Lane recommendation method, device and equipment

Abstract

The embodiment of this specification discloses a lane recommendation method, including: receiving a lane recommendation request sent by a connected vehicle; the lane recommendation request includes the current position information of the connected vehicle; judging whether the lane recommendation request meets the conditions for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to the traffic condition information corresponding to the current position information of the connected vehicle; if so, the first recommended lane instruction is sent to the connected vehicle; if not, the second recommended lane instruction is sent to the connected vehicle; the second recommended lane instruction is generated according to the historical position information included in the historical lane recommendation request before the lane recommendation request. This embodiment can calculate the recommended lane only when the lane recommendation request of the connected vehicle meets the conditions, which greatly reduces the amount of calculation for the recommended lane, so that the recommended lane instruction is sent to the connected vehicle in a timely manner.

Description

Technical Field

[0001] The present application relates to the technical field of lane recommendation, and in particular to a lane recommendation method, device and equipment. Background Art

[0002] Autonomous driving has become a major disruptive innovation since humans invented the car and is called "the last stop to free your hands."

[0003] When a connected car with autonomous driving function is driving, for example, it often needs to change lanes when encountering traffic congestion. At this time, the connected car can receive the recommended lane instruction sent from the cloud and drive into the recommended lane or stay in the current lane according to the recommended lane instruction. However, the existing recommended lane algorithm has a large amount of calculation, which results in the recommended lane instruction sent to the connected car not being sent in time. Summary of the invention

[0004] The embodiments of this specification provide a lane recommendation method, device and equipment to solve the problems of large amount of calculation in existing lane recommendation methods and untimely recommended lane instructions issued to connected vehicles.

[0005] To solve the above technical problems, the embodiments of this specification are implemented as follows:

[0006] A lane recommendation method provided in an embodiment of this specification includes:

[0007] Receiving a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle;

[0008] Determining whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle;

[0009] If yes, sending the first recommended lane instruction to the connected vehicle;

[0010] If not, a second recommended lane instruction is sent to the connected vehicle; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0011] Optionally, the conditions for obtaining the first recommended lane instruction include:

[0012] The difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to a preset value;

[0013] And / or, the traffic condition information corresponding to the current position information of the connected vehicle is information indicating the occurrence of a new traffic accident or the end of a traffic accident.

[0014] Optionally, a lane recommendation method provided in an embodiment of this specification further includes:

[0015] Determining whether the connected vehicle is within a preset geographic fence according to the current location information of the connected vehicle;

[0016] If so, it is determined whether the lane recommendation request satisfies the condition for obtaining the first recommended lane instruction.

[0017] Optionally, the first recommended lane instruction is generated in the following manner:

[0018] Dividing the road within the preset geographic fence into multiple sections;

[0019] Determine the road section where the networked vehicle is currently located according to the current position information of the networked vehicle;

[0020] The first recommended lane instruction is generated according to the traffic condition information on the road section where the connected vehicle is currently located and the next N road sections where the connected vehicle is expected to travel; N is a positive integer greater than or equal to 1.

[0021] Optionally, determining the road section where the connected vehicle is currently located according to the current position information of the connected vehicle specifically includes:

[0022] According to the frenet coordinates of the connected vehicle, based on the map data, determine the current road section of the connected vehicle.

[0023] Optionally, after the step of generating the first recommended lane instruction, the method further comprises:

[0024] The first recommended lane instruction is stored.

[0025] Optionally, a lane recommendation method provided in an embodiment of this specification further includes:

[0026] Determining whether the automatic emergency braking system of the connected vehicle is in an activated state;

[0027] If not, it is determined whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction.

[0028] Optionally, the traffic condition information includes at least one of the average lane speed, lane traffic flow, road friction coefficient and traffic participant information; the traffic participant information includes at least one of the position, speed and direction of the traffic participant.

