Vehicle control method, electronic device, apparatus, and storage medium

Abstract

Embodiments of the present application provide a vehicle control method, an electronic device, an apparatus and a storage medium, wherein the method comprises: acquiring a first road weather index collected by a roadside unit of a target road section; and in a case where the first road weather index is greater than a preset threshold, sending a first instruction to a first type of vehicle, the first instruction being used to control the first type of vehicle to drive into a first type of lane. The vehicle control method provided by the present application acquires the road weather index of the road through the roadside unit, and when the weather condition of the road reaches the control condition, guides the vehicle supporting the automatic driving function and the vehicle not supporting the automatic driving function to drive in different lanes, realizes the early warning of each road vehicle, improves the safety of road travel in bad weather, and ensures the traffic rate of the road.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a vehicle control method, an electronic device, an apparatus and a storage medium. BACKGROUND

[0002] The severe weather such as haze, rain, snow and sandstorm can cause the driving visibility and the road adhesion coefficient to decrease in the process of vehicle travel, and the driving safety hidden danger is great.

[0003] In the prior art, the sound and light warning auxiliary devices are deployed in the inner and outer lanes of the road to broadcast the road condition information and speed limit warning to the road vehicles, or to shut down part of the road sections.

[0004] However, this warning method cannot guarantee that every road vehicle receives the warning information, and directly shutting down part of the road sections is a great waste of road resources. SUMMARY

[0005] The embodiments of the present application provide a vehicle control method, an electronic device, an apparatus and a storage medium, to solve the defect of great driving safety hidden danger in the prior art under severe weather conditions, and to realize the safe driving of vehicles and the high traffic rate of roads under severe weather.

[0006] In a first aspect, the embodiments of the present application provide a vehicle control method, comprising:

[0007] obtaining a first road weather index collected by a roadside unit of a target road section;

[0008] In the case that the first road weather index is greater than a preset threshold, a first instruction is sent to a first type of vehicle, the first instruction being used to control the first type of vehicle to drive into a first type of lane.

[0009] Optionally, the vehicle control method according to an embodiment of the present application further comprises:

[0010] sending a second instruction to a target display screen, the second instruction being used to control the target display screen to display a first lane division mark, the first lane division mark being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane.

[0011] Optionally, the vehicle control method according to an embodiment of the present application, the obtaining of the first road weather index collected by the roadside unit of the target road section comprises:

[0012] obtaining a target number and a target road weather index; the target number being the number of roadside units of the target road section; the target road weather index being a second road weather index corresponding to each roadside unit in the target road section;

[0013] The first road weather index is determined according to the target number and the target road weather index.

[0014] Optionally, in the vehicle control method according to an embodiment of the present application, the target road section is a road section including at least one of the following: fog, haze, rain, snow, hail, and sand.

[0015] Optionally, in the vehicle control method according to an embodiment of the present application, the first type of vehicle is an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane.

[0016] Optionally, in the vehicle control method according to an embodiment of the present application, the first type of vehicle is an intelligent vehicle that is not driving on the first type of lane and will drive into the target road section after a first preset distance.

[0017] Optionally, in the vehicle control method according to an embodiment of the present application, the second type of vehicle is a non-intelligent vehicle that is driving on the target road section and is not driving on the second type of lane.

[0018] Optionally, in the vehicle control method according to an embodiment of the present application, the second type of vehicle is a non-intelligent vehicle that is driving on the first type of lane.

[0019] Optionally, in the vehicle control method according to an embodiment of the present application, the second type of vehicle is a non-intelligent vehicle that is not driving on the second type of lane and will drive into the target road section after a second preset distance.

[0020] Optionally, in the vehicle control method according to an embodiment of the present application, the target display screen is an intelligent display screen in the target road section.

[0021] Optionally, in the vehicle control method according to an embodiment of the present application, the target display screen is an intelligent display screen in a road section corresponding to the second preset distance.

[0022] Optionally, in the vehicle control method according to an embodiment of the present application, after the first instruction is sent to the first type of vehicle, the method further includes:

[0023] In a case where the first road weather index decreases to less than the preset threshold, a third instruction is sent to the first type of vehicle, the third instruction being used to instruct the first type of vehicle not to keep driving on the first type of lane.

[0024] Optionally, in the vehicle control method according to an embodiment of the present application, after the second instruction is sent to the target display screen, the method further includes:

[0025] In a case where the first road weather index decreases to be less than the preset threshold, a fourth instruction is sent to the target display screen, and the fourth instruction is used to control the target display screen to display a second lane division mark, and the second lane division mark is used to instruct a driver of a second type of vehicle to not need to keep driving in the second type of lane.

[0026] Optionally, the vehicle control method according to an embodiment of the present application further includes:

[0027] The first message is sent in a case where the first type of vehicle identifies that there is an obstacle within a preset range, and the first message includes position information and a motion state of the obstacle.

[0028] In a second aspect, an embodiment of the present application further provides a vehicle control method, including:

[0029] In a case where a first road weather index collected by a roadside unit of a target road section is greater than a preset threshold, a first instruction is received.

[0030] In response to the first instruction, the vehicle is controlled to drive into a first type of lane.

[0031] Optionally, the vehicle control method according to an embodiment of the present application further includes:

[0032] In a case where the first road weather index decreases to be less than the preset threshold, a third instruction is received, and the third instruction is used to instruct the vehicle to not need to keep driving in the first type of lane.

[0033] Optionally, the vehicle control method according to an embodiment of the present application further includes:

[0034] An obstacle within a preset range is identified.

[0035] In a case where the obstacle exists within the preset range, a first message is sent, and the first message includes position information and a motion state of the obstacle.

[0036] In a third aspect, an embodiment of the present application further provides a vehicle control method, including:

[0037] In a case where a first road weather index collected by a roadside unit of a target road section is greater than a preset threshold, a second instruction is received.

[0038] In response to the second instruction, a first lane division mark is displayed, and the first lane division mark is used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane.

[0039] Optionally, the vehicle control method according to an embodiment of the present application further comprises the following steps after displaying the first lane division mark:

[0040] receiving a fourth instruction in a case where the first road weather index decreases to be less than the preset threshold value;

[0041] displaying a second lane division mark in response to the fourth instruction, the second lane division mark being used to instruct a driver of a second type of vehicle to not need to keep the vehicle in a second type of lane.

[0042] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a transceiver, and a processor:

[0043] the memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and implement the steps of the vehicle control method according to the first aspect, the second aspect, and the third aspect.

[0044] In a fifth aspect, an embodiment of the present application further provides a vehicle control apparatus, comprising:

[0045] an acquisition unit configured to acquire a first road weather index collected by a road side unit of a target road section;

[0046] a sending unit configured to send a first instruction to a first type of vehicle in a case where the first road weather index is greater than a preset threshold value, the first instruction being used to control the first type of vehicle to enter a first type of lane.

[0047] In a sixth aspect, an embodiment of the present application further provides a vehicle control apparatus, comprising:

[0048] a receiving unit configured to receive a first instruction in a case where a first road weather index collected by a road side unit of a target road section is greater than a preset threshold value;

[0049] a control unit configured to control a vehicle to enter a first type of lane in response to the first instruction.

[0050] In a seventh aspect, an embodiment of the present application further provides a vehicle control apparatus, comprising:

[0051] a receiving unit configured to receive a second instruction in a case where a first road weather index collected by a road side unit of a target road section is greater than a preset threshold value;

[0052] a display unit configured to display a first lane division mark in response to the second instruction, the first lane division mark being used to instruct a driver of a second type of vehicle to enter a second type of lane.

[0053] In an eighth aspect, the embodiments of the present application further provide a processor-readable storage medium, which stores a computer program, and the computer program is used to make the processor execute the steps of the vehicle control method according to the first aspect, the second aspect and the third aspect.

[0054] The vehicle control method, the electronic device, the apparatus and the storage medium provided by the embodiments of the present application can obtain the road condition meteorological index through the road side unit, guide the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function to travel in different lanes when the meteorological condition of the road reaches the control condition, realize the early warning of each road vehicle, improve the safety of road travel in bad weather, and ensure the traffic rate of the road. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0056] Figure 1 is one of the flowcharts of the vehicle control method provided by the embodiments of the present application;

[0057] Figure 2 is one of the road diagrams of the vehicle control method provided by the embodiments of the present application;

[0058] Figure 3 is the second road diagram of the vehicle control method provided by the embodiments of the present application;

[0059] Figure 4 is the third road diagram of the vehicle control method provided by the embodiments of the present application;

[0060] Figure 5 is the fourth road diagram of the vehicle control method provided by the embodiments of the present application;

[0061] Figure 6 is the fifth road diagram of the vehicle control method provided by the embodiments of the present application;

[0062] Figure 7 is the second flowchart of the vehicle control method provided by the embodiments of the present application;

[0063] Figure 8 is the third flowchart of the vehicle control method provided by the embodiments of the present application;

[0064] Figure 9is a functional architecture schematic diagram of a vehicle control method provided by an embodiment of the present application;

[0065] Figure 10 is a fourth flow schematic diagram of a vehicle control method provided by an embodiment of the present application;

[0066] Figure 11 is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0067] Figure 12 is a first structural schematic diagram of a vehicle control device provided by an embodiment of the present application;

[0068] Figure 13 is a second structural schematic diagram of a vehicle control device provided by an embodiment of the present application;

[0069] Figure 14 is a third structural schematic diagram of a vehicle control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0070] With the rapid growth of traffic volume, the traffic accident rate also has a growing trend, in which the per hundred mile occurrence rate of highway traffic accidents is several times that of ordinary roads. Especially in heavy rain, heavy fog, heavy snow, sandstorm, haze and other adverse weather conditions, vehicle travel has great safety hazards and is prone to traffic accidents.

[0071] In adverse weather conditions, the driving visibility of the driver decreases, and the road conditions in front and around cannot be clearly seen, traffic signs and road facilities cannot be effectively identified, and the distance between the front and rear vehicles and the driving speed are also difficult to judge. Water, snow and other factors also reduce the adhesion coefficient of the tire and the road surface, reduce the friction between the tire and the road surface, and thus easily cause rear-end accidents.

[0072] Taking foggy weather as an example, for vehicles driving on the highway:

[0073] The visibility is within 200 meters, and the maximum speed is 60 kilometers per hour.

