Vehicle passage method, device, electronic device and storage medium under traffic congestion

Abstract

The present application relates to the field of intelligent driving technology, and in particular to a method, device, electronic device and storage medium for vehicle passage under traffic congestion, wherein the method comprises: detecting whether the current road section of the vehicle satisfies the preset congestion condition; when the preset congestion condition is detected, obtaining the actual speed of the vehicle; when the actual speed is zero, identifying the first distance between the vehicle and the vehicle in front of the vehicle, and identifying the braking signal of the vehicle in front of the vehicle, wherein if the braking signal satisfies the preset braking condition, a control strategy of the vehicle is generated according to the relationship between the first distance and the preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section. Thus, the problems that the related technology can only identify the movement of the vehicle in front and follow the vehicle in front, the following distance is long, and the vehicle starts hysteresis, which affects the traffic efficiency and reduces the user driving experience are solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, electronic device and storage medium for vehicle passage under traffic congestion. Background Art

[0002] With the rapid development of autonomous driving technology, many car companies have equipped their mass-produced models with L2 assisted driving systems, many of which also have traffic congestion assistance functions for conditions with speeds below 60km / h. However, as the number of vehicles in cities increases, traffic congestion is unavoidable, and it is easy to occur at intersections with heavy traffic, affecting traffic order.

[0003] The relevant technology proposes a congested road driving assistance system which is mainly composed of a front radar, a front-view camera, a signal processing module, a front vehicle following module, and a lane line following module. Based on the preset vehicle speed judgment logic, the system can automatically follow the front vehicle through the front radar or the front-view camera under different vehicle speed conditions and keep it within the lane line, thereby achieving the purpose of congestion assisted driving.

[0004] However, in the related art, the vehicle can only identify the movement of the front vehicle and follow the front vehicle, the following distance is long, and most vehicles are started manually by the driver. The starting action of the vehicle has a hysteresis problem, which seriously affects the passing efficiency. Summary of the invention

[0005] The present application provides a method, device, electronic device and storage medium for passing vehicles under traffic congestion, so as to solve the problems in the related art that the vehicle can only identify the movement of the preceding vehicle and follow the preceding vehicle, the following distance is long, and most vehicles are started manually by the driver, and there is a hysteresis problem in the starting action of the vehicle, which seriously affects the efficiency of passing through the intersection.

[0006] The first aspect of the present application provides a method for vehicle passage under traffic congestion, comprising the following steps: detecting whether the current road section of the vehicle satisfies a preset congestion condition; when it is detected that the preset congestion condition is met, obtaining the actual speed of the vehicle; when the actual speed is zero, identifying a first distance between the vehicle and the vehicle in front of the vehicle, and identifying a braking signal of the vehicle in front of the vehicle, wherein, if the braking signal satisfies the preset braking condition, a control strategy for the vehicle is generated according to a relationship between the first distance and a preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

[0007] According to the above technical means, when the current vehicle is detected to be in a congested section and the actual speed of the vehicle is zero, the embodiment of the present application can generate a vehicle traffic strategy for the current section by identifying the distance between the current vehicle and the vehicle in front and the brake signal of the vehicle in front of the vehicle, and control the vehicle to travel through the current section. In this way, the vehicle can be controlled to start in advance according to the motion state of the vehicle in front, thereby improving traffic efficiency.

[0008] Optionally, in one embodiment of the present application, the detection of whether the current road section of the vehicle meets the preset congestion condition includes: identifying the travel distance of the vehicle within a preset time length, and / or the average speed of the vehicle within the preset time length; if the travel distance is less than the preset distance, and / or the average speed of the vehicle is less than the preset speed, then the current road section of the vehicle meets the preset congestion condition, otherwise, the current road section of the vehicle does not meet the preset congestion condition.

[0009] According to the above-mentioned technical means, the embodiment of the present application can judge whether the current road section of the vehicle meets the preset congestion conditions based on the vehicle's travel distance and average speed within a certain period of time, with high reliability. When in a congested section, it generates a vehicle traffic strategy for the current section, controls the vehicle to travel through the current section, and improves traffic efficiency.

[0010] Optionally, in one embodiment of the present application, the brake signal includes a brake light change state, and the brake signal satisfies a preset brake condition, including: whether the brake light changes from an on state to an off state.

