A vehicle driving road condition processing method, device, medium and vehicle

Abstract

The embodiment of the application provides a kind of processing method, device, medium and vehicle of vehicle driving road condition, it is related to vehicle-road cooperation technical field, the method comprises: receiving the road information of candidate road range and the position information of reference vehicle in candidate road range sent by road test equipment;When determining that the road condition display function opening condition is satisfied, the relative position of the first vehicle in the candidate road range is determined;Target road range in the set range from the first vehicle is determined, and the position information of target reference vehicle located in target road range is selected;According to the position information and height information of a plurality of calibration points in target road range, road profile is drawn, and the position of each target reference vehicle is displayed in road profile.The above-mentioned method can accurately obtain the information of surrounding vehicles and roads in complex environments such as continuous curved roads or ups and downs, and improve the safety of driving.

Description

Technical Field

[0001] This application relates to the field of vehicle-road cooperative technology, and in particular to a method, device, medium, and vehicle for processing road conditions while driving. Background Technology

[0002] During driving, vehicles inevitably encounter continuous curves and inclines / declines, especially in hilly areas. In such environments, the driver's visibility is obstructed, making it difficult to determine the road conditions and other vehicles ahead. This greatly increases the risk of traffic accidents, posing a significant threat to driving safety.

[0003] Currently, vehicles commonly use lidar or millimeter-wave radar for road detection. However, this method is costly, and it automatically filters out signals reflected from curves and stationary objects, making accurate identification impossible. Furthermore, due to the design principle of radar (electromagnetic wave reflection), it cannot acquire vehicle information outside the field of view in continuous uphill and downhill environments. Therefore, in the aforementioned environments, this method cannot accurately identify road and vehicle conditions. Summary of the Invention

[0004] This invention provides a method, device, medium, and vehicle for processing road conditions while driving, which can accurately acquire information about surrounding vehicles and roads in complex environments such as continuous curves or uphill and downhill sections, thereby improving driving safety.

[0005] In a first aspect, embodiments of this application provide a method for processing road conditions while a vehicle is in motion, applied to an on-board device installed in a first vehicle; the method includes: during the motion of the first vehicle, receiving road information of a candidate road range and position information of reference vehicles within the candidate road range sent by a road testing device; the road information includes position information and height information of each calibration point within the candidate road range; when it is determined that the conditions for enabling the road condition display function are met, determining the relative position of the first vehicle within the candidate road range based on the position information of the first vehicle and the position information of each calibration point; determining a target road range within a set range from the first vehicle based on the relative position, and selecting the position information of a target reference vehicle located within the target road range from the position information of the reference vehicles; drawing a road outline map based on the position information and height information of multiple calibration points within the target road range, and displaying the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle.

[0006] As an optional implementation, the road condition display function is activated under at least one of the following conditions: receiving an operation from a user to activate the road condition display function; receiving a visibility index sent by a road testing device and detecting that the visibility index is lower than a first set threshold; determining that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range; and determining that the first vehicle is on a continuous uphill or downhill slope based on the height information of each calibration point within the candidate road range.

[0007] As an optional implementation, the visibility index is obtained by selecting the minimum value between the actual visibility range and the determined reference visibility range obtained by the road test equipment and multiplying it by a preset ratio; wherein, the reference visibility range is determined by the road test equipment based on a predefined correspondence between light intensity and visibility range, and the actual light intensity obtained.

[0008] As an optional implementation method, determining that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range includes: determining the angle of adjacent calibration points sequentially based on the position information of each calibration point within the candidate road range; when the number of times the change value of the angle of adjacent calibration points is greater than a second preset threshold reaches a first preset number, determining that the first vehicle is on a continuous curve.

[0009] Based on the height information of each calibration point within the candidate road range, it is determined that the first vehicle is on a continuous uphill or downhill slope. This includes: determining the height difference between adjacent calibration points sequentially based on the height information of each calibration point within the candidate road range; and determining that the first vehicle is on a continuous uphill or downhill slope when the number of times the height difference between adjacent calibration points exceeds a third preset threshold reaches a second preset number.

[0010] As an optional implementation, the method further includes: during the driving of the first vehicle, receiving vehicle status information of reference vehicles within the candidate road range sent by the road testing equipment, the vehicle status information including vehicle driving direction, vehicle type, vehicle status and vehicle key status; wherein, the vehicle status is used to identify whether the vehicle has malfunctioned, and the vehicle key status is used to identify whether the vehicle has started.

[0011] As an optional implementation, the position of each target reference vehicle is displayed in the road outline map based on the position information of each target reference vehicle. This includes: determining the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle, and displaying the position of each reference vehicle in the road outline map using different identifiers based on the vehicle status information of each target reference vehicle.

[0012] As an optional implementation, displaying the position of each target reference vehicle in the road outline map includes: displaying the vehicle identifier and corresponding position of each target reference vehicle in the road outline map; wherein, the vehicle identifier of each target reference vehicle is obtained from the vehicle identifiers of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle; after displaying the position of each target reference vehicle in the road outline map, the method further includes: receiving the position information and vehicle identifier of the reference vehicles within the candidate road range sent by the road testing equipment again at preset time intervals; and updating the position of the reference vehicle corresponding to the vehicle identifier displayed in the current road outline map according to the position information and vehicle identifier of the reference vehicles within the candidate road range.