[0074] When the visibility is less than 100 meters, the fog lamp, low beam, outline lamp, front and rear position lamp and hazard warning flasher are turned on, the speed cannot exceed 40 kilometers per hour, and the distance with the front vehicle in the same lane is kept more than 50 meters.

[0075] When the visibility is less than 50 meters, the fog lamp, low beam, outline lamp, front and rear position lamp and hazard warning flasher are turned on, the speed cannot exceed 20 kilometers per hour, and the vehicle should leave the highway as soon as possible from the nearest exit.

[0076] Due to uncontrollability of the fog concentration change and the duration time, in the prior art scheme, fog detection devices are usually installed on both sides of the road to monitor the fog change, and the driver is reminded and notified of the speed limit warning through the sound and light warning auxiliary equipment.

[0077] In actual operation, in order to ensure the safety of travel and reduce the incidence of traffic accidents, after the meteorological department issues a weather forecast notice, the relevant traffic control departments and highway management units may close the highway toll gate according to the predicted time period, causing the affected road section to be unable to use the highway, which greatly reduces the utilization rate of the highway.

[0078] The sound and light warning auxiliary equipment can usually only be deployed on the edge of the road. The construction specification of the highway is at least four lanes in both directions. The farther the lane is from the position of the deployed sound and light warning auxiliary equipment, the more limited the driver's visible light condition of the sound and light warning auxiliary equipment. In order to ensure that all drivers on the lane can receive ideal sound and light warning auxiliary information in adverse weather conditions, it is necessary to increase the deployment of sound and light warning auxiliary equipment on both sides of the inner and outer lanes in one direction and reduce the deployment interval, which greatly increases the number and cost of the sound and light warning auxiliary equipment that needs to be deployed.

[0079] Moreover, rain, fog, and haze weather often occurs in the early morning of autumn and winter, sandstorm weather often occurs in the late spring and early summer, and snow weather often occurs in deep winter. If a large number of sound and light warning auxiliary equipment is arranged along the road, these devices will be in an idle state in seasons with less adverse weather, causing waste of construction resources and an increase in maintenance costs.

[0080] The sound and light warning auxiliary equipment in the prior art can only display traffic weather information and speed limit warning to the driving vehicles on the road through an electronic display screen and a broadcast, and cannot provide accurate driving environment warning to the target vehicle point by point. For example, a vehicle needs to change lanes to exit the highway and enter the service area in foggy conditions. In poor visibility conditions, the driver cannot know whether there is a nearby vehicle approaching through the rearview mirror in real time, nor can the driver know whether there is a possibility of collision through the sound and light warning auxiliary equipment. Blind lane changing is prone to accidents, and slowing down and waiting affect the traffic of vehicles behind and are prone to collisions.

[0081] In addition, under the condition of the highway, the prior art scheme cannot provide accurate driving strategies or even take over the driving behavior. The psychological state of the driver is easily affected under adverse weather conditions, thereby reducing the stability of driving. In the condition of a curve, it is difficult to determine the accurate driving path, and it is easy to collide in the curve.

[0082] Since the driver cannot be provided with the weather change and traffic information of the front road beyond the sight range under the prior art condition, the driver cannot make a prediction on the road condition information of the front road beyond the sight range, and can only choose to drive off the road or enter a service area to wait when the weather environment is getting worse, or even the traffic department may close some roads, which greatly reduces the road traffic rate.

[0083] For the above problems in the prior art, the embodiment of the present application provides a vehicle control method and device, an electronic device and a storage medium.

[0084] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0085] Figure 1 is one of the flowcharts of the vehicle control method provided by the embodiments of the present application, as shown in Figure 1 The present application provides a vehicle control method, and the execution subject of the method can be a network side device, a base station, a core network, a road side unit, a road management and control center, a terminal, etc. The method comprises the following steps:

[0086] Step 101, acquiring a first road weather index collected by a road side unit of a target road section.

[0087] Specifically, before controlling the vehicle, the road section that needs to be controlled or limited in speed needs to be determined according to the road weather index collected by the road side unit (RSU), and the road weather index of the road section is acquired.

[0088] The road weather index refers to an evaluation index made on the condition of the road according to the change of the weather, which is used to determine whether the road surface is wet and slippery, wet, has snow or ice, whether the visibility is good, and whether it is convenient for travel, etc.

[0089] The road weather index can be a numerical value, such as a fog detection value, a precipitation, a snowfall, a haze value, a visibility, etc. Since the road traffic weather condition is complex, the road weather index can also be a grade, which is given after comprehensive evaluation according to the fog detection value, the precipitation, the snowfall, the haze value, the visibility, etc.

[0090] Taking a foggy day as an example, Figure 2 is one of the road schematics of the vehicle control method provided by the embodiments of the present application, as shown in Figure 2 Each small triangle in the figure represents a road side unit, the circular area represents a fog-covered road section, and the arrow represents the direction of the vehicle.

[0091] The roadside unit collects the fog detection value of the location in real time, and the average value of the fog detection values collected by multiple continuously arranged roadside units can be calculated. When the average value of the fog detection values collected by multiple roadside units of a certain road section reaches the concentration specified in the road fog control, the road section is taken as the target road section, that is, the circular area in the figure, and the fog detection value of the road section is the first road weather index. Figure 2

[0092] Generally, due to the uncontrollability of weather changes, when the fog detection value of a certain road section exceeds the preset threshold for a certain time, for example, 5 minutes, it is taken as the target road section for control.

[0093] Taking a sandstorm day as an example, the roadside unit collects the air visibility of the location in real time, and the average value of the air visibilities collected by multiple continuously arranged roadside units can be calculated. When the average value of the air visibilities collected by multiple roadside units of a certain road section reaches the visibility specified in the road speed limit, the road section is taken as the target road section, and the average air visibility of the road section is the first road weather index.

[0094] It is easy to think that calculating the average value is only one way to determine the road weather index of a certain road section. The final road weather index can also be determined by removing abnormal data and calculating the average value, weighted average, etc.

[0095] Step 102, in the case where the first road weather index is greater than a preset threshold, a first instruction is sent to a first type of vehicle, the first instruction being used to control the first type of vehicle to enter a first type of lane.

[0096] Specifically, in the case where the road weather index of the target road section exceeds the preset threshold, a first instruction is sent to a first type of vehicle, and the first type of vehicle is controlled to enter a first type of lane.

[0097] The influence of weather on road travel is not absolute. Only when the weather is bad to a certain extent will it affect the driving visibility of the driver and the adhesion coefficient between the tire and the road. In the case where the preset threshold is not exceeded, the driver can still drive on the road at a normal driving speed and a visible distance. Taking a foggy day as an example, the driver is warned to limit speed only when the visibility is less than 1000m. In the case where the visibility is higher than 1000m, the driving speed of the driver does not need to be controlled.

[0098] ​The first type of vehicle refers to an intelligent vehicle supporting intelligent networking function and automatic driving function. The intelligent vehicle refers to a vehicle supporting intelligent networking function, for example, an automatic driving vehicle with L3 and above L3 level, which can exchange information with the outside world through vehicle networking. In the automatic driving mode, the vehicle networking can analyze real-time traffic information through global positioning system navigation technology, vehicle-to-vehicle communication technology, wireless communication and remote sensing technology. At the same time, through the vehicle-mounted sensor and camera system, the surrounding environment can be perceived, and the driving strategy can be adjusted to avoid collision.

[0099] In the case that the first road weather index is greater than the preset threshold, the road lane is divided into a first type of lane and a second type of lane, the first type of lane is used for the first type of vehicle supporting automatic driving function to travel, and the second type of vehicle not supporting automatic driving function travels in the lane outside the first type of lane.

[0100] After the first type of vehicle receives the first instruction, the first type of vehicle that has traveled in the first type of lane will continue to travel in the first type of lane, and the first type of vehicle that has not traveled in the first type of lane will change lanes to enter the first type of lane.

[0101] In the case that only the first type of vehicle exists on the first type of lane, the first type of vehicle can avoid the influence of reduced visibility on vehicle travel speed to a certain extent, and can reduce the probability of collision, so that the first type of vehicle can travel at a relatively high speed on the first type of lane under bad weather conditions, greatly improving the road traffic rate.

[0102] The vehicle control method provided by the embodiment of the application obtains the road weather index of the road through the road side unit, guides the vehicle supporting automatic driving function and the vehicle not supporting automatic driving function to travel in different lanes when the weather condition of the road reaches the control condition, realizes the early warning of each road vehicle, improves the safety of road travel under bad weather conditions, and guarantees the road traffic rate.

[0103] Optionally, the method further comprises:

[0104] The second instruction is sent to the target display screen, and the second instruction is used to control the target display screen to display a first lane division mark, and the first lane division mark is used to instruct the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0105] Specifically, the second instruction is sent to the target display screen, and the target display screen displays the first lane division mark according to the second instruction. The first lane division mark divides the lane into the first type of lane and the second type of lane, and is used to instruct the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0106] The first type of vehicle can receive a first instruction from a network side device, a road management center, a core network, etc. through the Internet of Vehicles, and automatically control the vehicle to drive into the first type of lane.

[0107] For vehicles that do not support automatic driving functions, it is not possible to determine the driving behavior, speed, and distance of surrounding vehicles through the Internet of Vehicles. It is also not possible to autonomously execute driving strategies, and the driver must capture and judge the surrounding driving environment.

[0108] The target display screen is a smart display screen located on the target road segment or the closest smart display screen to the target road segment, and is used to guide the driver on the road. In the case where the first road condition weather index of the target road segment reaches a preset threshold, the target display screen displays the first lane division mark.

[0109] The first lane division mark divides the lane into a first type of lane, a second type of lane, and other lanes. The first type of lane is for the first type of vehicle to travel, and is generally the left lane of the road that supports high-speed travel. The second type of lane is for the second type of vehicle to travel, and is generally the right lane of the road. The other lane is generally the emergency lane on the right side of the road.

[0110] Taking a four-lane highway as an example, the left two lanes can be divided into the first type of lane, the third lane is divided into the second type of lane, and the rightmost emergency lane is the other lane.

[0111] Taking a six-lane highway as an example, the left three lanes can be divided into the first type of lane, the fourth and fifth lanes are divided into the second type of lane, and the rightmost sixth lane is the other lane.