[0011] According to the above-mentioned technical means, the embodiment of the present application can determine whether the vehicle has started early by judging the change state of the brake lights of the vehicle in front of the vehicle in front. When the vehicle in front of the vehicle in front has started and the current vehicle is at a safe distance from the vehicle in front, the vehicle can be controlled to start early, thereby reducing the time to pass the current section of road and improving the passing efficiency.

[0012] Optionally, in one embodiment of the present application, the control strategy of the vehicle is generated based on the relationship between the first distance and a preset distance threshold, including: if the first distance is greater than the preset distance threshold, the vehicle travels at a preset speed; if the first distance is less than or equal to the preset distance threshold, the vehicle remains stationary until the first distance is greater than the preset distance threshold.

[0013] According to the above technical means, the embodiment of the present application can judge whether to start early according to the distance between the vehicle and the vehicle in front. If the distance between the vehicle and the vehicle in front is large, the vehicle can start early. If the distance between the vehicle and the vehicle in front is small, the vehicle remains stationary to avoid collision with the vehicle in front, thereby improving the safety of vehicle driving.

[0014] Optionally, in one embodiment of the present application, after controlling the vehicle to travel according to the control strategy, it also includes: identifying a second distance between the vehicle and the vehicle in front of the vehicle; judging whether there is a risk of collision between the vehicle and the vehicle in front of the vehicle based on the second distance; if there is a risk of collision, controlling the vehicle to stop, otherwise, controlling the vehicle to maintain the current state and continue traveling.

[0015] According to the above technical means, after controlling the vehicle to start early, the embodiment of the present application continuously detects the actual distance between the vehicle and the vehicle in front. If there is a risk of collision between the vehicle and the vehicle in front, the vehicle is controlled to stop to avoid collision, thereby further improving the safety of vehicle driving.

[0016] The second aspect of the present application provides a vehicle passage device under traffic congestion, including: a detection module, used to detect whether the current road section of the vehicle meets the preset congestion condition; an acquisition module, used to acquire the actual vehicle speed of the vehicle when it is detected that the preset congestion condition is met; a control module, used to identify a first distance between the vehicle and the vehicle in front of the vehicle when the actual vehicle speed is zero, and identify the braking signal of the vehicle in front of the vehicle, wherein if the braking signal meets the preset braking condition, a control strategy of the vehicle is generated according to the relationship between the first distance and the preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

[0017] Optionally, in one embodiment of the present application, the detection module includes: a first identification unit, used to identify the travel distance of the vehicle within a preset time period, and / or the average speed of the vehicle within the preset time period; a first judgment unit, used to determine that when the travel distance is less than a preset distance, and / or the average speed of the vehicle is less than a preset speed, the current section of the road where the vehicle is located meets the preset congestion condition, otherwise, the current section of the road where the vehicle is located does not meet the preset congestion condition.

[0018] Optionally, in one embodiment of the present application, the brake signal includes a brake light change state, and the brake signal satisfies a preset brake condition, including: whether the brake light changes from an on state to an off state.

[0019] Optionally, in one embodiment of the present application, the control module includes: a first processing unit, used to cause the vehicle to travel at a preset speed when the first distance is greater than the preset distance threshold; and a second processing unit, used to cause the vehicle to remain stationary until the first distance is greater than the preset distance threshold when the first distance is less than or equal to the preset distance threshold.

[0020] Optionally, in one embodiment of the present application, the control module includes: a second identification unit, used to identify a second distance between the vehicle and the vehicle in front of the vehicle after controlling the vehicle to travel according to the control strategy; a second judgment unit, used to judge whether there is a risk of collision between the vehicle and the vehicle in front of the vehicle based on the second distance; and a third processing unit, used to control the vehicle to stop when there is a risk of collision, otherwise, control the vehicle to maintain the current state and continue driving.

[0021] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle passage method under traffic congestion as described in the above embodiment.

[0022] The fourth aspect of the present application provides a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement the vehicle passage method under traffic congestion as described in the above embodiment.