[0029] A lane recommendation device provided in an embodiment of this specification includes:

[0030] A receiving module, configured to receive a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle;

[0031] A judgment module, used to judge whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle;

[0032] A first recommended lane instruction sending module, configured to send the first recommended lane instruction to the connected vehicle when the lane recommendation request meets a condition for obtaining a first recommended lane instruction;

[0033] A second recommended lane instruction sending module is used to send a second recommended lane instruction to the connected vehicle when the lane recommendation request does not meet the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0034] A lane recommendation device provided in an embodiment of this specification includes:

[0035] at least one processor; and,

[0036] a memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0038] Receiving a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle;

[0039] Determining whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle;

[0040] If yes, sending the first recommended lane instruction to the connected vehicle;

[0041] If not, a second recommended lane instruction is sent to the connected vehicle; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0042] An embodiment of the present specification realizes the following beneficial effects: by judging whether a lane recommendation request satisfies the conditions for obtaining a recommended lane instruction, if so, the recommended lane is calculated; if not, the recommended lane is not calculated, and at this time the historical recommended lane instruction can be sent to the connected vehicle, so that the recommended lane can be calculated only when the lane recommendation request satisfies the conditions, which greatly reduces the amount of calculation for the recommended lane and enables the recommended lane instruction to be sent to the connected vehicle in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 A flow chart of a lane recommendation method provided in an embodiment of this specification;

[0045] Figure 2 A schematic diagram of an overall solution of a lane recommendation method provided in an embodiment of this specification;

[0046] Figure 3 A schematic diagram of the structure of a lane recommendation device provided in an embodiment of this specification;

[0047] Figure 4 A schematic diagram of the structure of a lane recommendation device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of one or more embodiments of this specification.

[0049] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0050] In the prior art, when a connected car with an autonomous driving function is driving, for example, when it encounters a traffic jam, it often needs to change lanes. At this time, the connected car can receive a recommended lane instruction from the cloud and drive into the recommended lane or stay in the current lane according to the recommended lane instruction. However, the existing recommended lane algorithm has a large amount of calculation, resulting in the recommended lane instruction not being sent to the connected car in a timely manner.

[0051] In order to solve the defects in the prior art, this solution provides the following embodiments:

[0052] This embodiment provides a lane recommendation method. From a program perspective, the execution body of the process can be a program installed on a server or in the cloud. Figure 1 A flow chart of a lane recommendation method provided in an embodiment of this specification, such as Figure 1 As shown, when the execution subject is the cloud, the following steps may be included:

[0053] Step 101: Receive a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle.

[0054] In step 101, the connected vehicle may send a lane recommendation request to the cloud, and then the cloud receives the lane recommendation request sent by the connected vehicle.

[0055] Step 102: Determine whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated based on traffic condition information corresponding to the current position information of the connected vehicle.

[0056] In step 102, the conditions for obtaining the first recommended lane instruction include:

[0057] The difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to a preset value;

[0058] And / or, the traffic condition information corresponding to the current position information of the connected vehicle is information indicating the occurrence of a new traffic accident or the end of a traffic accident.

[0059] That is to say, if the difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to the preset value, or the traffic condition information corresponding to the current position information of the connected vehicle has changed significantly, then the lane recommendation request meets the conditions for obtaining the first recommended lane instruction.

[0060] In this embodiment, the preset value can be preset, such as 1min, etc. When the cloud receives a large number of lane recommendation requests from connected vehicles, that is, a large number of connected vehicles send lane recommendation requests to the cloud, which causes the cloud to generate a first recommended lane instruction under great pressure, the preset value can be set to a larger value, such as 1.5min, so that the cloud can generate the first recommended lane instruction after a longer period of time. When the cloud receives a small number of lane recommendation requests from connected vehicles, that is, a small number of connected vehicles send lane recommendation requests to the cloud, the preset value can be set to a smaller value, such as 0.5min, so that the cloud can generate the first recommended lane instruction in a shorter period of time.

[0061] In step 102, the cloud can generate a first recommended lane instruction using a lane planning algorithm based on traffic condition information corresponding to the current position information of the connected vehicle.

[0062] The traffic condition information includes at least one of the average lane speed, lane traffic volume, road friction coefficient, and traffic participant information. The traffic participant information includes at least one of the location, speed, and direction of the traffic participant.