[0112] The second type of vehicle travels in the second type of lane adjacent to the emergency lane on the right side, and has already traveled on the right side when it needs to exit the highway and enter the server or enter the toll station, without the need to cross lanes, reducing the probability of collision when the second type of vehicle changes lanes on the right side due to reduced visibility in fog.

[0113] The first type of vehicle travels in the first type of lane on the left side, and the speed limit requirement of the left lane of the highway is usually lower than that of the right lane, allowing the first type of vehicle to maintain a relatively high speed on the first type of lane.

[0114] The target display screen located on the target road segment is used to instruct the driver traveling on the target road segment to travel according to the division of the first type of lane and the second type of lane. For smart display screens that are not on the target road segment but are adjacent to the target road segment, they can remind drivers who are about to enter the target road segment, so the target display screen can also be a smart display screen located on a road segment within a preset distance from the target road segment.

[0115] The vehicle control method provided in this application embodiment instructs the driver of a second type of vehicle through a target display screen. When the first road condition weather index reaches a preset threshold, the first type of vehicle travels at high speed in the first type of lane, while the second type of vehicle travels at low speed in the second type of lane according to the speed limit warning. This greatly reduces the probability of collisions caused by mixed traffic, while ensuring that the first type of vehicle travels at a relatively high speed in the first type of lane, thereby improving the road throughput and travel safety.

[0116] Optionally, the acquisition of the first road condition weather index collected by the roadside unit of the target road segment includes:

[0117] Obtain the number of targets and the target road condition weather index; the number of targets is the number of roadside units in the target road segment; the target road condition weather index is the second road condition weather index corresponding to each roadside unit in the target road segment;

[0118] The first road condition weather index is determined based on the number of targets and the target road condition weather index.

[0119] Specifically, the first road condition weather index is not data collected from a specific roadside unit, but rather the result of processing data collected from multiple consecutively arranged roadside units.

[0120] The processing methods can be to calculate the average, the weighted average, or the average after filtering out the outlier data, such as calculating the average of the remaining data after removing data that is significantly greater or less than other data.

[0121] For example, given n roadside units collecting n second road condition weather indices P1, P2, ..., P at a certain moment... n Therefore, the first road condition weather index P can be:

[0122]

[0123] At P1, P2, ..., P n There are P3 values ​​that are significantly larger than other data points and P values ​​that are significantly smaller than other data points. n-1 Then P3 and P n-1 After removing the averaging of other data to reduce error, P is:

[0124]

[0125] Roadside units collect real-time meteorological data of their location and process this data. One processing method is to process data collected by a fixed number of roadside units, for example, using 100 consecutively arranged roadside units as an interval, and calculating the road condition meteorological index for that interval. The target road segment consists of one or more consecutive intervals.

[0126] Another processing manner is to process the data collected by the road side units not fixed in number, and once the data collected by n continuous road side units reaches a preset threshold after processing, the road section where the n road side units are located is taken as the target road section. The latter processing manner has a significantly increased calculation amount compared to the former processing manner, but the determination of the target road section is more accurate.

[0127] The vehicle control method provided in the embodiments of the present application determines the first road weather index of the target road section by the plurality of second road weather indexes collected by the plurality of road side units and the number of corresponding road side units, so that the first road weather index more accurately measures the road weather of the target road section, and the control strategy formulated when the road is controlled according to the first road weather index is more reasonable.

[0128] Optionally, the target road section is a road section including at least one of the following: fog, haze, rain, snow, hail, and sand.

[0129] Specifically, the target road section involved in the embodiments of the present application refers to a road section that needs to be controlled for the traveling vehicles due to the bad weather condition.

[0130] The weather conditions affecting the visibility of the road vehicles and the tire-ground adhesion coefficient include fog, haze, rain, snow, hail, and sand. In the actual environment, the weather conditions limiting the travel are complex and changeable, for example, fog and haze, rain and snow, hail accompanied by heavy rain, and snow turning into rain and snow.

[0131] Therefore, correspondingly, the road weather index can be a numerical value, such as a fog value in a foggy day, a haze value in a hazy day, a precipitation in a rainy day, a snow thickness in a snowy day, and the like.

[0132] The road weather index can also be a grade value, which is a grade value obtained by comprehensively evaluating a plurality of numerical values, for example, in a weather of rain and snow, a grade value is determined after comprehensively evaluating the precipitation, road surface water, and ice accumulation.

[0133] For example, in the weather of heavy rain accompanied by heavy fog, a grade value is determined after comprehensively evaluating the fog value, precipitation, and road surface water. There is a scheme for determining the grade after comprehensively evaluating the traffic weather condition in the prior art.

[0134] The vehicle control method provided in the embodiments of the present application evaluates the traffic weather condition of the road, and distinguishes the lanes according to the road weather index, so that the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function travel in different lanes, thereby improving the safety of the vehicle travel and the traffic rate of the road in the bad weather environment.

[0135] Optionally, the first type of vehicle is an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane.

[0136] Specifically, the first type of vehicle has driven on the target road section but has not driven on the first type of lane, and needs to drive into the first type of lane.

[0137] Figure 3 Fig. 2 is a road schematic diagram of a vehicle control method provided by an embodiment of the present application, as shown in the figure, the circular region is a target road section with a road weather index reaching a preset threshold, the arrow represents the direction of vehicle travel, and the first type of vehicle A is driving on the target road section. Figure 3

[0138] The target road section is divided into a first type of lane, a second type of lane, and an emergency lane, and the first type of vehicle A is not driving on the first type of lane. At this time, the first type of vehicle needs to drive into the first type of lane according to the first instruction. The intelligent vehicle in the present application refers to a vehicle supporting an automatic driving function, which can exchange information with the outside world through vehicle networking.

[0139] If the first type of vehicle A needs to drive off the road or into the emergency lane at this time, the automatic driving mode needs to be switched to the manual driving mode, or the driver needs to change the instruction to drive the vehicle off the road or into the emergency lane.

[0140] The vehicle control method provided by the embodiment of the present application controls the first type of vehicle that is not driving on the first type of lane to drive into the first type of lane in the case that the first type of vehicle has driven on the target road section, reduces the collision caused by mixed driving of lanes, and at the same time enables the first type of vehicle to drive at a high speed on the first type of lane, thereby improving the road traffic rate.

[0141] Optionally, the first type of vehicle is an intelligent vehicle that is not driving on the first type of lane and will drive into the target road section after a first preset distance.

[0142] Specifically, for the first type of vehicle that has not driven into the target road section but will drive into the target road section after a first preset distance, the first type of vehicle can drive into the first type of lane in advance.

[0143] Figure 4 Fig. 3 is a road schematic diagram of a vehicle control method provided by an embodiment of the present application, as shown in the figure, the circular region is a target road section with a road weather index reaching a preset threshold, the arrow represents the direction of vehicle travel, and the first type of vehicle B is not driving on the target road section but will drive into the target road section after a first preset distance. The length of the first preset distance can be set as needed. Figure 4

[0144] ​​The target road section is divided into the first type lane, the second type lane and the emergency lane, and the first type vehicle B drives in the first type lane and will drive into the second type lane after the first preset distance. At this time, the first type vehicle B needs to change lanes according to the first instruction to ensure driving in the first type lane after driving into the target road section.

[0145] At this time, if the first type vehicle needs to drive off the road or drive into the emergency lane, the automatic driving mode needs to be switched to the manual driving mode, or the driver needs to change the instruction to drive the vehicle off the road or into the emergency lane.

[0146] The vehicle control method provided in the embodiments of the present application drives the vehicle into the first type lane in the uncontrolled road section in advance when the first type vehicle has not yet driven into the target road section but will drive into the target road section after the first preset distance, further reducing the probability of collision caused by lane changing of the vehicle and improving the safety of driving.

[0147] Optionally, the second type vehicle is a non-intelligent vehicle driving on the target road section and not driving on the second type lane.

[0148] Specifically, the second type vehicle has already driven on the target road section but not driven on the second type lane and needs to drive into the second type lane.

[0149] Figure 5 Fig. 4 is a fourth road schematic diagram of the vehicle control method provided in the embodiments of the present application, as shown in the figure, the circular area is a target road section with a road weather index reaching a preset threshold, the arrow represents the direction of vehicle travel, and the second type vehicle C drives on the target road section. Figure 5

[0150] At this time, the intelligent display screen of the target road section has displayed the first lane division mark to divide the lane into the first type lane, the second type lane and the emergency lane, and the second type vehicle C does not drive on the second type lane.

[0151] At this time, the driver of the second type vehicle C needs to drive the vehicle into the second type lane according to the lane division information indicated by the intelligent display screen. The non-intelligent vehicle is relative to the intelligent vehicle and refers to a vehicle that does not support the automatic driving function. Even if the vehicle can obtain external information through the Internet of Vehicles and formulate a driving strategy according to the external information, it can only remind the driver and cannot autonomously execute the driving strategy, but the driver needs to manually execute the driving strategy and cannot realize automatic driving.

[0152] If the second type vehicle C needs to drive off the road or drive into the emergency lane at this time, the driver needs to manually operate.

[0153] ​The vehicle control method provided in the embodiments of the present application can ensure the passing rate of the first type of vehicles by instructing the driver to drive the second type of vehicle into the second type of lane according to the first lane division mark displayed on the target display screen when the second type of vehicle has driven on the target road section, so as to drive separately with the first type of vehicles.

[0154] Optionally, the second type of vehicle is a non-intelligent vehicle driving on the first type of lane.

[0155] Specifically, the second type of vehicle has driven on the target road section and drives on the first type of lane, and needs to drive into the second type of lane.

[0156] For the second type of vehicle, it can currently drive on the first type of lane, the second type of lane or the emergency lane. In order to drive separately with the first type of vehicles to improve the passing rate of the first type of vehicles, it is necessary to ensure that the second type of vehicle does not drive on the first type of lane.

[0157] For the second type of vehicle driving on the first type of lane, the speed of the first type of vehicle driving behind the lane will be reduced, and therefore the driver needs to drive the vehicle into the second type of lane according to the first lane division mark displayed on the target display screen.

[0158] For the second type of vehicle driving on the emergency lane, the driver can decide by his own subjective will whether to drive into the second type of lane or to keep driving on the emergency lane, or to drive off the road.