[0023] Therefore, this application has at least the following beneficial effects:

[0024] 1. When the current vehicle is detected to be in a congested section and the actual speed of the vehicle is zero, the vehicle traffic strategy for the current section is generated by identifying the distance between the current vehicle and the vehicle in front and the braking signal of the vehicle in front of the vehicle, and the vehicle is controlled to travel through the current section. In this way, the vehicle can be controlled to start in advance according to the movement state of the vehicle in front, thereby improving traffic efficiency.

[0025] 2. Determine whether the current road section of the vehicle meets the preset congestion conditions based on the vehicle's travel distance and average speed within a certain period of time. It has high reliability. When in a congested section, generate a vehicle traffic strategy for the current section to control the vehicle's travel through the current section and improve traffic efficiency.

[0026] 3. Determine whether the vehicle has started in advance by judging the changing state of the brake lights of the vehicle in front of it. When the vehicle in front of it has started and the current vehicle is at a safe distance from the vehicle in front, the vehicle can be controlled to start in advance, thereby reducing the time to pass the current section of road and improving the passing efficiency.

[0027] 4. Determine whether you can start early based on the distance between your vehicle and the vehicle in front. If the distance between your vehicle and the vehicle in front is large, you can start early. If the distance between your vehicle and the vehicle in front is small, keep still to avoid a collision with the vehicle in front, thereby improving the safety of your driving.

[0028] 5. After controlling the vehicle to start early, the actual distance between the vehicle and the vehicle in front is continuously detected. If there is a risk of collision between the vehicle and the vehicle in front, the vehicle is controlled to stop to avoid a collision, further improving the safety of vehicle driving.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A flow chart of a vehicle passage method under traffic congestion provided according to an embodiment of the present application;

[0032] Figure 2 A schematic diagram of a vehicle passage method under traffic congestion provided in accordance with an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a scenario of a vehicle passage method under traffic congestion provided in accordance with an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a vehicle passage method under traffic congestion provided in accordance with an embodiment of the present application;

[0035] Figure 5 A schematic block diagram of a vehicle passage device under traffic congestion provided according to an embodiment of the present application;

[0036] Figure 6 Schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0037] Explanation of reference numerals: detection module-100, acquisition module-200, control module-300, memory-601, processor-602, communication interface-603. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The following describes a vehicle passage method, device, electronic device and storage medium under traffic congestion according to an embodiment of the present application with reference to the accompanying drawings. In view of the fact that the vehicle mentioned in the above background technology can only identify the movement of the preceding vehicle and follow the preceding vehicle, the following distance is long, and most vehicles are started manually by the driver, and there is a hysteresis problem in the starting action of the vehicle, which seriously affects the efficiency of passing through the intersection, the present application provides a vehicle passage method under traffic congestion, in which, when it is detected that the current section of the vehicle meets the preset congestion condition and the actual speed of the vehicle is zero, the distance between the vehicle and the preceding vehicle of the vehicle is identified, and the braking signal of the preceding vehicle of the preceding vehicle is identified, and when the braking signal meets the preset braking condition, the braking strategy of the vehicle is generated based on the distance between the vehicle and the preceding vehicle, and the vehicle is controlled to travel according to the control strategy until it passes the current section. Thus, the problems that the relevant technology can only identify the movement of the preceding vehicle and follow the preceding vehicle, the following distance is long, and the vehicle starts hysteresis, which affects the traffic efficiency and reduces the user driving experience are solved.

[0040] Specifically, Figure 1 A flow chart of a method for vehicle passage under traffic congestion provided in an embodiment of the present application.

[0041] like Figure 1 As shown, the vehicle passing method under traffic congestion includes the following steps:

[0042] In step S101, it is detected whether the current road section of the vehicle meets the preset congestion condition.

[0043] The embodiment of the present application proposes a vehicle passage strategy under the condition of traffic congestion, which improves the vehicle passing time and the vehicle passage efficiency. Therefore, the embodiment of the present application first detects whether the current section of the vehicle meets the preset congestion condition. For example, the embodiment of the present application can obtain the vehicle's current position information in real time through the vehicle navigation system, such as the vehicle's latitude and longitude, and compare the vehicle's current position information with the map information to determine whether the vehicle's current section is congested. Alternatively, the embodiment of the present application can collect information about the vehicle's current section of the road, such as the queue length, through equipment such as radar or cameras, and determine whether the vehicle's current section of the road is congested based on the collected information. Further, when collecting information or the location of the current section of the road, the existing technical solution can be adopted, which will not be described in detail.