[0063] In this embodiment, before step 102, the cloud will also determine whether the connected vehicle is within a preset geographic fence based on the current location information of the connected vehicle. The preset geographic fence can be understood as the service scope of this lane recommendation method. If the connected vehicle is within the preset geographic fence, it is determined whether the lane recommendation request meets the conditions for obtaining the first recommended lane instruction. If not, it is not determined whether the lane recommendation request meets the conditions for obtaining the first recommended lane instruction, and the lane recommendation is terminated.

[0064] In a specific embodiment, before step 120, the cloud will also determine whether the automatic emergency braking system of the connected vehicle is in an activated state. If the automatic emergency braking system of the connected vehicle is not in an activated state, it will determine whether the lane recommendation request meets the conditions for obtaining the first recommended lane instruction. If so, it will not determine whether the lane recommendation request meets the conditions for obtaining the first recommended lane instruction, and end this lane recommendation. If the connected vehicle is in the automatic emergency braking state, it means that the connected vehicle is at risk of collision. At this time, the cloud will not issue a recommended lane instruction to avoid interference with the connected vehicle or the driver, thereby ensuring the driving safety of the connected vehicle.

[0065] Step 103: If yes, the first recommended lane instruction is sent to the connected vehicle.

[0066] In step 103, the first recommended lane instruction is generated in the following manner:

[0067] The road within the preset geographic fence is divided into multiple sections.

[0068] The road section where the connected vehicle is currently located is determined according to the current position information of the connected vehicle.

[0069] The first recommended lane instruction is generated according to the traffic condition information on the road section where the connected vehicle is currently located and the next N road sections where the connected vehicle is expected to travel; N is a positive integer greater than or equal to 1.

[0070] Among them, the first lane recommendation instruction indicates the recommended lane for the connected vehicle on each section of the current section and multiple sections in the future.

[0071] Step 104: If not, a second recommended lane instruction is sent to the connected vehicle; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0072] The second recommended lane instruction of this embodiment is illustrated by an example. For example, the connected vehicle sends a lane recommendation request to the cloud at time t1. The lane recommendation request is the first lane recommendation request sent by the connected vehicle. If the first lane recommendation request meets the conditions for obtaining the first recommended lane instruction, the cloud will send the first recommended lane instruction to the connected vehicle. The first recommended lane instruction is recorded as the t1 lane recommendation instruction. The t1 lane recommendation instruction indicates the recommended lane for the connected vehicle on each road section of the current road section and multiple future road sections. Then the connected vehicle sends a lane recommendation request to the cloud at time t2. The lane recommendation request sent by the connected vehicle at time t2 is the second lane recommendation request sent by the connected vehicle. If the second lane recommendation request does not meet the conditions for obtaining the first recommended lane instruction, the cloud will send the last recommended lane instruction sent to the connected vehicle, that is, the t1 lane recommendation instruction, to the connected vehicle.

[0073] For example, the connected vehicle is located at the 5th section at time t1, and receives the t1 lane recommendation instruction, for example, the t1 lane recommendation instruction indicates the recommended lanes on the 5th section and the next 10 sections. The connected vehicle is located at the 8th section at time t2, and receives the t1 lane recommendation instruction. The connected vehicle can obtain the recommended lanes on the 8th section and the next 7 sections based on the t1 lane recommendation instruction received at time t2.

[0074] This embodiment determines whether the lane recommendation request meets the conditions for obtaining the recommended lane instruction. If so, the recommended lane is calculated; if not, the recommended lane is not calculated. At this time, the historical recommended lane instruction can be sent to the connected vehicle, so that the recommended lane can be calculated only when the lane recommendation request sent by the connected vehicle meets the conditions, which greatly reduces the calculation amount of the recommended lane and enables the recommended lane instruction to be sent to the connected vehicle in a timely manner.