[0159] The vehicle control method provided in the embodiments of the present application can ensure the passing rate of the first type of vehicles by instructing the driver to drive the second type of vehicle into the second type of lane according to the first lane division mark displayed on the target display screen when the second type of vehicle has driven on the target road section, so as to drive separately with the first type of vehicles.

[0160] Optionally, the second type of vehicle is a non-intelligent vehicle driving on the first type of lane.

[0161] Specifically, for the second type of vehicle that has not yet driven into the target road section but will drive into the target road section after the second preset distance, it can be driven into the second type of lane in advance.

[0162] Figure 6 Fig. 5 is a road schematic diagram of the vehicle control method provided in the embodiments of the present application, as shown in the figure, the circular area is a target road section with a road weather index reaching a preset threshold, the arrow represents the direction of vehicle travel, and the second type of vehicle D has not driven on the target road section but will drive into the target road section after a second preset distance. Figure 6

[0163] ​The length of the second preset distance is determined according to the position of the intelligent display screen on the road side, and the second preset distance is the distance between the target road section and the intelligent display screen closest to the target road section.

[0164] The intelligent display screen of the target road section and the display of the first lane division mark divide the lane into the first type lane, the second type lane and the emergency lane. The second type vehicle D does not drive on the second type lane after driving for the second preset distance in the current lane, and therefore the driver of the second type vehicle D needs to change lanes and drive the vehicle into the second type lane.

[0165] If the second type vehicle D needs to drive off the road or into the emergency lane at this time, manual operation by the driver is required.

[0166] The vehicle control method provided in the embodiments of the present application instructs the driver of the second type vehicle through the intelligent display screen adjacent to the target road section, so that the driver of the second type vehicle changes lanes to the second type lane before driving into the target road section, thereby reducing the possibility of collision of the second type vehicle when changing lanes on the target road section, and ensuring the passing rate of the first type vehicle on the first type lane.

[0167] Optionally, the target display screen is an intelligent display screen in the target road section.

[0168] Specifically, the target display screen can be an intelligent display screen in the target road section.

[0169] The intelligent display screen mainly plays a reminding and indicating role for road drivers through text, icons and the like on the screen, and in the present application, mainly indicates the driver to select a lane according to the lane division mark on the screen.

[0170] For the target road section with the first road weather index reaching the preset threshold, the intelligent display screen on the target road section indicates lane division to the driver driving on the target road section, especially to the driver of the second type vehicle, who needs to determine the lane through the content on the intelligent display screen, so as to control the vehicle to change lanes.

[0171] The vehicle control method provided in the embodiments of the present application indicates the current lane division situation to the driver through the intelligent display screen on the target road section, and the driver determines whether to change lanes according to the content displayed on the target display screen interface, so that the driver of the second type vehicle controls the vehicle to drive on the lane separately from the first type vehicle in the harsh weather environment, thereby ensuring the passing rate of the first type vehicle.

[0172] Optionally, the target display screen is an intelligent display screen in the road section corresponding to the second preset distance.

[0173] Specifically, the target display screen can be a smart display screen in a road section corresponding to the second preset distance.

[0174] For example, Figure 6 For example, Figure 6 In the second type of vehicle D does not travel on the target road section, but will drive into the target road section after the second preset distance. The target display screen is a smart display screen located on the road section corresponding to the second preset distance. In actual application, the current position of the second type of vehicle should be a position within the driver's line of sight range where a smart display screen is arranged.

[0175] The smart display screen located on the road section corresponding to the second preset distance can indicate the vehicle to change lanes according to the division of the first type of lane and the second type of lane before the vehicle enters the target road section, so that the driver of the second type of vehicle can change lanes under normal visibility and tire friction, thereby reducing the probability of collision on the target road section due to reduced visibility and friction.

[0176] The vehicle control method provided by the embodiment of the present application can indicate the driver of the second type of vehicle through the smart display screen on the road section corresponding to the second preset distance, so that the driver of the second type of vehicle can change lanes in advance under normal visibility and tire friction, thereby further improving the safety of travel.

[0177] Optionally, after the first instruction is sent to the first type of vehicle, the method further includes:

[0178] In the case where the first road weather index decreases to less than the preset threshold, a third instruction is sent to the first type of vehicle, the third instruction being used to instruct the first type of vehicle to not need to keep driving in the first type of lane.

[0179] Specifically, in the case where the first road weather index gradually decreases to less than the preset threshold, the first type of vehicle will receive the third instruction, thereby not needing to continue keeping driving in the first type of lane.

[0180] For the first type of vehicle driving on the target road section, the road weather condition can change at any time, and when the weather condition gradually recovers to normal, for example, the fog gradually disperses, the heavy rain gradually becomes smaller, etc., the vehicle on the target road section can return to the normal mixed driving state, without the need to keep the first type of vehicle driving in the first type of lane and the second type of vehicle driving in the second type of lane.

[0181] At this time, the first type of vehicle can continue to keep driving in the first type of lane, can change lanes to the second type of lane, the emergency lane, etc., and can also choose to drive off the road.

[0182] The vehicle control method provided in the embodiments of the present application does not need to control the road vehicles again in the case that the road weather index gradually decreases to be less than the preset threshold, the road vehicles do not need to drive again according to the state that the first type of vehicles drive in the first type of lanes and the second type of vehicles drive in the second type of lanes, and the road vehicles return to the mixed driving state, so that the second type of vehicles can drive into the high-speed lane on the left side of the road, and the passing rate of the second type of vehicles is improved.

[0183] Optionally, after the second instruction is sent to the target display screen, the method further includes:

[0184] In the case that the first road weather index decreases to be less than the preset threshold, a fourth instruction is sent to the target display screen, and the fourth instruction is used to control the target display screen to display a second lane division identifier, and the second lane division identifier is used to instruct the driver of the second type of vehicles not to drive in the second type of lanes.

[0185] Specifically, in the case that the first road weather index gradually decreases to be less than the preset threshold, the target display screen will receive the fourth instruction, and the screen will be switched to display the second lane division identifier, which is used to instruct the driver of the second type of vehicles not to drive in the second type of lanes.

[0186] In the case that the first road weather index of the target road section decreases to be less than the preset threshold, the road does not need to be controlled again. The first type of vehicles can obtain this information through information exchange between the vehicle and the outside world, so as to control the vehicle.

[0187] However, for the second type of vehicles, the driver can only obtain this information through the intelligent display screen or broadcast, and then the driver can make a driving strategy through subjective judgment.

[0188] When the intelligent display screen on the target road section is switched to display the second lane division identifier, the driver of the second type of vehicles captures the interface of the intelligent display screen within the visual range, judges that the lane has returned to the mixed driving state, and does not need to continue to drive in the second type of lanes.

[0189] At this time, the driver of the second type of vehicles can choose to continue to drive in the second type of lanes, can change lanes to the left side of the fast lane, can drive into the right side of the emergency lane, or can drive off the road.

[0190] The vehicle control method provided in the embodiments of the present application does not need to control the road again in the case that the road weather index gradually decreases to be less than the preset threshold, the driver of the second type of vehicles judges through the information on the intelligent display screen that it is not necessary to continue to drive in the second type of lanes, the road vehicles return to the mixed driving state, and the driver of the second type of vehicles can drive into the left side of the fast lane according to the demand, and the passing rate of the road is improved.

[0191] Optionally, further comprising:

[0192] acquiring a first message, wherein the first message is sent by the first type of vehicle when it is identified that there is an obstacle within a preset range, and the first message contains position information and a motion state of the obstacle.

[0193] Specifically, for the first type of vehicle driving on the road, it is necessary to identify and judge the driving environment around, identify the position information and the motion state of the obstacle within the preset range, and thus formulate a driving strategy.

[0194] For the first type of vehicle, the obstacle refers to an object that can hinder or stop the vehicle from driving, which can be a stationary object such as a roadblock, a falling rock, an anchored vehicle, etc., or a second type of vehicle driving, especially a second type of vehicle driving in the same lane or adjacent lane as the first type of vehicle. The preset range refers to the range that can be identified by the camera of the first type of vehicle.

[0195] For the case where the obstacle refers to the second type of vehicle, since communication cannot be achieved between the first type of vehicle and the second type of vehicle, the first type of vehicle cannot acquire the driving behavior of the driver of the second type of vehicle.

[0196] The first type of vehicle can acquire the positioning of the second type of vehicle at the lane level through high-precision positioning technology, acquire the distance between the first type of vehicle and the second type of vehicle through the vehicle-mounted camera, and determine that the vehicle is a non-intelligent vehicle from the database of the road traffic department through the recognized license plate.

[0197] The first type of vehicle needs to identify the obstacle within the range that can be identified by the camera of the current lane, judge the lane-changing situation of the vehicle in the adjacent lane, and formulate a driving strategy according to these information when driving in the same lane.

[0198] The first type of vehicle needs to identify the obstacle within the range that can be identified by the camera when it needs to change lanes, and judge whether there is another vehicle changing lanes in the current lane and the lane after changing lanes.

[0199] The first type of vehicle can share the driving speed and driving behavior of each other through the Internet of Vehicles, and can also share the position and motion state of the captured obstacle within a certain range.

[0200] The vehicle control method provided by the embodiment of the application can be used for the first type of vehicle to judge the driving environment within the preset range, identify the obstacle around, and thus formulate a driving strategy to prevent collision, and share the position and motion state of the acquired obstacle with other first type of vehicles, thereby further improving the safety of travel.

[0201] Figure 7is a flowchart of a vehicle control method provided by an embodiment of the present application, and Figure 7 As shown in the second flowchart of the vehicle control method provided by an embodiment of the present application, the present application provides a vehicle control method, the execution subject of which is a first type of vehicle, i.e., a vehicle supporting an automatic driving function, and the method comprises the following steps.

[0202] Step 701: In a case where a first road condition meteorological index collected by a roadside unit of a target road section is greater than a preset threshold, a first instruction is received.

[0203] Specifically, in a case where the first road condition meteorological index collected by the roadside unit of the target road section is greater than the preset threshold, the road needs to be speed-limited and controlled, and the first type of vehicle will receive the first instruction.

[0204] Before the road vehicles are controlled, the road sections that need to be controlled or speed-limited need to be determined according to the road condition meteorological index collected by the RSU. The first type of vehicle can obtain the road condition meteorological index and the control strategy formulated according to the road condition meteorological index in real time through the Internet of Vehicles.