[0044] Optionally, in one embodiment of the present application, detecting whether the current road section of the vehicle meets the preset congestion condition includes: identifying the travel distance of the vehicle within a preset time length, and / or the average speed of the vehicle within a preset time length; if the travel distance is less than the preset distance, and / or the average speed of the vehicle is less than the preset speed, then the current road section of the vehicle meets the preset congestion condition, otherwise, the current road section of the vehicle does not meet the preset congestion condition.

[0045] In addition to the above embodiments, the embodiments of the present application can also determine whether the road section where the vehicle is located is congested by the travel distance or average speed of the vehicle within a preset time period. For example, within the preset time, the travel distance of the vehicle is less than the preset distance, or within the preset time period, the average speed of the vehicle is less than the preset speed, the embodiments of the present application can determine that the current road section where the vehicle is located is a congested road section. Among them, the preset time, preset distance and preset speed can be changed by those skilled in the art according to actual conditions, and are not specifically limited.

[0046] For example, taking the preset time length as 3 minutes, the preset distance as 150 meters and the preset speed as 5 km / h, if the current vehicle travels less than 150 meters within 3 minutes, or the average speed of the vehicle is less than 5 km / h, it can be determined that the current road section of the vehicle meets the preset congestion conditions and has a high reliability.

[0047] In step S102, when it is detected that the preset congestion condition is met, the actual speed of the vehicle is obtained.

[0048] In order to improve the traffic efficiency of congested roads and save users' waiting time, the embodiments of the present application can obtain the actual speed of the vehicle when the vehicle is in a congested road. In the actual implementation process, the embodiments of the present application can detect the current speed through a speed sensor, such as the speed sensor converting the collected electrical signal into a speed signal through calculation, or determining the actual speed of the vehicle through the engine speed or the motor output torque. There is no specific limitation on this.

[0049] In step S103, when the actual vehicle speed is zero, a first distance between the vehicle and the vehicle in front of the vehicle is identified, and a braking signal of the vehicle in front of the vehicle is identified, wherein if the braking signal satisfies a preset braking condition, a control strategy for the vehicle is generated based on a relationship between the first distance and a preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

[0050] In an embodiment of the present application, when the actual speed of the vehicle is zero, the distance between the vehicle and the vehicle in front and the brake signal of the vehicle in front of the vehicle are identified at the same time, and it is determined whether the brake signal meets the preset braking condition. Among them, the brake signal can be a change state of the brake light, such as from lit to off or from off to lit. In order to determine whether the vehicle can start early, the preset braking condition satisfied by the brake signal of the embodiment of the present application can be whether the brake light changes from lit to off. Furthermore, when the brake signal meets the preset braking condition, a control strategy for the vehicle is generated according to the distance between the vehicle and the vehicle in front, and the passage of the vehicle is controlled, thereby improving the safety of vehicle driving and the passage efficiency of the vehicle.

[0051] For example, the embodiments of the present application may use radar or a camera to identify the distance between the vehicle and the vehicle in front or the brake signal of the vehicle in front of the vehicle in front. To this end, those skilled in the art may make adjustments based on actual conditions without making specific limitations.

[0052] Optionally, in one embodiment of the present application, a vehicle control strategy is generated based on the relationship between the first distance and a preset distance threshold, including: if the first distance is greater than the preset distance threshold, the vehicle travels at a preset speed; if the first distance is less than or equal to the preset distance threshold, the vehicle remains stationary until the first distance is greater than the preset distance threshold.

[0053] It can be understood that the embodiment of the present application uses radar to identify the distance between the vehicle and the front vehicle, and when the distance is greater than a preset value, the vehicle is controlled to continue to move; otherwise, the vehicle remains stationary, and when the front vehicle starts to move forward and the distance meets the requirement, the current vehicle starts to move forward, further ensuring the safety of driving. Among them, the preset distance threshold can be determined according to actual conditions and is not specifically limited.

[0054] Optionally, in one embodiment of the present application, after controlling the vehicle to drive according to the control strategy, it also includes: identifying a second distance between the vehicle and the vehicle in front of the vehicle; judging whether there is a risk of collision between the vehicle and the vehicle in front of the vehicle based on the second distance; if there is a risk of collision, controlling the vehicle to stop, otherwise, controlling the vehicle to maintain the current state and continue driving.

[0055] It can be understood that the embodiments of the present application can determine whether there is a collision risk by using radar to identify the distance to the vehicle in front when the vehicle is moving forward; if there is a collision risk, the vehicle stops immediately, and in the next most recent cycle in which the vehicle speed increases from 0km / h, it no longer determines whether to move forward based on the brake light status of the vehicle in front, and only moves based on the running status of the vehicle in front; if there is no collision risk, the vehicle maintains the current state and continues to drive, automatically maintaining a distance from the vehicle in front to ensure driving safety.

[0056] like Figure 2 As shown, a system composition of a vehicle passage method under traffic congestion in an embodiment of the present application is demonstrated. It mainly includes front radar, front-view camera, forward high-definition camera, driving domain controller, integrated electronic parking brake, electric power steering system, engine management system and other execution systems. When driving on a congested road, the front vehicle will not completely block the field of vision of the vehicle. The embodiment of the present application can obtain the information of the front vehicle and lane line through the front radar and the front-view camera, and obtain the front vehicle brake light information of the front vehicle through the high-definition forward camera. All information is fused and determined by the driving domain controller to control the vehicle to move forward or brake.

[0057] like Figure 3As shown, the scenario used in the embodiment of the present application is demonstrated. The embodiment of the present application first identifies the distance to the vehicle in front through the front radar, and sends the current distance information to the driving domain controller; identifies the lane line information on both sides through the front camera, and sends the information to the driving domain controller to assist in judging the distance between the vehicle and the vehicle in front; identifies the front brake light status of the vehicle in front through two high-definition forward cameras, and sends the information to the driving domain controller; when the current vehicle follows the vehicle in front and the speed is reduced to zero, the high-definition forward camera sends the front brake light lighting information of the vehicle in front of the current vehicle to the driving domain controller. When any of the left and right cameras identifies that the front brake light status of the vehicle in front has changed, the information is sent to the driving domain controller.

[0058] Furthermore, the driving domain controller determines whether to start moving forward in advance based on the operating conditions of the vehicle in front according to the information transmitted by the front radar, front-view camera, and high-definition forward-facing camera. While ensuring safety, it controls the vehicle to shorten the following distance and improve traffic efficiency at congested intersections.

[0059] The following is a detailed description of the vehicle passing method under traffic congestion in the embodiment of the present application using a specific embodiment. Figure 4 The specific steps are as follows:

[0060] S401, determining whether the current road is congested;

[0061] S402, when the road is congested, the traffic congestion auxiliary driving function is activated, and the front radar, front camera, and high-definition front camera send signals to the driving domain controller;

[0062] S403: When the vehicle speed is 0 km / h, determine whether the high-definition forward camera can recognize the front brake light information of the front vehicle.

[0063] S404: when the high-definition front camera cannot identify the front brake light information of the front vehicle, the front radar and the front camera are used to follow the running state of the front vehicle;

[0064] S405, when the high-definition forward camera determines that the front brake light information of the front vehicle can be identified, the front brake light status of the front vehicle at this time is sent to the driving domain controller and recorded;

[0065] S406, when the high-definition forward camera recognizes that the brake light status of the vehicle in front of it has changed, it determines whether to send a signal to the engine management system and the integrated electronic parking brake according to the relative distance to the vehicle in front fed back by the front radar, and the vehicle starts and moves forward immediately;

[0066] S407, if the distance to the preceding vehicle is insufficient, the vehicle starts to move forward after the preceding vehicle starts to move forward and the distance to the preceding vehicle meets the requirement;

[0067] S408, according to step S406, if the distance between the vehicle and the vehicle in front is sufficient, the vehicle starts immediately and moves forward at a speed of 5 km / h;

[0068] S409: When moving forward, the front radar still identifies the distance to the vehicle ahead to determine whether there is a risk of collision;

[0069] S410: If there is no risk of collision, the vehicle is driving normally and automatically maintains a safe distance from the vehicle ahead;

[0070] S411: If there is a risk of collision, the vehicle stops immediately, and in the next most recent cycle when the vehicle speed increases from 0 km / h, the vehicle will no longer determine whether to move forward based on the brake light status of the preceding vehicle, and will only move based on the running status of the preceding vehicle.