[0075] Next, a lane recommendation method provided in an embodiment of the specification will be specifically described with reference to the accompanying drawings:

[0076] Figure 2 This is a schematic diagram of an overall solution of a lane recommendation method provided in an embodiment of this specification. From a program perspective, the execution subject of the process may include a program installed on a server, a cloud, a connected vehicle, or a roadside unit. Figure 2 As shown, the connected vehicle is turned on and connected to the cloud, and then the connected vehicle reports data to the cloud, and the roadside unit also reports data to the cloud. The data reported by the connected vehicle to the cloud may be the current position information, speed, heading angle, and AEB status of the connected vehicle. AEB is Automatic Emergency Braking, in which radar and cameras can be used to monitor the vehicles and pedestrians in front. If a potential collision risk is detected, the system will take corresponding warning and braking measures to avoid a collision or reduce the degree of collision damage. When the connected vehicle sends a lane recommendation request to the cloud, the lane recommendation request may include the current position of the connected vehicle. The data reported by the roadside unit to the cloud is traffic condition information, which may include at least one of the average lane speed, lane traffic volume, road friction coefficient, and traffic participant information, wherein the traffic participant information includes at least one of the position, speed, and direction of the traffic participant.

[0077] Then, the cloud determines whether the connected vehicle is within the preset geographic fence based on the received current location information of the connected vehicle, such as the longitude and latitude of the connected vehicle. The preset geographic fence in this embodiment can be the service range of this lane recommendation method, or it can be a preset area, such as a certain highway section, such as the Rongwu Expressway section. If the connected vehicle is not within the preset geographic fence, the lane recommendation is terminated. If the connected vehicle is within the preset geographic fence, the cloud determines whether the AEB status of the connected vehicle is in an activated state based on the received AEB status of the connected vehicle. If it is in an activated state, the lane recommendation is terminated.

[0078] If the AEB status of the connected vehicle is not activated, the cloud will determine the frenet coordinates of the connected vehicle based on the longitude and latitude of the connected vehicle, and then determine the current road section of the connected vehicle based on the frenet coordinates of the connected vehicle and the map data. Since this embodiment uses map data, it is necessary to determine whether the map data call is normal, that is, whether the map data can be used normally. If not, end this lane recommendation. If yes, continue this lane recommendation.

[0079] In addition, before determining the current road section of the connected vehicle, the road within the preset geographic fence needs to be divided into multiple sections. In a specific embodiment, not only the current road section of the connected vehicle is determined, but also the lane number of the current lane of the connected vehicle is determined, so that the lane of the road section where the connected vehicle is located can be known.

[0080] Furthermore, the cloud determines whether the lane recommendation request sent by the connected vehicle meets the conditions for obtaining the first recommended lane instruction, and if so, sends the first recommended lane to the connected vehicle. The conditions for obtaining the first recommended lane instruction include:

[0081] The time from the last lane recommendation is greater than or equal to the preset value;

[0082] Or, new traffic accidents occur in the current or future road sections;

[0083] Or, a traffic accident ends in the current or future road section.

[0084] Among them, judging that the time from the last lane recommendation is greater than or equal to the preset value is equivalent to the cloud setting the frequency of the connected vehicle requesting lane recommendation instructions, so that the cloud will not frequently calculate the recommended lanes and frequently generate lane recommendation instructions. The occurrence of new traffic accidents in the current or future sections, and the end of traffic accidents in the current or future sections, means judging whether there are major changes in the traffic condition information on the section where the connected vehicle is traveling. If there are no major changes, the cloud may not generate the first recommended lane instruction, and if there are major changes, the cloud will generate the first recommended lane instruction. In this way, when the traffic condition information changes significantly, the connected vehicle can receive the first recommended lane instruction.

[0085] When the lane recommendation request meets the conditions for obtaining the first recommended lane instruction, the cloud will generate the first recommended lane instruction and send it to the connected vehicle. Specifically: first determine whether the traffic condition information is obtained normally. If it is not normal, such as the traffic condition information cannot be obtained, then end this lane recommendation. If it is normal, then determine whether the lane planning algorithm call is normal, that is, whether the lane planning algorithm can be used normally to calculate the recommended lane. If not, then end this lane recommendation. If it can, use the lane planning algorithm to calculate the recommended lane, and then generate a lane recommendation instruction. Among them, the first lane recommendation instruction can be generated in the following way:

[0086] Divide the roads within the preset geo-fence into multiple sections.

[0087] The current road section of the connected vehicle is determined based on the current position information of the connected vehicle.

[0088] A first recommended lane instruction is generated based on the traffic condition information on the road section where the connected vehicle is currently located and the next N road sections where the connected vehicle is expected to travel; N is a positive integer greater than or equal to 1.