[0205] The road condition meteorological index refers to an evaluation index made on the condition of the road according to the change of the weather, which is used to determine whether the road surface is wet and slippery, whether it is wet, has snow or ice, whether the visibility is good, and whether it is convenient for travel, etc.

[0206] The road condition meteorological index can be a numerical value, such as a fog detection value, a precipitation amount, a snowfall amount, a haze value, and a visibility, etc. Since the road traffic meteorological condition is complex, the road condition meteorological index can also be a grade given after comprehensive evaluation according to the fog detection value, the precipitation amount, the snowfall amount, the haze value, and the visibility, etc.

[0207] When the first road condition meteorological index of the target road section reaches the preset threshold, i.e., the target road section needs to be controlled, the first type of vehicle will receive the first instruction.

[0208] The content of the instruction can be a speed-limiting warning on the driving speed or an indication on the driving lane. In the present application, the first instruction is used to control the first type of vehicle to drive into a first type of lane.

[0209] Step 702: In response to the first instruction, the vehicle is controlled to drive into the first type of lane.

[0210] Specifically, in response to the first instruction, the vehicle is controlled to drive into the first type of lane.

[0211] In the automatic driving mode, the first type of vehicle will automatically drive into the first type of lane or keep driving on the first type of lane.

[0212] In the manual driving mode, the driver will receive a prompt message of the lane division state change, and according to the prompt message, the vehicle will be driven into the first type lane, and the driver can also choose to hand over the manual driving mode to the automatic driving mode.

[0213] In the case that the first road weather index of the target section reaches the preset threshold, the lane division state changes, and the lane is divided into the first type lane and the second type lane, the first type vehicle drives into the first type lane, and the second type vehicle drives into the second type lane.

[0214] The vehicle control method provided by the embodiment of the application obtains the road weather index through the road side unit, and in the case that the weather condition of the road reaches the control condition, the vehicle supporting the automatic driving function is guided to drive into the first type lane, thereby realizing the early warning of the road vehicle and improving the safety of road travel in bad weather, while ensuring the traffic rate of the road.

[0215] Optionally, after the control vehicle drives into the first type lane, the method further comprises:

[0216] In the case that the first road weather index decreases to less than the preset threshold, a third instruction is received; the third instruction is used to instruct the vehicle not to keep driving in the first type lane.

[0217] Specifically, when the first road weather index of the target section decreases to less than the preset threshold, the first type vehicle does not need to keep driving in the first type lane.

[0218] When the first type vehicle driving on the target section obtains that the first road weather index decreases to the preset threshold, the vehicle on the target section does not need to continue the speed limiting control, the lane returns to the mixed driving state, and the first type vehicle does not need to keep driving in the first type lane.

[0219] The vehicle control method provided by the embodiment of the application does not need to control the road vehicle in the case that the road weather index gradually decreases to less than the preset threshold, the road vehicle does not need to keep driving according to the state that the first type vehicle drives in the first type lane and the second type vehicle drives in the second type lane, the road vehicle returns to the mixed driving state, so that the second type vehicle can drive into the high-speed lane on the left side of the road, and the traffic rate of the second type vehicle is improved.

[0220] Optionally, the method further comprises:

[0221] Identifying whether there is an obstacle in the preset range;

[0222] In the case that there is an obstacle in the preset range, a first message is sent; the first message contains the position information and the motion state of the obstacle.

[0223] Specifically, for the first type of vehicle driving on the road, it is necessary to identify and judge the surrounding driving environment, identify the position information and motion state of the obstacles within the preset range, and thus formulate a driving strategy.

[0224] For the first type of vehicle, the obstacle refers to an object that can hinder or stop the vehicle from driving, which can be a stationary object such as a roadblock, a falling rock, a stranded vehicle, etc., or a second type of vehicle driving, especially a second type of vehicle driving in the same lane or adjacent lane as the first type of vehicle. The preset range refers to the range that the camera of the first type of vehicle can identify.

[0225] For the case where the obstacle refers to the second type of vehicle, since communication between the first type of vehicle and the second type of vehicle cannot be achieved, the first type of vehicle cannot obtain the driving behavior of the second type of vehicle.

[0226] The first type of vehicle can obtain the positioning of the second type of vehicle at the lane level through high-precision positioning technology, obtain the distance between the first type of vehicle and the second type of vehicle through the vehicle-mounted camera, and determine that the vehicle is a non-intelligent vehicle from the database of the road traffic department through the recognized license plate.

[0227] The first type of vehicle needs to identify the obstacles within the range that the camera of the current lane can identify, judge the lane-changing situation of the vehicles in the adjacent lane, and formulate a driving strategy based on this information when driving in the same lane.

[0228] The first type of vehicle needs to identify the obstacles within the range that the camera can identify, and judge whether there are other vehicles changing lanes in the current lane and the lane after changing lanes when changing lanes.

[0229] The first type of vehicle can share their driving speed and driving behavior through the Internet of Vehicles, and can also share the position and motion state of the captured obstacles within a certain range.

[0230] The vehicle control method provided by the embodiments of the present application can identify the driving environment within the preset range, identify the obstacles around the vehicle, and thus formulate a driving strategy to prevent collisions, and share the position and motion state of the obstacles obtained with other first type of vehicles, thereby further improving the safety of travel.

[0231] Figure 8 is a flowchart of a vehicle control method provided by the embodiments of the present application, as shown in Figure 8 The present application provides a vehicle control method, the execution subject of which is an intelligent display screen, i.e., an electronic display screen that can update in real time according to instructions, which method comprises:

[0232] Step 801, in the case that the first road condition meteorological index collected by the roadside unit of the target road section is greater than the preset threshold, a second instruction is received.

[0233] The role of the intelligent display screen in the present application is to indicate the lane division state of the current road to the driver of the vehicle on the road, and to guide the driver to drive the vehicle into the corresponding lane.

[0234] For the first type of vehicle, the information of the outside world can be obtained through the Internet of Vehicles, and the information of the lane division state change received by the intelligent display screen can be synchronized. In the manual driving mode, the driver can still formulate a driving strategy according to the content displayed on the intelligent display screen.

[0235] For the second type of vehicle, even if the information of the outside world can be obtained through the Internet of Vehicles, the driving strategy formulated according to these information can only remind the driver, but cannot control the vehicle to drive. For the second type of vehicle that cannot obtain the information of the outside world through the Internet of Vehicles, the driver can only obtain the information indicated by the intelligent display screen through the eyes to determine whether the driving strategy needs to be changed and how to change the driving strategy.

[0236] The second instruction is used to control the intelligent display screen to display a first lane division mark, and the first lane division mark divides the lane into a first type of lane and a second type of lane, and is used to indicate the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0237] The driver of the second type of vehicle controls the vehicle to drive into the second type of lane according to the indication of the intelligent display screen.

[0238] Step 802, in response to the second instruction, a first lane division mark is displayed, and the first lane division mark is used to indicate the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0239] Specifically, the intelligent display screen controls the screen to display a first lane division mark according to the second instruction, and indicates the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0240] In the case that the first road condition meteorological index of the target road section exceeds the preset threshold, the speed of the vehicle on the road needs to be controlled. Among them, the driver of the second type of vehicle can only judge through the eyes and ears, and the intelligent display screen provides the division state of the current lane for him, and can also display the speed limit information and the like. At the same time, it can also be supplemented by broadcasting to remind the driver of the second type of vehicle.

[0241] The vehicle control method provided in the embodiments of the present application indicates the driver of the second type of vehicle through the intelligent display screen, and in the case that the first road condition meteorological index of the target road section exceeds the preset threshold, the intelligent display screen displays the first lane division mark, divides the lane into the first type of lane and the second type of lane, and indicates the driver of the second type of vehicle to drive the vehicle into the second type of lane, so that the first type of vehicle can drive at high speed on the first type of lane, and the road traffic rate is improved.

[0242] Optionally, after the first lane division mark is displayed, the method further includes:

[0243] In the case that the first road condition meteorological index decreases to be less than the preset threshold, a fourth instruction is received.

[0244] In response to the fourth instruction, a second lane division mark is displayed, and the second lane division mark is used to indicate the driver of the second type of vehicle to not need to keep the vehicle driving in the second type of lane.

[0245] Specifically, in the case that the first road condition meteorological index of the target road section decreases to be less than the preset threshold, the road does not need to be controlled any more, and the road vehicles can return to the normal mixed driving state. The target display screen switches the interface to display the second lane division mark, and indicates the second type of vehicle to not need to keep driving in the second type of lane,

[0246] The intelligent display screen controls the screen to display the second lane division mark according to the fourth instruction, and the second lane division mark no longer divides the road into the first type of lane and the second type of lane, but returns to the normal state. Taking the high-speed four-lane as an example, the second lane division mark divides the road into the overtaking lane, the fast lane, the driving lane and the emergency lane.

[0247] The division of the second lane division mark on the lane is irrelevant to whether the vehicle supports the automatic driving function or not, and the intelligent vehicle and the non-intelligent vehicle are in the mixed driving state.

[0248] According to the second lane division mark displayed by the intelligent display screen, the driver of the second type of vehicle can drive the vehicle into the first type of lane, that is, the fast lane on the left side of the road, to pass on the road at a faster speed.

[0249] The vehicle control method provided in the embodiments of the present application, in the case that the road condition meteorological index gradually decreases to be less than the preset threshold, does not need to control the road vehicles any more, and the road vehicles do not need to drive in the first type of lane as the first type of vehicle and in the second type of lane as the second type of vehicle, but return to the mixed driving state, so that the second type of vehicle can drive into the high-speed driving lane on the left side of the road, and the traffic rate of the second type of vehicle is improved.

[0250] The above method is described below with a specific example. Taking a foggy highway as an example, road vehicles are divided into intelligent vehicles and non-intelligent vehicles. The intelligent vehicles can be vehicles supporting intelligent network connection and L3 / L4 automatic driving capabilities, and the non-intelligent vehicles are ordinary social vehicles without automatic driving capabilities.

[0251] On the highway, the division state of the lane can be indicated by the intelligent display screen arranged on the road. The lane is divided into a first type of lane and a second type of lane under the display of the first lane division identifier. The intelligent vehicles and the non-intelligent vehicles are guided and separated through the lanes.