[0013] Secondly, embodiments of this application provide a vehicle driving road condition processing device, the device comprising: a receiving unit, configured to receive road information of a candidate road range and position information of reference vehicles within the candidate road range sent by a road testing device during the driving of a first vehicle; the road information includes position information and height information of each calibration point within the candidate road range; a determining unit, configured to determine the relative position of the first vehicle within the candidate road range based on the position information of the first vehicle and the position information of each calibration point when the road condition display function is enabled; a selecting unit, configured to determine a target road range within a set range from the first vehicle based on the relative position, and select the position information of a target reference vehicle located within the target road range from the position information of the reference vehicles; and a display unit, configured to draw a road outline map based on the position information and height information of multiple calibration points within the target road range, and display the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle.

[0014] Thirdly, embodiments of this application provide a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any step of the method for processing road conditions of the vehicle described in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement any step of the vehicle driving road condition processing method described in the first aspect above.

[0016] Fifthly, embodiments of this application provide a computer program product, including a computer program stored in a computer-readable storage medium; when a processor of a memory access device reads the computer program from the computer-readable storage medium, the processor executes the computer program, causing the memory access device to perform any step in the vehicle driving road condition processing method described in the first aspect above.

[0017] The above method involves receiving road and vehicle information from the road-testing equipment when the vehicle is within its coverage area. The onboard equipment then filters this information based on the vehicle's location, selecting roads and vehicles within a preset distance. This process generates a road outline map and displays information about other vehicles. As long as the onboard equipment is operational, it can accurately acquire information about surrounding vehicles and roads, even in complex environments such as continuous curves or steep inclines and declines. This alerts the driver without affecting normal driving, thereby improving driving safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0020] Figure 2 A flowchart illustrating a method for processing road conditions for vehicle travel, provided in an embodiment of this application;

[0021] Figure 3 A schematic diagram of a calibration point provided in an embodiment of this application;

[0022] Figure 4 A schematic diagram of an operation interface provided in an embodiment of this application;

[0023] Figure 5 A flowchart illustrating a visibility index acquisition process provided in an embodiment of this application;

[0024] Figure 6 A flowchart illustrating a continuous curve determination process provided in an embodiment of this application;

[0025] Figure 7 A schematic diagram illustrating an example of curve determination provided in an embodiment of this application;

[0026] Figure 8 A flowchart illustrating a process for determining continuous uphill and downhill slopes, provided as an embodiment of this application;

[0027] Figure 9 A flowchart illustrating a method for determining the relative position of a first vehicle provided in an embodiment of this application;

[0028] Figure 10A flowchart illustrating a method for determining the scope of a target road provided in an embodiment of this application;

[0029] Figure 11 A schematic diagram of another user interface provided in an embodiment of this application;

[0030] Figure 12 A schematic flowchart illustrating a target reference vehicle display method provided in an embodiment of this application;

[0031] Figure 13 A schematic diagram of a display interface provided in an embodiment of this application;

[0032] Figure 14 A flowchart illustrating the display update method provided in this application embodiment;

[0033] Figure 15 A schematic diagram of a vehicle driving road condition processing device provided in an embodiment of this application;

[0034] Figure 16 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will now be described in further detail with reference to the accompanying drawings.

[0036] The application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0037] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0038] When driving, vehicles inevitably encounter complex road conditions such as continuous curves and steep inclines / declines, especially in hilly areas. In these environments, the driver's visibility is obstructed, making it difficult to anticipate road conditions ahead. This increases the risk of accidents on curves and steep inclines, posing a significant threat to driving safety. Furthermore, the slow traffic and frequent overtaking in these conditions further complicate matters, as drivers with limited visibility cannot judge whether there are vehicles ahead, thus greatly jeopardizing driving safety.

[0039] Currently, vehicles commonly use lidar and millimeter-wave radar for road detection. However, these methods are only effective on straight roads and are expensive. Furthermore, these methods automatically filter out signals reflected from curves and stationary objects, making accurate identification difficult. Additionally, due to the design principles of radar (electromagnetic wave reflection), it cannot acquire vehicle information outside the field of view when driving on continuous uphill or downhill sections.

[0040] Therefore, there is currently a lack of a method that can accurately identify road and vehicle conditions in complex road conditions such as continuous curves and continuous uphill and downhill roads.

[0041] To address the aforementioned issues, this application proposes a method for processing road conditions while driving. This method acquires road information and vehicle reference information through onboard equipment in a vehicle-to-infrastructure (V2I) network, and displays road outlines and related vehicles based on filtered information, alerting drivers without disrupting normal driving. This method only requires the vehicle to be equipped with onboard equipment and connected to the V2I network to share road information, making it particularly suitable for complex road conditions such as continuous curves and continuous uphill / downhill sections. With this method, as long as the onboard equipment is operational, it can accurately acquire information about surrounding roads and vehicles, providing advance warnings of upcoming road conditions and assisting drivers in safe driving.

[0042] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application, such as... Figure 1 As shown, the vehicle-road cooperative network includes an on-board device 101 and a roadside device 102. In this embodiment, 5G communication can be performed between the on-board device 101 and the roadside device 102 to transmit vehicle data and road information.