[0089] Specifically, the lane planning algorithm is used to generate the first lane recommendation instruction based on the traffic conditions on the current road section of the connected vehicle and the next N road sections where the connected vehicle is expected to travel, as well as the lane recommendation request reported by the connected vehicle.

[0090] The first lane recommendation instruction of this embodiment is illustrated by an example, for example, the road within the preset geographic fence is divided into 30 sections, which can be specifically divided according to the road intersections within the preset geographic fence, and there is no restriction here. The 30 sections may include sections that the connected vehicle has already traveled. For example, the connected vehicle is currently traveling on the 5th section, and the next 25 sections are where the connected vehicle needs to travel in the future. Based on the traffic condition information on the section where the connected vehicle is currently located and the next N sections where the connected vehicle is expected to travel, the first recommended lane instruction is generated, specifically, the first recommended lane instruction can be generated based on the traffic condition information on the 5th section and the next 10 sections, or the first recommended lane instruction can be generated based on the traffic condition information on the 5th section and the next 15 sections.

[0091] Furthermore, when the lane recommendation request does not meet the conditions for obtaining the first recommended lane instruction (note that the lane recommendation request at this time is not the first lane recommendation request sent by the connected vehicle to the cloud), the cloud will query the historical lane recommendation instruction, which can be the first recommended lane instruction sent by the cloud to the connected vehicle last time. If the historical lane recommendation instruction cannot be found, the lane recommendation is terminated. If the historical lane recommendation instruction can be found, the first recommended lane instruction sent by the cloud to the connected vehicle last time, which is the second recommended lane instruction, is sent to the connected vehicle, where the second recommended lane instruction is generated based on the historical position information contained in the historical lane recommendation request before the current lane recommendation request.

[0092] Continuing with the above example, the connected vehicle is traveling on the 5th road section at time t1 and sends a lane recommendation request to the cloud. This lane recommendation request is the first lane recommendation request sent by the connected vehicle, and the lane recommendation request meets the conditions for obtaining the recommended lane instruction. Then the cloud can generate the first recommended lane instruction based on the traffic condition information on the 5th road section and the next 15 road sections, recorded as the t1 lane recommendation instruction. The t1 lane recommendation instruction can indicate the recommended lanes on the 5th road section and the next 15 road sections, or can indicate the recommended lanes on the 5th road section and the next 10 road sections. For example, the t1 lane recommendation instruction indicates the recommended lanes on the 5th road section and the next 10 road sections. When the connected vehicle receives the t1 lane recommendation instruction, it obtains the recommended lanes on the 5th road section and the next 10 road sections. Then at time t2, when the connected vehicle was traveling on the 8th section, it sent a lane recommendation request to the cloud. This lane recommendation request was the second lane recommendation request sent by the connected vehicle, and the lane recommendation request did not meet the conditions for obtaining the recommended lane instruction. At this time, the cloud will send the last recommended lane instruction sent to the connected vehicle, that is, the t1 lane recommendation instruction, to the connected vehicle. The connected vehicle can obtain the recommended lanes on the 8th section and the next 7 sections based on the t1 lane recommendation instruction.

[0093] In one embodiment, after the cloud generates the first recommended lane instruction, it also stores the first recommended lane instruction. In this way, when the connected vehicle sends a lane recommendation request to the cloud next time, if the connected vehicle does not meet the conditions for obtaining the first recommended lane, the first recommended lane instruction issued by the cloud when the connected vehicle met the conditions for obtaining the first recommended lane instruction can be sent to the connected vehicle in a timely manner. In the above example, at time t2, the cloud can send the t1 lane recommendation instruction to the connected vehicle in a timely manner.

[0094] Furthermore, when the lane recommendation request sent by the connected vehicle does not meet the conditions for obtaining the first recommended lane instruction and the historical lane recommendation instruction can be queried, the cloud will not send the second recommended lane instruction to the connected vehicle, but will send the third recommended lane instruction to the connected vehicle. The third recommended lane instruction is an instruction generated based on the second recommended lane instruction and the current position information of the connected vehicle, including an instruction not to change lanes and an instruction to change to the recommended lane.

[0095] For example, if the connected vehicle is currently in the recommended lane indicated by the second recommended lane instruction, the cloud generates a command not to change lanes and sends it to the connected vehicle. If the connected vehicle is currently in a lane that is not the recommended lane indicated by the second recommended lane instruction, the cloud generates a command to change to the recommended lane and sends it to the connected vehicle. The connected vehicle can enter the recommended lane by simply executing the command not to change lanes or the command not to change to the recommended lane, without having to first know the recommended lane according to the second recommended lane instruction and then enter the recommended lane. The connected vehicle can enter the recommended lane in a timely manner.

[0096] After the cloud generates the instruction, it will be sent to the connected car. At this time, the cloud can send the instruction to the connected car's automatic driving system, and the connected car's automatic driving system can drive into the recommended lane according to the instruction. In addition, the cloud can also send instructions to the connected car's HMI. HMI is the human-machine interface, also called the human-machine interface (Human Machine Interface), which is a medium for interaction and information exchange. The connected car's HMI can then broadcast and / or display. The HMI can display the recommended lanes on the current section, or the recommended lanes on the next one or more sections. The content broadcast by the HMI can also be the recommended lanes on the current section, or the recommended lanes on the next one or more sections, such as "the recommended lane for the current section is the current lane", "the recommended lane for the current section is the right lane of the current lane" or "the recommended lane for the next section is the left lane of the current lane", etc.

[0097] The lane recommendation method provided in this embodiment does not generate a lane recommendation instruction every time the connected vehicle sends a lane recommendation request. Instead, the recommended lane is calculated and then the lane recommendation instruction is generated when the lane recommendation request meets the conditions for obtaining the recommended lane instruction. This greatly reduces the amount of calculation for recommending the lane, and the recommended lane instruction can be sent to the connected vehicle in a timely manner.

[0098] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 3 for Figure 3 A schematic diagram of a lane recommendation device provided in an embodiment of this specification is shown in FIG. Figure 3 As shown, a lane recommendation device may include:

[0099] The receiving module 301 is used to receive a lane recommendation request sent by a connected vehicle; the lane recommendation request includes the current location information of the connected vehicle;

[0100] A judgment module 302 is used to judge whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle;

[0101] A first recommended lane instruction sending module 303, configured to send the first recommended lane instruction to the connected vehicle when the lane recommendation request meets the condition for obtaining the first recommended lane instruction;

[0102] The second recommended lane instruction sending module 304 is used to send a second recommended lane instruction to the connected vehicle when the lane recommendation request does not meet the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0103] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0104] Figure 4 The embodiments of this specification provide corresponding to Figure 1 A schematic diagram of the structure of a lane recommendation device. Figure 4 As shown, the device 400 may include:

[0105] at least one processor 410; and,

[0106] A memory 430 is communicatively connected to the at least one processor; wherein,

[0107] The memory 430 stores instructions 420 executable by the at least one processor 410. The instructions are executed by the at least one processor 410 to enable the at least one processor 410 to:

[0108] Receiving a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle;

[0109] Determining whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle;

[0110] If yes, sending the first recommended lane instruction to the connected vehicle;

[0111] If not, a second recommended lane instruction is sent to the connected vehicle; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request.

[0112] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. Figure 4 As for the lane recommendation device shown, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0113] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0114] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0115] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0116] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0117] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0121] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0122] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0123] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0125] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0126] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0127] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A lane recommendation method, It is characterized in that include: Receive lane recommendation requests sent by connected vehicles; The lane recommendation request includes current location information of the connected vehicle; Determining whether the automatic emergency braking system of the connected vehicle is in an activated state; If not, determining whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle; If satisfied, sending the first recommended lane instruction to the connected vehicle; If not satisfied, sending a second recommended lane instruction to the connected vehicle; The second recommended lane instruction is generated according to historical position information included in a historical lane recommendation request before the lane recommendation request; The first recommended lane instruction is obtained by calculation after the lane recommendation request meets the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is a historical lane recommendation instruction previously sent to the connected vehicle, and the historical lane recommendation instruction is the first recommended lane instruction calculated after the last lane recommendation request meets the conditions for obtaining the first recommended lane instruction; The conditions for obtaining the first recommended lane instruction include: the difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to a preset value; and / or the traffic condition information corresponding to the current position information of the connected vehicle is information indicating the occurrence of a new traffic accident or the end of a traffic accident.