[0252] Reference Figure 2 As can be seen, the non-intelligent vehicles travel in the second type of lane adjacent to the emergency lane on the right side. When it is necessary to drive off the highway into a server or enter a toll station on the highway, the non-intelligent vehicles have already traveled on the right side, without the need to cross the lane to change lanes, thereby reducing the probability of collision of the non-intelligent vehicles when changing lanes on the right side due to the decrease in visibility in foggy weather.

[0253] The intelligent vehicles travel in the first type of lane on the left side. The speed limit requirement of the left lane of the highway is usually lower than that of the right lane, so that the intelligent vehicles can maintain a relatively high speed on the first type of lane.

[0254] Figure 9 The functional architecture diagram of the vehicle control method provided in the embodiments of the present application is shown in FIG. 1. Figure 9 As shown in FIG. 1, fog detection sensor units are deployed at intervals on the highway. The fog detection sensor units are used to measure the change in fog concentration of the road section in real time. Each device is dotted with high-precision positioning equipment to obtain the accurate latitude and longitude information of each point when deployed. The fog concentration measurement value detected in real time is uploaded to the roadside cellular + vehicle-to-everything (V2X) unit through wired or wireless transmission, and the fog concentration value of the target road section is obtained. If the value exceeds the preset threshold.

[0255] The result can be used to control the intelligent display screen on the entrance and exit of the fog-affected road section and the gantry on the road section through the roadside cellular + V2X unit, and to start the intelligent lane guidance. The cellular + V2X roadside unit can also report the fog change information of the road section to the upper center, such as the highway control center, to broadcast the weather through the highway toll station and the highway information board, and to report to the meteorological center for highway section weather detection and broadcast.

[0256] The intelligent vehicle is equipped with a module supporting Beidou or Global Positioning System (GPS) lane-level high-precision positioning function and cellular + V2X function at the end of the vehicle. Since the cellular + V2X module at the end of the vehicle and the roadside cellular + V2X unit can realize low-latency point-to-point ad hoc network communication through the PC5 interface and the communication distance exceeds 1 kilometer. At the same time, the front and rear vehicles equipped with the cellular + V2X module can also communicate through the PC5 interface. The intelligent vehicle can obtain the fog conditions beyond the visual range several kilometers away in front of it and the lane guidance strategy of the intelligent display screen during high-speed driving, and can enter the first type of lane and start the automatic driving mode in advance under ideal visual conditions.

[0257] The cellular + V2X unit at the end of the vehicle can obtain lane-level high-precision positioning information through the built-in Beidou or GPS module, and match the high-precision map to realize accurate navigation and automatic driving within the lane under non-ideal visual conditions.

[0258] After entering the fog-affected section, since all vehicles driving on the first type of lane are intelligent vehicles, the front and rear vehicles and adjacent lanes can directly communicate through the PC5 interface of V2X to obtain relative speed, relative position information, driving behavior, etc. Even in a foggy road section with extremely poor visibility, the Vehicle to Vehicle (V2V) communication can perceive the information of other intelligent vehicles in front and rear and adjacent lanes, generate 360-degree dynamic driving information, and improve the safety of intelligent vehicles in the first type of lane by combining the safety anti-collision system deployed by the intelligent vehicle itself.

[0259] In the case of poor visibility or even extremely short visibility, such as less than or equal to 50 meters, a certain intelligent vehicle needs to perform acceleration, deceleration, lane change and other operations in the first type of lane. The intelligent vehicles on the front and rear and both sides of the first type of lane can receive relevant information with low latency to perform safety anti-collision behaviors such as deceleration and avoidance.

[0260] If the intelligent vehicle needs to change lanes to the right into the second type of lane or drive off the highway, it needs to actively detect the position information and motion state of the obstacle in the rear lane on the right side through its own safety anti-collision system, including whether there is a normal vehicle approaching and whether there is a possibility of collision, and then change lanes after selecting the appropriate speed and heading angle.

[0261] At this moment, for the normal vehicles driving on the second type of lane, they can only slow down according to the road regulations under different visibility conditions, and cannot autonomously identify the lane change of the intelligent vehicle and avoid it.

[0262] When the fog detection unit of the driving section detects that the fog concentration decreases to less than the preset threshold, that is, the weather returns to normal conditions, the cellular + V2X roadside module broadcasts the position of the section with normal weather through the PC5 interface, and updates the intelligent display screen on the corresponding section to display the second lane division mark, and at the same time, the cellular communication returns the information of the corresponding section to the upper center.

[0263] After the weather returns to normal, all lanes will no longer be distinguished as intelligent vehicle exclusive, and ordinary vehicles can also normally obtain the right to use the corresponding lane according to the laws and regulations of the expressway. The ordinary vehicles and intelligent vehicles will restore the mixed driving state on each lane of the expressway, so the intelligent vehicle can choose whether to switch to manual driving mode as needed.

[0264] Figure 10 Figure 4 is a flowchart of a vehicle control method provided by the present application, as shown in Figure 10 The present application provides a vehicle control method, which comprises:

[0265] The fog detection sensor unit collects the fog value f at a certain frequency and returns f and its latitude and longitude position (x, y) to the roadside cellular + V2X unit in real time through a wired way. The roadside cellular + V2X returns f and the position (x, y) of the associated fog detection unit to the upper center through cellular communication.

[0266] In the case of gradually thickening fog, f is always greater than the preset threshold and the duration exceeds △t, which can be set according to actual conditions, for example, 5 minutes. The roadside cellular + V2X unit communicates with the intelligent display screens X1, X2, …, X n If the state is to display the second lane division mark, the instruction is updated to display the first lane division mark, and the intelligent lane guidance is started. If the state is to display the first lane division mark, no update operation is performed.

[0267] At the same time, the roadside V2X broadcasts the position information of the section affected by foggy weather and the lane division state displayed by the intelligent display screen through the PC5 interface, so that the intelligent vehicle installed with the V2X module can obtain the relevant information and enter the execution of the subsequent process.

[0268] The driver of the ordinary vehicle drives into the second type of lane as soon as possible under the premise of ensuring safety according to the display information of the intelligent display screen within the line of sight. The ordinary vehicle can also obtain the situation through other feedback channels after reporting to the upper center through the roadside cellular + V2X unit, such as sound and light warning information boards along the expressway, expressway toll stations, weather center APP, and mobile map APP.

[0269] If the upper center closes the second type of lane according to the fog concentration control requirement, the display content of the intelligent display screen in the fog-affected road section can be controlled by the roadside cellular + V2X unit to be "prohibited to enter" to guide ordinary vehicles to get off the highway in advance or as soon as possible.

[0270] The intelligent vehicle can obtain the fog area information and lane division information through the PC5 interface low latency and beyond line of sight before entering the fog area road section, and calculate the time to enter the fog area road section combined with its own position to formulate a driving strategy. The intelligent vehicle that has been driving in the fog area road section will enter the first type of lane as soon as possible according to the regional V2X broadcast message combined with its own automatic driving system, and the intelligent vehicle will enter the automatic driving mode in the first type of lane.

[0271] In the automatic driving mode, the intelligent vehicle can obtain real-time vehicle positioning information and lane information through the Beidou or GPS lane-level high-precision positioning system. During the period of continuous fog, only intelligent vehicles are allowed to drive in the first type of lane.

[0272] Intelligent vehicles can perceive their own lane position, the mutual position of surrounding vehicles, and the key operation information of surrounding vehicles through V2X and Beidou / GPS lane-level high-precision positioning modules, such as brake, deceleration, turn signal of the vehicle in front, etc., so as to make corresponding driving strategies and keep safe driving conditions in the first type of lane to realize blind opening.

[0273] At the same time, the vehicle-mounted cellular + V2X unit deployed on the intelligent vehicle maintains PC5 communication with the roadside cellular + V2X unit in front, which is used to receive dynamic information such as the change of fog concentration in the fog area, the display state of the intelligent display screen, and the distance to drive out of the fog area.

[0274] Ordinary vehicles will drive according to the legal speed limit in foggy weather and observe the display information of the intelligent display screen until the fog dissipates and the highway returns to normal use requirements after changing lanes to the second type of lane.

[0275] The fusion perception roadside system based on cellular + V2X and fog detection has the ability to collect real-time fog changes on highway sections and broadcast and return communication with low latency and high reliability. Real-time fog detection results can be transmitted to intelligent vehicles several kilometers away through roadside cellular + V2X units with low latency and beyond line of sight to perceive the changes in the road ahead and make various driving strategies such as lane changing and driving mode switching. At the same time, it returns to the upper center through cellular or wired transmission.

[0276] Due to the weather conditions of fog and the uncertainty of changes, the driver's vision is limited, which can easily trigger driving safety problems, but the "one-size-fits-all" management method of directly closing the entire expressway in fog cannot fully utilize the expressway resources. In this case, through the intelligent display screen, the fog lane is dynamically divided and guided, and most of the road right resources of the expressway are given to intelligent vehicles with automatic driving capability for communication, and a small part of the road resources are given to ordinary vehicles in society, so that ordinary vehicles have the most basic driving ability, while taking into account the low-risk conditions of the expressway.

[0277] Due to the fact that neither the human eye nor the single-vehicle vision condition can provide reliable and stable driving information in fog, the intelligent vehicle lane-level positioning capability is provided through the Beidou or GPS module, and high-precision positioning information is provided for the intelligent vehicle in fog. After the intelligent vehicle is adapted to the high-precision map of the expressway section, the intelligent vehicle can effectively control the driving track to remain in the first type of lane without deviation, especially in the operation of turning and changing lanes, which can more ensure the safety of the overall system.

[0278] Preferably, the fusion perception roadside system based on cellular + V2X and fog detection can deploy 1 set at the roadside not less than 500 meters; and the intelligent display screen can deploy 1 set not less than 1000 meters.

[0279] It is easily conceivable that arranging a fog detection sensor unit and the like on the vehicle-mounted system of the intelligent vehicle can further improve the perception of the road weather condition.