[0071] According to the vehicle passing method under traffic congestion proposed in the embodiment of the present application, when it is detected that the current road section of the vehicle meets the preset congestion condition, the actual speed of the vehicle is obtained; when the actual speed is zero, the front brake light of the front vehicle is identified on the basis of the movement of the front vehicle, the front vehicle movement of the front vehicle is judged, and the front vehicle movement is judged, and the following distance is shortened while ensuring safety, thereby improving the traffic efficiency of the congested intersection. In this way, the problems of the related technology that can only identify the movement of the front vehicle and follow the front vehicle, the following distance is long, and the vehicle starts lag, which affects the traffic efficiency and reduces the user driving experience.

[0072] Next, a vehicle passage device under traffic congestion proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0073] Figure 5 It is a block diagram of a vehicle passage device under traffic congestion according to an embodiment of the present application.

[0074] like Figure 5 As shown, the vehicle passage device 10 under traffic congestion includes: a detection module 100 , an acquisition module 200 and a control module 300 .

[0075] The detection module 100 is used to detect whether the current road section of the vehicle meets the preset congestion condition. The acquisition module 200 is used to obtain the actual speed of the vehicle when it is detected that the preset congestion condition is met. The control module 300 is used to identify the first distance between the vehicle and the vehicle in front of the vehicle when the actual speed is zero, and identify the braking signal of the vehicle in front of the vehicle, wherein if the braking signal meets the preset braking condition, a control strategy of the vehicle is generated according to the relationship between the first distance and the preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

[0076] Optionally, in one embodiment of the present application, the detection module 100 includes: a first identification unit, used to identify the travel distance of the vehicle within a preset time period, and / or the average speed of the vehicle within a preset time period; a first judgment unit, used to determine that when the travel distance is less than a preset distance, and / or the average speed of the vehicle is less than a preset speed, the current section of the vehicle meets the preset congestion condition; otherwise, the current section of the vehicle does not meet the preset congestion condition.

[0077] Optionally, in one embodiment of the present application, the brake signal includes a brake light change state, and the brake signal satisfies a preset brake condition, including: whether the brake light changes from an on state to an off state.

[0078] Optionally, in one embodiment of the present application, the control module 300 includes: a first processing unit, used to cause the vehicle to travel at a preset speed when the first distance is greater than a preset distance threshold; and a second processing unit, used to cause the vehicle to remain stationary until the first distance is greater than the preset distance threshold when the first distance is less than or equal to the preset distance threshold.

[0079] Optionally, in one embodiment of the present application, the control module 300 includes: a second identification unit, used to identify a second distance between the vehicle and the vehicle in front of the vehicle after controlling the vehicle to travel according to the control strategy; a second judgment unit, used to judge whether there is a risk of collision between the vehicle and the vehicle in front of the vehicle based on the second distance; and a third processing unit, used to control the vehicle to stop when there is a risk of collision, otherwise, control the vehicle to maintain the current state and continue driving.

[0080] It should be noted that the above explanation of an embodiment of a method for passing vehicles under traffic congestion is also applicable to a device for passing vehicles under traffic congestion in this embodiment, and will not be repeated here.

[0081] According to the vehicle passage device under traffic congestion proposed in the embodiment of the present application, when it is detected that the current road section of the vehicle meets the preset congestion condition, the actual speed of the vehicle is obtained; when the actual speed is zero, the front brake light of the front vehicle is identified on the basis of the movement of the front vehicle, the front vehicle movement of the front vehicle is judged, and the front vehicle movement is judged, and the following distance is shortened while ensuring safety, thereby improving the traffic efficiency of the congested intersection. In this way, the problems of the related technology that can only identify the movement of the front vehicle and follow the front vehicle, the following distance is long, and the vehicle starts lag, which affects the traffic efficiency and reduces the user driving experience.

[0082] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0083] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0084] When the processor 602 executes the program, the vehicle passage method under traffic congestion provided in the above embodiment is implemented.