[0043] In some embodiments, the vehicle-mounted device 101 is an embedded Linux operating system, equipped with a GNSS positioning module, an encryption chip, a V2X communication module, and a memory. It can acquire and save information such as the vehicle's location and status.

[0044] When a vehicle equipped with on-board equipment 101 is driving on the road, it transmits its vehicle location information, the road it is on, and its vehicle status, etc., after encryption, to surrounding vehicles and roadside equipment 102 through the vehicle-road cooperative network. The roadside equipment 102 then forwards the information to the on-board equipment 101 of other vehicles in the covered road section.

[0045] In some embodiments, the road testing device 102 includes a V2X module, a 4G / 5G module, an encryption chip, and a memory, enabling vehicle-to-everything (V2X) network communication and storing the configuration of the road testing device 102 and parameters (such as road maps) issued by the platform. It may also be equipped with a visibility sensor and a light intensity sensor to detect the light intensity and visibility of the covered road sections and publish the data in real time.

[0046] The aforementioned road testing device 102 obtains vehicle information published by vehicles traveling on the covered road segment, as well as vehicle and road information issued by the platform, through the vehicle-road cooperative network. It then distributes this information to the vehicles traveling on the covered road segment. Upon receiving the road information, the on-board device 101 in each vehicle matches it with its own location, filters out the required road information, generates a route outline map, and displays the information of other vehicles received on the route outline map. Simultaneously, the on-board device 101 also distributes its own vehicle information and the matched road information through the vehicle-road cooperative network. This information can directly reach other vehicles or be relayed through the road testing device 102.

[0047] The above method is mainly used in complex road conditions such as mountain roads with continuous curves and rugged roads with continuous ups and downs. It can also be used on other straight roads. When the driver's field of vision cannot see further, this method can be used to process the road conditions of the vehicle. It can enable the driver to obtain information about the road and other vehicles when the road in front of the vehicle is severely obstructed or the driver's field of vision cannot reach further.

[0048] Figure 2 This application provides a flowchart illustrating a method for processing road conditions while driving; as shown in the embodiments of this application. Figure 2 As shown, this application embodiment provides a method for processing road conditions while a vehicle is driving. This method is applied to the aforementioned vehicle-mounted device 101 installed in a first vehicle, and includes:

[0049] Step 201: During the driving of the first vehicle, receive road information of the candidate road range and position information of reference vehicles within the candidate road range sent by the road testing equipment; the road information includes the position and elevation information of each calibration point within the candidate road range.

[0050] Step 202: When the conditions for enabling the road condition display function are met, determine the relative position of the first vehicle within the candidate road range based on the location information of the first vehicle and the location information of each calibration point.

[0051] Step 203: Based on the relative position, determine the target road range within the set range from the first vehicle, and select the position information of the target reference vehicle located within the target road range from the position information of the reference vehicle;

[0052] Step 204: Draw a road outline map based on the location and height information of multiple calibration points within the target road area, and display the position of each target reference vehicle on the road outline map based on the location information of each target reference vehicle.

[0053] The above method involves receiving road and vehicle information from the road-testing equipment when the vehicle is within its coverage area. The onboard equipment then filters this information based on the vehicle's location, selecting roads and vehicles within a preset distance. This process generates a road outline map and displays information about other vehicles. As long as the onboard equipment is operational, it can accurately acquire information about surrounding vehicles and roads, even in complex environments such as continuous curves or steep inclines and declines. This alerts the driver without affecting normal driving, thereby improving driving safety.

[0054] In step 201 above, when the first vehicle travels to the candidate road area covered by the road testing equipment, it receives the road information within the candidate road area distributed in real time by the road testing equipment, as well as the vehicle information of the reference vehicles (i.e. other vehicles) within the candidate road area received and forwarded by the road testing equipment.

[0055] Each road test device has multiple calibration points set up on the candidate roads within its coverage area. The number and location of these calibration points can be determined according to requirements, such as... Figure 3 As shown, it is a schematic diagram of a possible calibration point.

[0056] In this embodiment, road information within the candidate road range is acquired in advance, stored in the corresponding road testing equipment, and distributed to the candidate road range in real time.

[0057] In addition to the location and elevation information of the calibration points, the above road information may also include road node information and calibration point information.

[0058] The aforementioned road-related information includes: road signs, and upstream node signs (such as...). Figure 3 The upstream node 1 and upstream node 2 shown), and the downstream node identifier of the road (such as...) Figure 3The downstream nodes 1 and 2 shown, the number of preset points included in the road, the preset point identifiers of the preset points included in the road, the number of lanes in the road, the lane descriptions in the road (e.g., the first lane starts from the left in the lane direction), and the lane widths in the road, etc.

[0059] The aforementioned calibration points may include road nodes and preset points located inside the road. The relevant information of the aforementioned calibration points includes information related to the preset points and road-related information.

[0060] The road node information mentioned above includes: node identifier (the identifier of the area to which the node belongs and the identifier of the node itself), number of nodes, node description (such as the node to which the road belongs in the direction of travel, i.e., downstream node, etc.), road identifiers included in the node, and number of roads included in the node, etc.