[0280] Figure 11 is a structural schematic diagram of an electronic device provided by an embodiment of the present application, as Figure 11 The present application provides an electronic device, which comprises a memory 1120, a transceiver 1100, and a processor 1110:

[0281] The memory 1120 is used for storing a computer program; the transceiver 1100 is used for transceiving data under the control of the processor; and the processor 1110 is used for reading the computer program in the memory and performing the following operations:

[0282] obtaining a first road weather index collected by a roadside unit of a target road section;

[0283] In a case where the first road weather index is greater than a preset threshold, a first instruction is sent to a first type of vehicle, and the first instruction is used for controlling the first type of vehicle to drive into a first type of lane.

[0284] Specifically, the transceiver 1100 is used for receiving and sending data under the control of the processor 1110.

[0285] wherein, in Figure 11In particular embodiments, the bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor 1110 and the memory 1120 that can be linked together by the bus architecture can be implemented as various circuits, such as one or more processors and memories. The bus architecture can also link various other circuits, such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art, and therefore, will not be described further. The bus interface provides an interface for the processor 1110.

[0286] The transceiver 1100 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on transmission media, including wireless channels, wired channels, optical cables, and the like transmission media. The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 can store data used by the processor 1110 in performing operations.

[0287] The processor 1110 can be a central processor (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor can also adopt a multi-core architecture.

[0288] Optionally, further comprising:

[0289] The second instruction is sent to the target display screen, and the second instruction is used to control the target display screen to display a first lane division mark, and the first lane division mark is used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane.

[0290] Optionally, the first road weather index is obtained by:

[0291] The target number of road side units and the target road weather index are obtained; the target number of road side units is the number of road side units on the target road section; and the target road weather index is a second road weather index corresponding to each road side unit on the target road section.

[0292] The first road weather index is determined according to the target number of road side units and the target road weather index.

[0293] Optionally, the target road section is a road section including at least one of the following: fog, haze, rain, snow, hail, and sand.

[0294] Optionally, the first type of vehicle is an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane.

[0295] Optionally, the first type of vehicle is an intelligent vehicle that is not currently driving on the first type of lane and will enter the target road section after a first preset distance.

[0296] Optionally, the second type of vehicle is a non-intelligent vehicle that is currently driving on the target road section and is not currently driving on the second type of lane.

[0297] Optionally, the second type of vehicle is a non-intelligent vehicle that is currently driving on the first type of lane.

[0298] Optionally, the second type of vehicle is a non-intelligent vehicle that is not currently driving on the second type of lane and will enter the target road section after a second preset distance.

[0299] Optionally, the target display screen is an intelligent display screen within the target road section.

[0300] Optionally, the target display screen is an intelligent display screen within a road section corresponding to the second preset distance.

[0301] Optionally, after sending the first instruction to the first type of vehicle, the method further comprises:

[0302] in a case where the first road weather index decreases to less than the preset threshold, sending a third instruction to the first type of vehicle, the third instruction being used to instruct the first type of vehicle not to keep driving on the first type of lane.

[0303] Optionally, after sending the second instruction to the target display screen, the method further comprises:

[0304] in a case where the first road weather index decreases to less than the preset threshold, sending a fourth instruction to the target display screen, the fourth instruction being used to control the target display screen to display a second lane division mark, the second lane division mark being used to instruct a driver of a second type of vehicle not to keep driving on the second type of lane.

[0305] Optionally, the method further comprises:

[0306] acquiring a first message, the first message being sent by the first type of vehicle in a case where the first type of vehicle identifies that an obstacle exists within a preset range, and the first message containing position information and a motion state of the obstacle.

[0307] The processor 1110 is further configured to read a computer program in the memory and perform the following operations:

[0308] in a case where a first road weather index collected by a road side unit of a target road section is greater than a preset threshold, receiving a first instruction;

[0309] In response to the first instruction, the vehicle is controlled to enter the first type of lane.

[0310] Optionally, after the vehicle is controlled to enter the first type of lane, the method further includes:

[0311] In a case where the first road weather index decreases to be less than the preset threshold, a third instruction is received; the third instruction is used to instruct the vehicle not to keep driving in the first type of lane.

[0312] Optionally, the method further includes:

[0313] It is identified whether there is an obstacle within a preset range.

[0314] In a case where there is an obstacle within the preset range, a first message is sent; the first message contains position information and a motion state of the obstacle.

[0315] The processor 1110 is further configured to read a computer program in the memory and perform the following operations:

[0316] In a case where the first road weather index collected by the roadside unit of the target road section is greater than a preset threshold, a second instruction is received;

[0317] In response to the second instruction, a first lane division identifier is displayed, the first lane division identifier being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane.

[0318] Optionally, after the first lane division identifier is displayed, the method further includes:

[0319] In a case where the first road weather index decreases to be less than the preset threshold, a fourth instruction is received;

[0320] In response to the fourth instruction, a second lane division identifier is displayed, the second lane division identifier being used to instruct the driver of the second type of vehicle not to keep driving the vehicle in the second type of lane.

[0321] It should be noted that the above electronic device provided by the embodiment of the present application can realize all the method steps achieved by the above method embodiment, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0322] Figure 12 is one of the structural schematic diagrams of the vehicle control device provided by the embodiment of the present application, as Figure 12 indicated, the present application provides a vehicle control device, which comprises:

[0323] The first acquisition unit 1201 is configured to acquire a first road weather index collected by a roadside unit of a target road section.

[0324] The first sending unit 1202 is configured to send a first instruction to the first type of vehicle when the first road weather index is greater than a preset threshold, where the first instruction is used to control the first type of vehicle to drive into a first type of lane.

[0325] Optionally, the device further comprises a second sending unit.

[0326] The second sending unit is configured to send a second instruction to a target display screen, where the second instruction is used to control the target display screen to display a first lane division identifier, and the first lane division identifier is used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane.

[0327] Optionally, the first obtaining unit comprises a first obtaining module and a first determining module.

[0328] The first obtaining module is configured to obtain a target number and a target road weather index, where the target number is a number of road side units of the target road section, and the target road weather index is a second road weather index corresponding to each road side unit in the target road section.

[0329] The first determining module is configured to determine the first road weather index according to the target number and the target road weather index.

[0330] Optionally, the target road section is a road section comprising at least one of the following: fog, haze, rain, snow, hail, and sandstorm.

[0331] Optionally, the first type of vehicle is an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane.

[0332] Optionally, the first type of vehicle is an intelligent vehicle that is not driving on the first type of lane and will drive into the target road section after a first preset distance.

[0333] Optionally, the second type of vehicle is a non-intelligent vehicle that is driving on the target road section and is not driving on the second type of lane.

[0334] Optionally, the second type of vehicle is a non-intelligent vehicle that is driving on the first type of lane.

[0335] Optionally, the second type of vehicle is a non-intelligent vehicle that is not driving on the second type of lane and will drive into the target road section after a second preset distance.

[0336] Optionally, the target display screen is an intelligent display screen in the target road section.

[0337] Optionally, the target display screen is an intelligent display screen in a road section corresponding to the second preset distance.

[0338] Optionally, the apparatus further comprises a third sending unit;

[0339] The third sending unit is configured to send a third instruction to the first type of vehicle, in the case that the first road weather index decreases to less than the preset threshold, the third instruction being used to instruct the first type of vehicle not to keep driving in the first type of lane.

[0340] Optionally, the apparatus further comprises a fourth sending unit;

[0341] The fourth sending unit is configured to send a fourth instruction to the target display screen, in the case that the first road weather index decreases to less than the preset threshold, the fourth instruction being used to control the target display screen to display a second lane division mark, the second lane division mark being used to instruct a driver of a second type of vehicle not to keep driving in the second type of lane.

[0342] Optionally, the apparatus further comprises a second obtaining unit;

[0343] The second obtaining unit is configured to obtain a first message, the first message being sent by the first type of vehicle in the case that the first type of vehicle identifies that there is an obstacle within a preset range, and the first message containing position information and a motion state of the obstacle.

[0344] It should be noted that the vehicle control apparatus provided by the embodiment of the present application can realize all the method steps realized by the vehicle control method embodiments with the network side device, the base station, the core network, the road side unit, the road management and control center, the terminal, etc. as the execution subject, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0345] Figure 13 is a structure diagram of a vehicle control apparatus provided by the embodiment of the present application, as shown in Figure 13 The present application provides a vehicle control apparatus, which comprises:

[0346] A first receiving unit 1301 is configured to receive a first instruction in the case that a first road weather index collected by a road side unit of a target road section is greater than a preset threshold.

[0347] A control unit 1302 is configured to control a vehicle to drive into a first type of lane in response to the first instruction.

[0348] Optionally, the apparatus further comprises a second receiving unit;

[0349] The second receiving unit is configured to receive a third instruction when the first road weather index is less than the preset threshold value; the third instruction is configured to instruct the vehicle not to keep driving in the first type of lane.

[0350] Optionally, the device further comprises an identifying unit and a fifth sending unit.

[0351] The identifying unit is configured to identify whether there is an obstacle in a preset range.

[0352] The fifth sending unit is configured to send a first message when there is an obstacle in the preset range; the first message comprises position information and a motion state of the obstacle.

[0353] It should be noted that the vehicle control device provided by the embodiment of the present application can realize all the method steps realized by the vehicle control method embodiment with the first type of vehicle as the execution subject, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0354] Figure 14 is a structure diagram of a vehicle control device provided by the present application, as shown in Figure 14 The present application provides a vehicle control device, which comprises:

[0355] The third receiving unit 1401 is configured to receive a second instruction when the first road weather index collected by the roadside unit of the target section is greater than a preset threshold value.

[0356] The first display unit 1402 is configured to display a first lane division mark in response to the second instruction, and the first lane division mark is configured to instruct the driver of the second type of vehicle to drive the vehicle into the second type of lane.

[0357] Optionally, the device further comprises a fourth receiving unit and a second display unit.

[0358] The fourth receiving unit is configured to receive a fourth instruction when the first road weather index is less than the preset threshold value.

[0359] The second display unit is configured to display a second lane division mark in response to the fourth instruction, and the second lane division mark is configured to instruct the driver of the second type of vehicle not to keep driving the vehicle in the second type of lane.

[0360] It should be noted that the vehicle control device provided by the embodiment of the present application can realize all the method steps realized by the vehicle control method embodiment with the intelligent display screen as the execution subject, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0361] It should be noted that the division of units / modules in the embodiments of the present application is illustrative, and is only a logical functional division. In actual implementation, another division mode can be used. In addition, each functional unit / module in each embodiment of the present application can be integrated in one processing unit / module, or each unit / module can exist physically, or two or more units / modules can be integrated in one unit / module. The integrated unit / module can be realized in the form of hardware or in the form of a software functional unit.