[0085] Furthermore, the electronic device further comprises:

[0086] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0087] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0088] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0089] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0090] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0091] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0092] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for vehicle passage under traffic congestion.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0096] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0097] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0098] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle passing method under traffic congestion, characterized in that: The following steps are involved: Detect whether the current road section of the vehicle meets the preset congestion conditions; When it is detected that the preset congestion condition is met, obtaining the actual speed of the vehicle; When the actual vehicle speed is zero, identifying a first distance between the vehicle and a preceding vehicle of the vehicle, and identifying a brake signal of a preceding vehicle of the preceding vehicle; When the brake light information of the vehicle ahead cannot be identified, the vehicle will only follow the running status of the vehicle ahead through the front radar and front camera; When it is determined that the front brake light information of the front vehicle can be identified, the front brake light status of the front vehicle at this time is sent to the driving domain controller and recorded; When a brake light state of a preceding vehicle is identified to have changed, determining whether to send a signal to an engine management system and an integrated electronic parking brake according to the first distance, and whether the vehicle starts and moves forward immediately; If the first distance is less than or equal to the preset distance threshold, the vehicle remains stationary until the first distance is greater than the preset distance threshold; If the first distance is greater than the preset distance threshold, the vehicle travels at a preset speed; When moving forward, the front radar still identifies the distance to the vehicle in front to determine whether there is a risk of collision; If there is no risk of collision, the vehicle will drive normally and automatically maintain a distance from the vehicle in front; If there is a risk of collision, the vehicle stops immediately, and in the next cycle when the vehicle speed increases from 0 km / h, the vehicle will no longer determine whether to move forward based on the brake light status of the vehicle in front, but will only move based on the running status of the vehicle in front; Among them, if the braking signal meets the preset braking condition, a control strategy for the vehicle is generated according to the relationship between the first distance and a preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

2. The method according to claim 1, characterized in that The detecting whether the current road section of the vehicle meets the preset congestion condition includes: Identifying a travel distance of the vehicle within a preset time period, and / or an average speed of the vehicle within the preset time period; If the travel distance is less than the preset distance, and / or the average speed of the vehicle is less than the preset speed, the current road section of the vehicle meets the preset congestion condition; otherwise, the current road section of the vehicle does not meet the preset congestion condition.

3. The method according to claim 1, characterized in that The brake signal includes a brake light change state, and the brake signal satisfies a preset brake condition, including: Whether the brake light changes from being on to being off.

4. The method according to claim 1, characterized in that: After controlling the vehicle to travel according to the control strategy, the method further includes: identifying a second distance between the vehicle and a preceding vehicle of the vehicle; determining whether there is a collision risk between the vehicle and a preceding vehicle according to the second distance; If the collision risk exists, the vehicle is controlled to stop; otherwise, the vehicle is controlled to maintain the current state and continue to drive.

5. A vehicle passage device under traffic congestion, the device is used to execute the method according to any one of claims 1 to 4, characterized in that: include: A detection module, used to detect whether the current road section of the vehicle meets the preset congestion condition; An acquisition module, configured to acquire the actual speed of the vehicle when it is detected that the preset congestion condition is met; A control module is used to identify a first distance between the vehicle and a vehicle in front of the vehicle when the actual vehicle speed is zero, and to identify a braking signal of the vehicle in front of the vehicle, wherein if the braking signal satisfies a preset braking condition, a control strategy for the vehicle is generated according to a relationship between the first distance and a preset distance threshold, and the vehicle is controlled to travel according to the control strategy until it passes the current road section.

6. The device according to claim 5, characterized in that The detection module comprises: A first identification unit is used to identify the travel distance of the vehicle within a preset time period and / or the average speed of the vehicle within the preset time period; The first judgment unit is used to determine that the current road section of the vehicle meets the preset congestion condition when the travel distance is less than a preset distance and / or the average speed of the vehicle is less than a preset speed; otherwise, the current road section of the vehicle does not meet the preset congestion condition.

7. The device according to claim 5, characterized in that The control module comprises: A first processing unit, configured to cause the vehicle to travel at a preset speed when the first distance is greater than the preset distance threshold; The second processing unit is configured to, when the first distance is less than or equal to the preset distance threshold, keep the vehicle stationary until the first distance is greater than the preset distance threshold.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle passage method under traffic congestion as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle passage method under traffic congestion as described in any one of claims 1-4.

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