[0061] The aforementioned information about the preset point includes: the preset point identifier, the road identifier, the location (latitude and longitude) of the preset point, the driving direction corresponding to the preset point, and the height angle between the preset point and the reference plane (the reference plane is a horizontal plane of any specified height used as a reference standard).

[0062] The aforementioned preset points can be located on the center line of the road.

[0063] It should be noted that since the roads in the road node information belong to the nodes of the end points of the road travel direction, each road node only contains information for one direction. However, since multiple node information is published each time, the road information contains information for both directions of the road.

[0064] To ensure the accuracy of the road information of the candidate road range stored in the road testing equipment, the road information stored in the road testing equipment can be updated at preset intervals.

[0065] In step 204, a road outline map is drawn based on the location and height information of multiple calibration points within the target road area, including: based on road node information within the target road area, calibration point information of multiple calibration points, and location and height information of multiple calibration points.

[0066] The aforementioned location information of the reference vehicle includes: the longitude of the reference vehicle, the latitude of the reference vehicle, the lane in which the reference vehicle is located, the upstream node marker of the road in which the vehicle is located, the downstream node marker of the road in which the vehicle is located, and the pitch angle of the vehicle (i.e., the height angle relative to the reference plane).

[0067] In step 202 above, the conditions for activating the road condition display function include at least one of the following:

[0068] 1. Received the user's request to enable the road condition display function;

[0069] The aforementioned road condition display function can be set to be turned on and off by user operation. In specific implementation, the road condition display function can be set to be off by default. When the user is received to turn on the road condition display function or other set conditions are met (such as any one of conditions two to four below), the road condition display function is turned on. When the user is received to turn on the road condition display function or any other set conditions are no longer met, the road condition display function is turned off.

[0070] In some embodiments, the user's operation of activating the road condition display function can be an operation interface for driving assistance functions displayed on the screen (e.g., ...). Figure 4 The operation can be initiated by clicking (as shown), or by using a voice control device installed in the vehicle.

[0071] 2. Receive the visibility index sent by the road test equipment and detect that the visibility index is lower than the first set threshold;

[0072] The value of the first set threshold can be set by the user according to their needs. This application is an embodiment and does not impose any restrictions.

[0073] The visibility index is obtained by selecting the minimum value from the actual visibility range and the determined reference visibility range obtained by the road test equipment and multiplying it by a preset ratio; the reference visibility range is determined by the road test equipment based on the predefined correspondence between light intensity and visibility range, as well as the actual light intensity obtained.

[0074] Specifically, the following is a combination Figure 5 The process of obtaining visibility indicators using the aforementioned road testing equipment is described in detail, and this process includes the following steps:

[0075] Step 501: Obtain the current actual light intensity and actual visibility range at the location of the road test equipment;

[0076] Specifically, the actual light intensity is obtained using an external light sensor connected to the road test equipment, and the actual visibility range (in meters) is obtained using an external visibility sensor connected to the road test equipment.

[0077] Step 502: Based on the predefined correspondence between light intensity and visibility range, determine the reference visibility range corresponding to the actual light intensity;

[0078] Specifically, the distances of conventional vehicles within the driver's field of vision under various light intensities during the test are obtained in advance, forming a fitting curve of the correspondence between light intensity and visibility range, and stored in the road test equipment.

[0079] When the road test equipment acquires the current visibility index in real time, it searches for the visibility range corresponding to the actual light intensity from the predefined correspondence between light intensity and visibility range, and uses it as the reference visibility range.

[0080] Step 503: Determine the minimum value between the actual visibility range and the reference visibility range as the target visibility range;

[0081] Step 504: Multiply the target visibility range by a preset ratio to obtain the visibility index;

[0082] Specifically, the preset ratio can be modified by the user according to their needs, or it can be set to a default value, which is usually a value less than 1, such as 0.8. Multiplying the target visibility range by the preset ratio gives the visibility index.

[0083] The road testing equipment determines the current visibility index in real time and sends the visibility index to vehicles within the covered candidate road range, so that vehicles can determine whether the conditions for activating the above-mentioned road condition display function are met based on the visibility index.

[0084] 3. Based on the location information of each calibration point within the candidate road area, determine that the first vehicle is located on a series of curves;

[0085] Specifically, such as Figure 6 As shown, the above method for determining that the first vehicle is on a series of curves based on the location information of each calibration point within the candidate road range includes the following steps:

[0086] Step 601: Based on the position information of each calibration point within the candidate road area, determine the angles of adjacent calibration points in sequence;

[0087] After obtaining the location information of each calibration point within the candidate road range, the locations of the calibration points are sorted according to the location information, and the angle between the straight line connecting each calibration point to its previous calibration point and the straight line connecting the calibration point to its next calibration point is obtained (this angle is the angle between the two straight lines that is less than 90 degrees).

[0088] Step 602: When the number of times the angle change value of adjacent calibration points exceeds the second preset threshold reaches the first preset number, it is determined that the first vehicle is in a continuous curve.

[0089] Under normal circumstances, since the angle change between calibration points on a straight road will not exceed the second preset threshold, when the angle change of adjacent calibration points is greater than the second preset threshold, it can be determined that there is a curve. When the number of times the angle change of adjacent calibration points exceeds the second preset threshold reaches the first preset number, it can be determined that the road has a series of curves.

[0090] In practice, in addition to setting the activation condition of the above-mentioned road condition display function to the first vehicle being on a continuous curve, it can also be set to the first vehicle being on a curve, that is, when the change value of the angle between adjacent calibration points is greater than the second preset threshold, the road condition display function will be activated.

[0091] The aforementioned second preset threshold and first preset quantity can both be set and modified by the user according to their own needs, and this application embodiment does not impose any restrictions.

[0092] like Figure 7 As shown, taking three calibration points A, B, and C arranged in sequence as an example, the above process will be described in detail:

[0093] Connect calibration point A and calibration point B to obtain line 1, and connect calibration point B and calibration point C to obtain line 2. Calculate the angle between line 1 and line 2 (an angle less than 90 degrees). When this angle is greater than the second preset threshold, it is determined that there is a curve.

[0094] If the number of curves reaches the first preset number as determined by this method, and it is determined that there are consecutive curves on the road, then the road condition display function mentioned above will be activated.

[0095] It should be noted that, in order to ensure that the road condition display function is activated only when the first vehicle is on a series of curves, the calibration point used to determine whether there are continuous curves can be set to a calibration point at a preset distance from the first vehicle. This preset distance can also be set by the user according to their needs.

[0096] Fourth, based on the height information of each calibration point within the candidate road area, determine that the first vehicle is on a continuous uphill or downhill slope.

[0097] Specifically, such as Figure 8 As shown, based on the height information of each calibration point within the candidate road area, it is determined that the first vehicle is on a continuous uphill or downhill slope, including:

[0098] Step 801: Based on the height information of each calibration point within the candidate road range, determine the height difference between adjacent calibration points sequentially;

[0099] The height information of each calibration point can be its height relative to a reference plane. This reference plane is a pre-defined plane used as a reference standard, which can be the plane corresponding to the average height of the road, the plane corresponding to the lowest point of the road, etc.

[0100] After obtaining the height information of each calibration point within the candidate road range, the height difference between each calibration point and its previous calibration point is obtained sequentially, or the height difference between each calibration point and its next calibration point is obtained sequentially.

[0101] Step 802: When the number of times the height difference between adjacent calibration points exceeds the third preset threshold reaches the second preset number, it is determined that the first vehicle is in a continuous uphill or downhill position.

[0102] Under normal circumstances, since the height difference between adjacent calibration points on a straight road will not exceed the third preset threshold, when the height difference between adjacent calibration points is greater than the third preset threshold, it can be determined that there is an uphill or downhill slope. When the number of times the height difference between adjacent calibration points exceeds the third preset threshold reaches the second preset number, it can be determined that the road has a continuous uphill or downhill slope.

[0103] In implementation, in addition to setting the activation condition of the above-mentioned road condition display function to the first vehicle being on an uphill or downhill slope, it can also be set to the first vehicle being on an uphill or downhill slope, that is, when the height difference between adjacent calibration points exceeds the third preset threshold, the road condition display function will be activated.

[0104] The values ​​of the third preset threshold and the second preset quantity mentioned above can be set by the user according to their needs. This application is an embodiment and does not impose any limitations.

[0105] It should be noted that, in order to ensure that the above-mentioned road condition display function is activated only when the first vehicle is on a continuous uphill or downhill slope, the calibration point used to determine whether there is a continuous uphill or downhill slope can be set to a calibration point at a preset distance from the first vehicle. This preset distance can also be set by the user according to their needs.

[0106] The conditions for activating the aforementioned road condition display function may also include: receiving road congestion indicators sent by road testing equipment, which include road congestion level and road congestion location; and activating the road condition display function when the road congestion level reaches a preset road congestion threshold and the first vehicle is in a road congestion location.

[0107] In practice, the road testing equipment can connect to the edge computing device (peripheral) via Ethernet. The edge computing device calculates the number of vehicles within a certain range and determines the current road congestion level (which can be divided into 1-5 levels, corresponding to smooth traffic, slow traffic, slight congestion, congestion, and severe congestion, respectively) and the location of the road congestion (which can be the coordinates of points around the location of the road congestion). This information is then sent to the road testing equipment, which integrates it into a road congestion index and sends it to vehicles within the candidate road range in a scenario-based manner. After receiving the road congestion index, the vehicle matches the location of the road congestion based on its own position. When the road congestion level reaches the preset road congestion threshold, the road condition display function is activated.

[0108] In step 202 above, such as Figure 9 As shown, the above method for determining the relative position of the first vehicle within the candidate road range based on the location information of the first vehicle and the location information of each calibration point includes the following steps:

[0109] Step 901: Determine the location information of the first vehicle using on-board equipment; wherein the location information includes the vehicle's latitude and longitude.

[0110] Step 902: Match the location information of the first vehicle with the location information of each calibration point to determine the relative position of the first vehicle within the candidate road range;

[0111] Specifically, based on the location information of the first vehicle and the location information of each calibration point, a reference calibration point closest to the location of the first vehicle is determined, and based on the location of the reference calibration point within the aforementioned candidate road area, the location of the first vehicle is determined.

[0112] In practice, when the aforementioned calibration points include preset points set on the center line of the road, and the received road information includes road-related information (such as the number of lanes in the road, lane descriptions in the road, and lane widths in the road), the lane where the first vehicle is located can be further calculated based on the aforementioned information.