[0362] When the integrated unit / module is realized in the form of a software functional unit / module and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0363] On the other hand, the embodiments of the present application also provide a processor-readable storage medium, which stores a computer program. The computer program is used to make the processor execute the vehicle control method provided by each embodiment.

[0364] Obtaining a first road condition meteorological index collected by a roadside unit of a target road section;

[0365] In a case where the first road condition meteorological index is greater than a preset threshold, a first instruction is sent to a first type of vehicle, and the first instruction is used to control the first type of vehicle to drive into a first type of lane.

[0366] Or, comprising:

[0367] In a case where the first road condition meteorological index collected by the roadside unit of the target road section is greater than a preset threshold, a first instruction is received;

[0368] In response to the first instruction, the vehicle is controlled to enter the first type of lane.

[0369] Alternatively, comprising:

[0370] In a case where the first road condition meteorological index collected by the roadside unit of the target road section is greater than a preset threshold, a second instruction is received;

[0371] In response to the second instruction, a first lane division mark is displayed, the first lane division mark being used to instruct a driver of a second type of vehicle to enter a second type of lane.

[0372] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to a magnetic storage (e.g., floppy disk, hard disk, magnetic tape, MO, etc.), an optical storage (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor storage (e.g., ROM, EPROM, EEPROM, NAND FLASH, SSD, etc.).

[0373] It should be noted that the processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to a magnetic storage (e.g., floppy disk, hard disk, magnetic tape, MO, etc.), an optical storage (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor storage (e.g., ROM, EPROM, EEPROM, NAND FLASH, SSD, etc.).

[0374] In addition, it should be noted that the term "and / or" in the embodiments of the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0375] The terms "first", "second", "target", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", "target", and the like are generally of a kind and do not limit the number of objects, for example, the first object can be one or more.

[0376] The term "plurality" in the embodiments of the present application refers to two or more, and other quantifiers are similar.

[0377] The technical solutions provided by the embodiments of the present application can be applied to various systems, especially 5G systems. For example, the applicable systems can be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile telecommunication systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new radio (NR) systems, etc. Among these various systems, there are terminal devices and network devices. The system can also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0378] The terminal device to which the embodiments of the present application relate can refer to a device that provides voice and / or data connectivity to a user, a handheld device having a wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device can also be different, for example, in the 5G system, the terminal device can be called user equipment (User Equipment, UE). The wireless terminal device can communicate with one or more core networks (Core Network, CN) through a radio access network (Radio Access Network, RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (also known as a "cellular" phone) and a computer with a mobile terminal device, for example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a radio access network. For example, personal communication service (Personal Communication Service, PCS) phones, cordless phones, session initiation protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal Digital Assistant, PDA) and the like. The wireless terminal device can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, which is not limited in the embodiments of the present application.

[0379] The network device related to the embodiments of the present application can be a base station, which can include multiple cells serving terminals. According to different application scenarios, the base station can also be referred to as an access point, or can be a device in an access network that communicates with wireless terminal devices through one or more sectors over an air interface, or other names. The network device can be used to exchange received air frames and Internet Protocol (IP) packets as a router between wireless terminal devices and the rest of the access network, which can include an Internet Protocol (IP) communication network. The network device can also coordinate the management of the properties of the air interface. For example, the network device related to the embodiments of the present application can be a network device (Base Transceiver Station, BTS) in the Global System for Mobile Communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolved network device (evolutional Node B, eNB or e-NodeB) in a long term evolution (LTE) system, or a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., which are not limited in the embodiments of the present application. In some network structures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be geographically separated.

[0380] The network device and the terminal device can each use one or more antennas for multi-input multi-output (MIMO) transmission, which can be single-user MIMO (SU-MIMO) or multiple-user MIMO (MU-MIMO). According to the form and number of root antenna combinations, the MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission or precoding transmission or beamforming transmission, etc.

[0381] Those skilled in the art will understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage, etc.) containing computer-usable program code.

[0382] The present application is described with reference to flowcharts and / or block diagrams according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer executable instructions. These computer executable instructions can be provided to a general purpose computer, a special purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0383] These processor executable instructions can also be stored in a processor readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the processor readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0384] These processor executable instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 the steps of a function specified in one or more blocks.

[0385] It is clear that many modifications and changes can be made to the application without departing from the spirit and scope of the application. It is therefore intended that such modifications and changes be included within the scope of the application as measured by the claims and their equivalents.

Claims

1. A vehicle control method characterized by, The method comprises the following steps: acquiring a first road weather index collected by a roadside unit of a target road section; in a case where the first road weather index is greater than a preset threshold, sending a first instruction to a first type of vehicle, the first instruction being used to control the first type of vehicle to drive into a first type of lane; the first type of vehicle being an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane; sending a second instruction to a target display screen, the second instruction being used to control the target display screen to display a first lane division mark, the first lane division mark being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane; the second type of vehicle being a non-intelligent vehicle that is driving on the target road section and is not driving on the second type of lane.

2. The vehicle control method according to claim 1, characterized by, The acquiring of the first road weather index collected by the roadside unit of the target road section comprises the following steps: acquiring a target number and a target road weather index; the target number being a number of roadside units of the target road section; the target road weather index being a second road weather index corresponding to each roadside unit of the target road section; determining the first road weather index according to the target number and the target road weather index.

3. The vehicle control method according to claim 1, characterized by, The target road section is a road section comprising at least one of the following: fog, haze, rain, snow, hail, and sand.

4. The vehicle control method according to claim 1, characterized by The first type of vehicle is an intelligent vehicle that is not driving on the first type of lane and will drive into the target road section after a first preset distance.

5. The vehicle control method according to claim 1, characterized by The second type of vehicle is a non-intelligent vehicle that is driving on the first type of lane.

6. The vehicle control method according to claim 1, characterized by The second type of vehicle is a non-intelligent vehicle that is not driving on the second type of lane and will drive into the target road section after a second preset distance.

7. The vehicle control method according to claim 1, characterized by The target display screen is an intelligent display screen in the target road section.

8. The vehicle control method according to claim 6, characterized by The target display screen is an intelligent display screen in a road section corresponding to the second preset distance.

9. The vehicle control method according to claim 1, characterized by, After the sending of the first instruction to the first type of vehicle, the method further comprises the following steps: in a case where the first road weather index decreases to be less than the preset threshold, sending a third instruction to the first type of vehicle, the third instruction being used to instruct the first type of vehicle not to keep driving on the first type of lane.

10. The vehicle control method according to claim 1, characterized by After the sending of the second instruction to the target display screen, the method further comprises the following steps: in a case where the first road weather index decreases to be less than the preset threshold, sending a fourth instruction to the target display screen, the fourth instruction being used to control the target display screen to display a second lane division mark, the second lane division mark being used to instruct a driver of a second type of vehicle not to keep driving on the second type of lane.

11. The vehicle control method according to claim 1, characterized by The method further comprises the following steps: acquiring a first message; the first message being sent by the first type of vehicle in a case where the first type of vehicle identifies that there is an obstacle within a preset range, and the first message containing position information and a motion state of the obstacle.

12. A vehicle control method characterized by, The method comprises the following steps: in a case where a first road weather index collected by a roadside unit of a target road section is greater than a preset threshold, receiving a first instruction and a second instruction; in response to the first instruction, controlling a vehicle to drive into a first type of lane; the first type of vehicle being an intelligent vehicle that is driving on the target road section and is not driving on the first type of lane; In response to the second instruction, a first lane division mark is displayed, the first lane division mark being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane; the second type of vehicle being a non-intelligent vehicle that is traveling on the target road section and is not traveling on the second type of lane.

13. The vehicle control method according to claim 12, characterized by, After the control vehicle drives into the first type of lane, the method further comprises: In a case where the first road weather index decreases to be less than the preset threshold, a third instruction is received; the third instruction being used to instruct the vehicle to not need to travel in the first type of lane.

14. The vehicle control method according to claim 12, characterized by, Further comprising: identifying whether there is an obstacle within a preset range; In a case where there is an obstacle within the preset range, a first message is sent; The first message contains position information and a motion state of the obstacle.

15. The vehicle control method according to claim 12, characterized by After the first lane division mark is displayed, the method further comprises: In a case where the first road weather index decreases to be less than the preset threshold, a fourth instruction is received; In response to the fourth instruction, a second lane division mark is displayed, the second lane division mark being used to instruct a driver of a second type of vehicle to not need to keep the vehicle traveling in a second type of lane.

16. An electronic device, comprising: comprise a memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to transceive data under the control of the processor; and the processor is used to read the computer program in the memory and execute the method of any one of claims 1 to 15.

17. A vehicle control device characterized by comprising: comprise: an acquisition unit, configured to acquire a first road weather index collected by a roadside unit of a target road section; a sending unit, configured to send, to a first type of vehicle, a first instruction in a case where the first road weather index is greater than a preset threshold, the first instruction being used to control the first type of vehicle to drive into a first type of lane; the first type of vehicle being an intelligent vehicle that is traveling on the target road section and is not traveling on the first type of lane; a sending unit, configured to send, to a target display screen, a second instruction, the second instruction being used to control the target display screen to display a first lane division mark, the first lane division mark being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane; the second type of vehicle being a non-intelligent vehicle that is traveling on the target road section and is not traveling on the second type of lane.

18. A vehicle control device characterized by comprising: comprise: a receiving unit, configured to receive a first instruction and a second instruction in a case where a first road weather index collected by a roadside unit of a target road section is greater than a preset threshold; a control unit, configured to control a vehicle to drive into a first type of lane in response to the first instruction; the first type of vehicle being an intelligent vehicle that is traveling on the target road section and is not traveling on the first type of lane; a display unit, configured to display a first lane division mark in response to the second instruction, the first lane division mark being used to instruct a driver of a second type of vehicle to drive the vehicle into a second type of lane; the second type of vehicle being a non-intelligent vehicle that is traveling on the target road section and is not traveling on the second type of lane.

19. A processor-readable storage medium, comprising: The processor readable storage medium stores a computer program, the computer program being used to cause the processor to execute the method of any one of claims 1 to 15.

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