2. The lane recommendation method according to claim 1, It is characterized in that The method further comprises: Determining whether the connected vehicle is within a preset geographic fence according to the current location information of the connected vehicle; If so, it is determined whether the lane recommendation request satisfies the condition for obtaining the first recommended lane instruction.

3. The lane recommendation method according to claim 2, It is characterized in that The first recommended lane instruction is generated in the following manner: Dividing the road within the preset geographic fence into multiple sections; Determine the road section where the networked vehicle is currently located according to the current position information of the networked vehicle; Generate the first recommended lane instruction according to the traffic condition information on the road section where the connected vehicle is currently located and the next N road sections where the connected vehicle is expected to travel; N is a positive integer greater than or equal to 1.

4. The lane recommendation method according to claim 3, It is characterized in that The determining the road section where the networked vehicle is currently located according to the current position information of the networked vehicle specifically includes: According to the frenet coordinates of the connected vehicle, based on the map data, determine the current road section of the connected vehicle.

5. The lane recommendation method according to claim 3, It is characterized in that After the step of generating the first recommended lane instruction, the method further includes: The first recommended lane instruction is stored.

6. The lane recommendation method according to claim 1, It is characterized in that The traffic condition information includes at least one of the average lane speed, lane traffic flow, road friction coefficient and traffic participant information; the traffic participant information includes at least one of the position, speed and direction of the traffic participant.

7. A lane recommendation device, It is characterized in that include: A receiving module, used to receive a lane recommendation request sent by a connected vehicle; The lane recommendation request includes current location information of the connected vehicle; a determination module, configured to determine whether the automatic emergency braking system of the connected vehicle is in an activated state, and if not, to determine whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle; A first recommended lane instruction sending module, configured to send the first recommended lane instruction to the connected vehicle when the lane recommendation request meets a condition for obtaining a first recommended lane instruction; A second recommended lane instruction sending module, configured to send a second recommended lane instruction to the connected vehicle when the lane recommendation request does not meet the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request; The first recommended lane instruction is obtained by calculation after the lane recommendation request meets the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is a historical lane recommendation instruction previously sent to the connected vehicle, and the historical lane recommendation instruction is the first recommended lane instruction calculated after the last lane recommendation request meets the conditions for obtaining the first recommended lane instruction; The conditions for obtaining the first recommended lane instruction include: the difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to a preset value; and / or the traffic condition information corresponding to the current position information of the connected vehicle is information indicating the occurrence of a new traffic accident or the end of a traffic accident.

8. A lane recommendation device, It is characterized in that include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to: Receiving a lane recommendation request sent by a connected vehicle; the lane recommendation request includes current location information of the connected vehicle; Determining whether the automatic emergency braking system of the connected vehicle is in an activated state; If not, determining whether the lane recommendation request satisfies a condition for obtaining a first recommended lane instruction; the first recommended lane instruction is generated according to traffic condition information corresponding to the current position information of the connected vehicle; If satisfied, sending the first recommended lane instruction to the connected vehicle; If not, sending a second recommended lane instruction to the connected vehicle; the second recommended lane instruction is generated according to the historical position information contained in the historical lane recommendation request before the lane recommendation request; The first recommended lane instruction is obtained by calculation after the lane recommendation request meets the conditions for obtaining the first recommended lane instruction; the second recommended lane instruction is a historical lane recommendation instruction previously sent to the connected vehicle, and the historical lane recommendation instruction is the first recommended lane instruction calculated after the last lane recommendation request meets the conditions for obtaining the first recommended lane instruction; The conditions for obtaining the first recommended lane instruction include: the difference between the request time of the lane recommendation request and the request time of the historical lane recommendation request is greater than or equal to a preset value; and / or the traffic condition information corresponding to the current position information of the connected vehicle is information indicating the occurrence of a new traffic accident or the end of a traffic accident.

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