[0113] In step 203 above, such as Figure 10 As shown, based on the relative position, the target road range within a set range from the first vehicle is determined, and the position information of the target reference vehicle located within the target road range is selected from the position information of the reference vehicle. Specifically, this includes the following steps:

[0114] Step 1001: Based on the relative position of the first vehicle within the candidate road range, select road information from the road information within the candidate road range that is within the target road range and is close to the first vehicle within a set range;

[0115] Step 1002: Select the location information of the target reference vehicle located within the target road area from the location information of the reference vehicle.

[0116] The above-mentioned setting range can be configured by the user according to their needs. This can be done through the operation interface displayed on the screen (e.g., [the interface is shown]). Figure 11 The operation can be performed by selecting or clicking (as shown), or by setting up the voice device installed in the vehicle.

[0117] In practice, this preset range can be set by default to include both the maximum and minimum values, and further divided into multiple numerical values ​​between the maximum and minimum values ​​(e.g., ...). Figure 11 As shown in the image, users can select from several values ​​when making adjustments. The division of these values, as well as the setting of the maximum and minimum values, can be configured by the user each time the road condition display function is activated.

[0118] Since the preset range setting is related to the road range and number of vehicles displayed subsequently, the association between the preset range and the vehicle icons displayed on the subsequent road outline map can be further configured. That is, the smaller the preset range, the more obvious (larger) the vehicle icons displayed on the road outline map, and the larger the preset range, the smaller the vehicle icons displayed on the road outline map.

[0119] In step 204 above, after determining the location and elevation information of multiple calibration points within the target road area, a road outline map can be drawn based on this information. Specifically, when the road information also includes road node information and calibration point information of multiple calibration points, a road outline map can be drawn further based on the road node information, calibration point information of multiple calibration points, and location and elevation information of multiple calibration points within the target road area.

[0120] The aforementioned road outline map and the positions of each target reference vehicle can be displayed on the HUD (head-up display) of the first vehicle, or on the in-vehicle screen or AR (Augmented Reality) glasses.

[0121] After drawing the road outline map, the relative position of each target reference vehicle within the target road area is determined based on the position information of each target reference vehicle, and the position of each target reference vehicle is displayed on the road outline map.

[0122] In one possible implementation, when displaying the positions of each target reference vehicle in the road outline map, the target reference vehicles can be further filtered.

[0123] The upstream and downstream nodes of the road where the first vehicle is located are compared with the upstream and downstream nodes of each target reference vehicle. When the upstream node is the same as the upstream node and the downstream node is the same as the downstream node, or the upstream node is the same as the downstream node and the downstream node is the same as the upstream node, the target reference vehicle can be added to the list of surrounding vehicles. When the downstream node of the first vehicle is the same as the upstream node of any target reference vehicle, and the upstream node of the first vehicle is different from the downstream node of any of the above target reference vehicles, the target reference vehicle is added to the list of vehicles waiting to enter.

[0124] Calculate the distance between the first vehicle and each target reference vehicle in the aforementioned list of surrounding vehicles and the list of vehicles to be driven into, add target reference vehicles whose distance is less than a set distance value to the list to be displayed, and display the position of each target reference vehicle in the list to be displayed on the road outline map.

[0125] If the surrounding vehicle list, the waiting vehicle list, and the waiting display list do not receive updated data within the specified time, the data in the list is considered to have timed out and will be automatically deleted from the list.

[0126] During implementation, when a vehicle is traveling within the candidate road area, it will send its own location information and vehicle status information to the road testing equipment and other vehicles in real time. After receiving the information, the road testing equipment will distribute it to other vehicles. Therefore, during the first vehicle's travel, the first vehicle can also receive the vehicle status information of reference vehicles within the candidate road area sent by the road testing equipment. The vehicle status information includes the vehicle's direction of travel, vehicle type (such as sedan, truck, or police car), vehicle status, and vehicle key status; in addition, the vehicle status information may also include the vehicle's speed, etc.

[0127] The vehicle status mentioned above is used to indicate whether the vehicle has malfunctioned (e.g., malfunction occurred, no malfunction occurred). In addition, the vehicle status can also be used to indicate whether the vehicle is an emergency vehicle, etc.; the vehicle key status mentioned above is used to indicate whether the vehicle has been started.

[0128] During implementation, such as Figure 12 As shown, based on the location information of each target reference vehicle, the position of each target reference vehicle is displayed in the road contour map. This specifically includes the following steps:

[0129] Step 1201: Determine the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle;

[0130] Step 1202: Based on the vehicle status information of each target reference vehicle, different identifiers are used to display the position of each target reference vehicle in the road outline map.

[0131] The embodiments of this application do not restrict the specific identifiers used, and the embodiments of this application do not restrict the specific method of setting the identifiers in the above-mentioned vehicle status information (such as using different identifiers for each type of vehicle status information or using the same type of identifier for several types of vehicle status information).

[0132] Figure 13 This application provides a schematic diagram showing the positions of reference vehicles in a road outline map, which is included below. Figure 13 To illustrate the above display content with a specific example, such as... Figure 13 As shown, the on-board equipment displays the position of each reference vehicle (e.g., according to lane position and coordinate point) on the road outline map in real time based on the vehicle status information and vehicle position information of each target reference vehicle.

[0133] Specifically, the position of the first vehicle (i.e. Figure 13 (The main vehicle), and the target reference vehicle traveling in the same direction as this vehicle (i.e., the main vehicle), Figure 13 (4 and 8) Target vehicles traveling in different directions from this vehicle (i.e., Figure 13The positions of vehicles 4 and 1-3 are dynamically displayed.

[0134] In one possible scenario, the first vehicle, as the primary vehicle, can be specially displayed using different identifiers. Target reference vehicles in normal condition in the same direction of travel can be displayed in dark gray, such as vehicles 5 and 6. Target reference vehicles that are faulty or not started can be displayed in black (in practice, target reference vehicles that are faulty and not started can also be displayed using different identifiers), such as vehicles 4 and 8. Target reference vehicles of different vehicle types can be displayed with different icons, such as vehicle 7 (truck icon).

[0135] To prevent an excessive number of identical vehicles from affecting the driver's judgment, all target reference vehicles traveling in different directions will be displayed with the same identifier, except for the target reference vehicle in the lane closest to the first vehicle type lane, which will be displayed with a specific identifier (e.g., vehicle 3).

[0136] At the same time, if there are emergency vehicles (such as police cars, ambulances, or fire trucks), different signs can be used to distinguish them, such as red.

[0137] In this embodiment of the application, when displaying the position of each target reference vehicle in the road outline map, in addition to using the simplified map of the vehicle mentioned above, a real scene can also be used for display. The real scene can be obtained by the image acquisition device at the location of the target reference vehicle. For example, when some road sections are congested, the vehicle-mounted equipment can receive the road image information released in real time by the road testing equipment to obtain the real scene and display it.

[0138] In step 204 above, the positions of each target reference vehicle are displayed in the road outline map, including:

[0139] The vehicle identification and corresponding location of each target reference vehicle are displayed on the road outline map; wherein, the vehicle identification of each target reference vehicle is obtained from the vehicle identification of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle.

[0140] During the journey, each vehicle can send its vehicle identification to other vehicles or road testing equipment. After receiving the information, the road testing equipment distributes it to vehicles within the candidate road area. After receiving the reference vehicle's identification, the on-board equipment of the first vehicle displays the vehicle identification and corresponding position of each target reference vehicle on the road outline map.

[0141] like Figure 14 As shown in the embodiment of this application, after displaying the positions of each target reference vehicle in the road outline map, the following steps are also included:

[0142] Step 1401: At preset intervals, receive again the location information and vehicle identification of reference vehicles within the candidate road range sent by the road testing equipment.

[0143] Step 1402: Update the positions of the reference vehicles corresponding to the vehicle identifiers displayed in the current road outline map based on the position information and vehicle identifiers of the reference vehicles within the candidate road range.

[0144] In this embodiment of the application, in order to ensure the accuracy of the displayed target reference vehicle's position, the on-board device matches the target reference vehicle displayed in the current road outline map with the vehicle identifier of the reference vehicle in the newly received candidate road range at preset time intervals. When a matching target reference vehicle is found, the current position information of the target reference vehicle is updated according to the newly acquired position information of the target reference vehicle.

[0145] If no matching target reference vehicle is found, the location information and vehicle identification of the target reference vehicle are added to the current road profile map.

[0146] If no updated location information corresponding to any target reference vehicle displayed in the current road outline map is received within a specified threshold time, it is considered that the target reference vehicle is far away from the first vehicle, and the location information and vehicle identification of the target reference vehicle are deleted from the current road outline map.

[0147] Based on the same disclosed concept, this application also provides a vehicle driving road condition processing device. Since this device is the same as the device in the method of this application, and the principle of the device in solving the problem is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0148] Figure 15 Please refer to the schematic diagram of a vehicle driving road condition processing device provided in the embodiments of this application. Figure 15 This application provides a vehicle driving road condition processing device, the device comprising:

[0149] The receiving unit 1501 is used to receive road information of the candidate road range and position information of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle; the road information includes the position information and height information of each calibration point within the candidate road range.

[0150] The determining unit 1502 is used to determine the relative position of the first vehicle within the candidate road range based on the position information of the first vehicle and the position information of each calibration point when the conditions for enabling the road condition display function are met.

[0151] Selection unit 1503 is used to determine the target road range within a set range from the first vehicle based on the relative position, and select the position information of the target reference vehicle located within the target road range from the position information of the reference vehicle;

[0152] Display unit 1504 is used to draw a road outline map based on the position and height information of multiple calibration points within the target road area, and to display the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle.

[0153] Optionally, the conditions for activating the road condition display function include at least one of the following: receiving an operation from a user to activate the road condition display function; receiving a visibility index sent by a road testing device and detecting that the visibility index is lower than a first set threshold; determining that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range; and determining that the first vehicle is on a continuous uphill or downhill slope based on the height information of each calibration point within the candidate road range.

[0154] Optionally, the visibility index is obtained by selecting the minimum value between the actual visibility range and the determined reference visibility range obtained by the road test equipment and multiplying it by a preset ratio; wherein, the reference visibility range is determined by the road test equipment based on the predefined correspondence between light intensity and visibility range, as well as the actual light intensity obtained.

[0155] Optionally, the determining unit 1502 is used to determine that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range, including: determining the angle of adjacent calibration points in sequence based on the position information of each calibration point within the candidate road range, and determining that the first vehicle is on a continuous curve when the number of times the change value of the angle of adjacent calibration points is greater than the second preset threshold reaches the first preset number.

[0156] Optionally, the determining unit 1502 is used to determine that the first vehicle is on a continuous uphill or downhill slope based on the height information of each calibration point within the candidate road range, including: determining the height difference between adjacent calibration points sequentially based on the height information of each calibration point within the candidate road range, and determining that the first vehicle is on a continuous uphill or downhill slope when the number of times the height difference between adjacent calibration points is greater than a third preset threshold reaches a second preset number.

[0157] Optionally, the receiving unit 1501 is further configured to: receive vehicle status information of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle; the vehicle status information includes the vehicle driving direction, vehicle type, vehicle status, and vehicle key status; wherein the vehicle status is used to identify whether the vehicle has malfunctioned, and the vehicle key status is used to identify whether the vehicle has started.

[0158] Optionally, the display unit 1504 is used to display the position of each target reference vehicle in the road outline map according to the position information of each target reference vehicle, including: determining the position of each target reference vehicle in the road outline map according to the position information of each target reference vehicle, and displaying the position of each reference vehicle in the road outline map separately using different identifiers according to the vehicle status information of each target reference vehicle.

[0159] Optionally, the display unit 1504 is used to display the position of each target reference vehicle in the road outline map, including: displaying the vehicle identification of each target reference vehicle and its corresponding position in the road outline map; wherein, the vehicle identification of each target reference vehicle is obtained from the vehicle identification of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle.

[0160] After displaying the positions of each target reference vehicle in the road outline map, the display unit 1504 further includes: receiving the position information and vehicle identification of the reference vehicles within the candidate road range sent by the road testing equipment at preset time intervals; and updating the position of the reference vehicle corresponding to the vehicle identification displayed in the current road outline map according to the position information and vehicle identification of the reference vehicles within the candidate road range.

[0161] Based on the same disclosed concept, this application also provides a vehicle for implementing the above-mentioned method for handling road conditions of vehicle driving. The vehicle is equipped with on-board equipment. Since the vehicle is the same vehicle in the method of this application, and the principle of the vehicle solving the problem is similar to that of the method, the implementation of the equipment can refer to the implementation of the method, and the repeated parts will not be described again.

[0162] Those skilled in the art will understand that various aspects of this application can be implemented as a system, method, or program product. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "system."

[0163] In some possible implementations, the on-board equipment in the vehicle according to this application may include at least one processor and at least one memory. The memory stores program code that, when executed by the processor, causes the processor to perform the steps in the vehicle driving road condition processing methods described above according to various exemplary embodiments of this application.

[0164] The following reference Figure 16 To describe the device 1600 according to this embodiment of the present application. Figure 16The device 1600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0165] like Figure 16 As shown, device 1600 is presented in the form of a general-purpose device. Components of device 1600 may include, but are not limited to: at least one processor 1601, at least one memory 1602, and a bus 1603 connecting different system components (including memory 1602 and processor 1601). The memory stores program code, which, when executed by the processor, causes the processor to perform the following steps:

[0166] During the first vehicle's journey, road information of the candidate road range and the position information of reference vehicles within the candidate road range are received from the road testing equipment; the road information includes the position and elevation information of each calibration point within the candidate road range.

[0167] When it is determined that the conditions for activating the road condition display function are met, the relative position of the first vehicle within the candidate road range is determined based on the location information of the first vehicle and the location information of each calibration point.

[0168] Based on the relative position, determine the target road range within the set range from the first vehicle, and select the position information of the target reference vehicle located within the target road range from the position information of the reference vehicle;

[0169] A road outline map is drawn based on the location and elevation information of multiple calibration points within the target road area, and the positions of each target reference vehicle are displayed on the road outline map based on the location information of each target reference vehicle.

[0170] Bus 1603 represents one or more of several bus architectures, including a memory bus or memory controller, peripheral bus, processor, or local bus using any of the various bus architectures.

[0171] The memory 1602 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 16021 and / or cache memory 16022, and may further include read-only memory (ROM) 16023.

[0172] The memory 1602 may also include a program / utility 16025 having a set (at least one) of program modules 16024, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0173] Device 1600 can also communicate with one or more external devices 1604 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with device 1600, and / or any device that enables device 1600 to communicate with one or more other devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1605. Furthermore, device 1600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1606. As shown, network adapter 1606 communicates with other modules used with device 1600 via bus 1603. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with device 1600, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0174] Optionally, the conditions for activating the road condition display function include at least one of the following: receiving an operation from a user to activate the road condition display function; receiving a visibility index sent by a road testing device and detecting that the visibility index is lower than a first set threshold; determining that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range; and determining that the first vehicle is on a continuous uphill or downhill slope based on the height information of each calibration point within the candidate road range.

[0175] Optionally, the visibility index is obtained by selecting the minimum value between the actual visibility range and the determined reference visibility range obtained by the road test equipment and multiplying it by a preset ratio; wherein, the reference visibility range is determined by the road test equipment based on the predefined correspondence between light intensity and visibility range, as well as the actual light intensity obtained.

[0176] