitoring range are obtained by combining V2X technology with vehicle-mounted sensors, so that the preceding vehicle status information within the target monitoring range can be obtained in real time and accurately, thereby improving road safety, optimizing traffic flow, and reducing road congestion.

[0042] In step S103, the target lane where the target vehicle is located and the vehicle detour information are determined according to the vehicle driving information.

[0043] In the implementation manner of this specification, the target lane may refer to the preset driving lane where the target vehicle is located. The vehicle detour information may refer to the detour related information corresponding to the target vehicle, for example, the vehicle detour information may include the detour path, the navigation route corresponding to the detour path, the detour starting position, etc., which is not limited in this application.

[0044] In a possible implementation, based on the vehicle driving information of the target vehicle, for example, the target vehicle uses a vehicle camera, a laser radar, and V2X technology to obtain images around the target vehicle and point cloud data in front of the target vehicle in the vehicle driving information, so that the target vehicle can effectively identify all lane information on the road, and then determine the target lane where the target vehicle is located. At the same time, the lane adjacent to the target lane and the indication direction of the adjacent lane and the target lane can also be determined. Further, based on the road condition information and traffic light information included in the vehicle driving information, the vehicle detour information can be determined, wherein the vehicle detour information includes different detour method information of the target vehicle in various situations within the target monitoring range, for example, vehicle detour information corresponding to the detour area that does not exist in the target lane, and vehicle detour information corresponding to the detour area that exists in the lane adjacent to the target lane. The present application does not limit the vehicle detour information.

[0045] In step S105, when the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among at least one leading vehicle, the target vehicle is controlled to perform a detour process according to the vehicle detour information.

[0046] In one possible implementation, when the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among at least one leading vehicle, the leading vehicle of the target vehicle within the target monitoring range is monitored to obtain a first bypass monitoring result; when the first bypass monitoring result indicates that there is at least one first safe bypass area in the target lane and there is no vehicle in a stopped waiting state in the first lane, the target vehicle is controlled to bypass from the first lane to the first safe bypass area farthest from the target lane.

[0047] Among them, the first safe bypass area may refer to an area that can be safely bypassed in the target lane within the target monitoring range. For example, there is an area with a length of 15 meters in front of the front vehicle in the parking waiting state where no vehicles are driving or parked. This application does not limit the length range of the area. The first lane may refer to a lane adjacent to the target lane, and the indication directions of the first lane and the target lane are different. For example, the indication direction of the first lane is the straight direction of the vehicle, and the indication direction of the target lane may be the right turn direction of the vehicle. This application does not limit this. The first bypass monitoring result may refer to a result used to determine whether the target vehicle can bypass.

[0048] For example, Figure 2 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 2 As shown, Figure 2 It is a part of the target monitoring range, including the target vehicle and the preceding vehicle, wherein the preceding vehicle includes preceding vehicle A and preceding vehicle B, the target lane is the right turn lane, and the first lane is the straight lane.

[0049] The preceding vehicle status information indicates that the preceding vehicle A and the preceding vehicle B are both in a stopped waiting state in front of the target vehicle in the target lane. The reason for the stopped waiting state may be a collision between preceding vehicle A and preceding vehicle B, a vehicle failure, etc., which is not limited in this application. At this time, the preceding vehicle in the target monitoring range is monitored to obtain the first bypass monitoring result. The first bypass monitoring result indicates that there is a first safe bypass area in the target lane, i.e., the right-turn lane. Figure 2 In the case of the rectangular area in front of the front vehicle A, according to the detour route in the vehicle detour area, that is, Figure 2 The dotted arrow path in the figure controls the target vehicle to detour from the first lane to the first safe detour area in the target lane.

[0050] In another possible implementation, Figure 3 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 3 As shown, there are two lanes, namely, the target lane for right turn and the first lane for straight driving. The target lane includes three vehicles, namely, the target vehicle, the front vehicle A, the front vehicle B, and two corresponding first safety bypass areas, namely, the first safety bypass area 1 and the first safety bypass area 2. The first safety bypass area 1 is located between the front vehicle A and the front vehicle B, and the first safety bypass area 2 is located in front of the front vehicle A. The present application does not limit the number of first safety bypass areas.

[0051] When the state information of the preceding vehicle acquired by the target vehicle indicates that there are two preceding vehicles in the target lane in a stopped waiting state, the front of the target vehicle in the target monitoring range is monitored and processed to obtain the first bypass monitoring result. When the first bypass monitoring result indicates that there are two first safe bypass areas in the target lane and there are no vehicles passing in the first lane, according to the indicated path information in the vehicle bypass information, such as Figure 2 The dashed arrows shown indicate the path, and the first safe detour area farthest from the target vehicle is determined, i.e. Figure 3 Further, the target vehicle is detoured from the first lane to the first safe detour area 1 farthest from the target lane.

[0052] In a possible implementation, when the current vehicle B is driving slowly, at this time, only the front vehicle A is in a stopped waiting state, and thus, there is no first safe bypass area 1 between the front vehicles A and B. At this time, the target lane only includes one first safe bypass area 2. According to the vehicle bypass information, the target vehicle is directly bypassed from the first lane to the first safe bypass area 2.

[0053] In another possible implementation, when the first detour monitoring result indicates that there is no first safe detour area in the target lane, the target vehicle is controlled to enter a parking waiting state.

[0054] For example, Figure 4 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 4 As shown, the lane where the target vehicle is located is the target lane, and the indicated direction is the right turn direction; the lane adjacent to the target lane is the first lane, and the indicated direction is the straight direction. In front of the target vehicle in the target lane, there are front vehicles A, B and C arranged in sequence. When the first detour monitoring result indicates that there are multiple front vehicles in the target lane and there is no first safe detour area, at this time, the vehicle detour information indicates that the target vehicle enters a stop waiting state, and the target vehicle controls the target vehicle to enter a stop waiting state according to the instruction of the vehicle detour information. For example, at an intersection with a traffic light, when the target lane indicates a red light, the front vehicle of the target vehicle in the target lane is in a stop waiting state. At this time, there may be no first safe detour area in the target lane, indicating that the target vehicle also enters a stop waiting state.

[0055] In one possible implementation, when the leading vehicle status information indicates that there is at least one leading vehicle stopped and waiting in both the target lane and the first lane, the front of the target vehicle within the target monitoring range is monitored to obtain a second bypass monitoring result; when the second bypass monitoring result indicates that there is a second safe bypass area between the first lane and the target lane, the target vehicle is controlled to bypass from the second safe bypass area of ​​the first lane to the second safe bypass area of ​​the target lane.

[0056] In the embodiment of this specification, the second safe bypass area is an area between the first lane and the target lane that can be bypassed safely.

[0057] For example, Figure 5 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 5As shown, the target lane is a right-turn lane, the first lane is a straight lane, and the front of the target lane includes vehicles A, B and C, among which vehicles A and B are in the target lane, and vehicle C is in the first lane. When the front vehicle status information indicates that there is at least one front vehicle in the target lane and the first lane that is parked and waiting, that is, there is vehicle C in the first lane, and vehicles A and B are in the target lane, further, the target vehicles within the target monitoring range are monitored to obtain a second bypass monitoring result. When the second bypass monitoring result indicates that there is a second safe bypass area between the first lane and the target lane, that is, there is a bypass space between the target front vehicle in the first lane and the target front vehicle in the second lane, the target vehicle can pass safely. For example Figure 5 In the example, there is a second safe detour area between the first lane and the second lane, which is the area from the rear of the front vehicle C in the first lane to the front of the front vehicle B in the target lane, that is, Figure 5 Correspondingly, according to the vehicle detour information corresponding to the target vehicle, the path information of the corresponding vehicle detour can be determined, that is, Figure 5 The dotted arrow information in the figure controls the target vehicle to detour from the second safe detour area of ​​the first lane to the second safe area of ​​the target lane, and continue to travel along the target lane.

[0058] In a possible implementation, when the second detour monitoring result indicates that there is no second safe detour area between the first lane and the target lane, the target vehicle is controlled to enter a parking waiting state.

[0059] For example, Figure 6 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 6 As shown, there is a safety area in front of the front vehicle C and behind the front vehicle A in the target lane, but there are the front vehicles B and D in the first lane, and there is no second safe detour area between the first lane and the target lane, that is, the target vehicle cannot perform a detour. At this time, according to the information that the detour is impossible in the vehicle detour information, the target vehicle is controlled to enter a parking waiting state.

[0060] In a possible implementation, when the first detour monitoring result indicates that there is no first safe detour area in the target lane, but there is no vehicle passing through the second lane, the target vehicle is controlled to detour to the second lane and continue to travel along the second lane.

[0061] In the embodiment of this specification, the second lane is an adjacent lane to the target lane, and the indication directions of the second lane and the target lane are consistent, for example, both indicate right driving or a straight line, and this application does not limit the indication direction.

[0062] For example, Figure 7 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 7 As shown, the lane where the target vehicle is located is the target lane, and there are vehicles A, B, and C in front of the target vehicle on the target lane, among which vehicles A, B, and C are all in a stopped waiting state. The left adjacent lane of the target lane is the second lane, wherein the indication direction of the second lane is consistent with the indication direction of the target lane, and both are right-turn lanes. When the indication information of the preceding vehicle indicates that there is no first safe detour area in the target lane, that is, there is no detour space for the preceding vehicle in the target lane, but there is no vehicle stopping and waiting in the second lane, the target vehicle is controlled to detour to the second lane and continue to drive along the second lane.

[0063] In another possible implementation, when there is at least one vehicle ahead in both the target lane and the second lane in a stopped waiting state, the front of the target vehicle within the target monitoring range is monitored to obtain a third bypass monitoring result. When the third bypass monitoring result indicates that there is a third safe bypass area between the second lane and the target lane, the target vehicle is controlled to bypass from the third safe bypass area of ​​the second lane to the third safe bypass area of ​​the target lane.

[0064] For example, Figure 8 FIG. 1 is a schematic diagram showing a target vehicle detouring according to an exemplary embodiment. Figure 8 As shown, the target lane includes the target vehicle and the preceding vehicle B, the second lane includes the preceding vehicle C, and the indication direction of the target lane and the second lane is the same. When the preceding vehicle B is in a stopped waiting state in the target lane, and when the preceding vehicle C is in a stopped waiting state in the second lane, the front of the target vehicle in the target monitoring range is monitored to obtain a third bypass monitoring result. The third bypass monitoring result indicates that there is a third safe bypass area between the target lane and the second lane, such as Figure 8 The rectangular frame area in front of the front vehicle B in the figure is based on the detour route information in the vehicle detour information, that is, Figure 8 The dotted arrow in indicates a route, and the target vehicle is controlled to detour from the third safe detour area in the second lane to the third safe detour area in the target lane.

[0065] In one possible implementation, when the third bypass monitoring result indicates that there is a leading vehicle in both the second lane and the target lane and there is no third safe bypass area, that is, the target vehicle cannot bypass the second lane and the target lane, the target vehicle is controlled to enter a parking waiting state.

[0066] In one possible implementation, when the target vehicle is in the process of detouring, based on the information exchange technology between the vehicle and the outside world, the vehicle detour information corresponding to the target vehicle is sent to the preceding vehicle within the target monitoring range, so that the preceding vehicle is in a vehicle parking waiting state.

[0067] When the target vehicle is preparing to detour, the vehicle detour information corresponding to the target vehicle is sent to all the leading vehicles within the target monitoring range according to the information exchange technology between the target vehicle and the outside world, namely V2X technology. In this way, during the intelligent driving process, all the leading vehicles within the target monitoring range can obtain the information that the target vehicle is detouring, and then all the leading vehicles can enter a parking waiting state during the detour of the target vehicle, which can improve the detour efficiency and driving safety of the target vehicle.

[0068] After the target vehicle completes the detour operation, it sends a detour completion message to the preceding vehicle. After receiving the detour completion message, the preceding vehicle can drive or stop and wait according to its own driving conditions. This application does not limit this.

[0069] Fig. 9 is a device block diagram of a vehicle queue detour control device according to an exemplary embodiment. Fig. 9 , the device may include:

[0070] The information acquisition module 901 is used to acquire the preceding vehicle status information corresponding to at least one preceding vehicle within a target monitoring range and the vehicle driving information of the target vehicle; the target monitoring range is the monitoring range of the target vehicle;

[0071] The vehicle detour information determination module 903 is used to determine the target lane where the target vehicle is located and the vehicle detour information according to the vehicle driving information;

[0072] The vehicle detour control module 905 is used to control the target vehicle to perform detour processing according to the vehicle detour information when the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among at least one leading vehicle.

[0073] In a possible implementation, the vehicle bypass control module 905 includes:

[0074] A first detour monitoring result determination module is used to monitor the front of the target vehicle within the target monitoring range to obtain a first detour monitoring result when the front vehicle status information indicates that there is a target front vehicle in a stopped waiting state among at least one front vehicle;

[0075] The first bypass module is used to control the target vehicle to bypass from the first lane to the first safe bypass area farthest from the target lane when the first bypass monitoring result indicates that there is at least one first safe bypass area in the target lane and there is no vehicle in a parked waiting state in the first lane; the first lane is a lane adjacent to the target lane; the first safe bypass area is the area in front of the target front vehicle.

[0076] In another possible implementation, the vehicle bypass control module 905 further includes:

[0077] The first parking waiting module is used to control the target vehicle to enter a parking waiting state when the first detour monitoring result indicates that there is no first safe detour area in the target lane.

[0078] In a possible implementation, the vehicle bypass control module 905 further includes:

[0079] A second bypass monitoring result determination module is used to monitor the front of the target vehicle in the target monitoring range to obtain a second bypass monitoring result when the front vehicle status information indicates that there is at least one front vehicle in a parked waiting state in both the target lane and the first lane;

[0080] The second bypass module is used to control the target vehicle to bypass from the second safe bypass area of ​​the first lane to the second safe bypass area of ​​the target lane when the second bypass monitoring result indicates that there is a second safe bypass area between the first lane and the target lane; the second safe bypass area is a passage area between the first lane and the target lane.

[0081] In another possible implementation, the vehicle bypass control module 905 further includes:

[0082] The second parking waiting module is used to control the target vehicle to enter a parking waiting state when the second detour monitoring result indicates that there is no second safe detour area between the first lane and the target lane.

[0083] In a possible implementation, the vehicle bypass control module 905 further includes:

[0084] The third bypass module is used to control the target vehicle to bypass to the second lane and continue driving along the second lane when the first bypass monitoring result indicates that there is no first safe bypass area in the target lane, but there is no vehicle passing through the second lane.

[0085] In a possible implementation, the vehicle queue detour control device further includes:

[0086] The detour information sending module is used to send the vehicle detour information corresponding to the target vehicle to the preceding vehicle within the target monitoring range when the target vehicle is in the process of detouring, based on the information exchange technology between the vehicle and the outside world, so as to put the preceding vehicle in a parking waiting state.

[0087] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0088] Fig.10 is a block diagram of an electronic device for vehicle queue detour control according to an exemplary embodiment. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling vehicle queue detours is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0089] Those skilled in the art will understand that Fig.10 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0090] Fig.11 is a block diagram of an electronic device for vehicle queue detour control according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Fig.11As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling vehicle queue detour is implemented.

[0091] Those skilled in the art will understand that Fig.11 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0092] In an exemplary embodiment, an electronic device is also provided, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the vehicle queue detour control method as in the embodiment of the present application.

[0093] In an exemplary embodiment, a computer-readable storage medium is also provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the vehicle queue detour control method in the embodiment of the present application. The computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0094] In an exemplary embodiment, a computer program product containing instructions is also provided. When the computer program product is run on a computer, the computer is caused to execute the method for controlling the vehicle queue detour in the embodiment of the present application.

[0095] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0096] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0097] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle queue detour control method, characterized in that: include: Obtaining the preceding vehicle status information corresponding to at least one preceding vehicle within the target monitoring range and the vehicle driving information of the target vehicle; The target monitoring range is the monitoring range of the target vehicle; Determining the target lane and vehicle detour information of the target vehicle according to the vehicle driving information; When the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among the at least one leading vehicle, the target vehicle is controlled to perform a detour process according to the vehicle detour information.

2. The vehicle queue detour control method according to claim 1, characterized in that: When the leading vehicle status information indicates that there is a target leading vehicle in a stopped waiting state among the at least one leading vehicle, controlling the target vehicle to perform a detour according to the vehicle detour information includes: When the preceding vehicle status information indicates that the at least one preceding vehicle includes the target preceding vehicle in a stopped waiting state, monitoring the front of the target vehicle within the target monitoring range to obtain a first detour monitoring result; When the first detour monitoring result indicates that there is at least one first safe detour area in the target lane and there is no vehicle in the first lane in the parking waiting state, the target vehicle is controlled to detour from the first lane to the first safe detour area farthest from the target lane; the first lane is a lane adjacent to the target lane; the first safe detour area is an area in front of the target front vehicle.

3. The vehicle queue detour control method according to claim 2, characterized in that: The method further comprises: When the first detour monitoring result indicates that the first safe detour area does not exist in the target lane, the target vehicle is controlled to enter the parking waiting state.

4. The vehicle queue detour control method according to claim 2, characterized in that: The method further comprises: When the preceding vehicle status information indicates that at least one preceding vehicle is in the parking waiting state in both the target lane and the first lane, monitoring the front of the target vehicle within the target monitoring range to obtain a second detour monitoring result; When the second bypass monitoring result indicates that there is a second safe bypass area between the first lane and the target lane, the target vehicle is controlled to bypass from the second safe bypass area of ​​the first lane to the second safe bypass area of ​​the target lane; the second safe bypass area is a bypassable area between the first lane and the target lane.

5. The vehicle queue detour control method according to claim 4, characterized in that: The method further comprises: When the second bypass monitoring result indicates that the second safe bypass area does not exist between the first lane and the target lane, the target vehicle is controlled to enter the parking waiting state.

6. The vehicle queue detour control method according to claim 2, characterized in that: The target monitoring range includes a second lane, the second lane is an adjacent lane to the target lane, and the indication directions of the second lane and the target lane are consistent, and the method further includes: When the first detour monitoring result indicates that the first safe detour area does not exist in the target lane, but no vehicle passes through the second lane, the target vehicle is controlled to detour to the second lane and continue to travel along the second lane.

7. The vehicle queue detour control method according to claim 1, characterized in that: The method further comprises: When the target vehicle is in the process of detouring, according to the information exchange technology between the vehicle and the outside world, the vehicle detour information corresponding to the target vehicle is sent to the front vehicle within the target monitoring range, so that the front vehicle is in the parking waiting state.

8. A vehicle queue detour control device, characterized in that: include: An information acquisition module, used to acquire the preceding vehicle status information corresponding to at least one preceding vehicle within the target monitoring range and the vehicle driving information of the target vehicle; The target monitoring range is the monitoring range of the target vehicle; A vehicle detour information determination module, used to determine the target lane where the target vehicle is located and the vehicle detour information according to the vehicle driving information; The vehicle detour control module is used to control the target vehicle to perform detour processing according to the vehicle detour information when the front vehicle status information indicates that there is a target front vehicle in a parked waiting state among the at least one front vehicle.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the vehicle queue detour control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the vehicle queue detour control method as described in any one of claims 1 to 7.

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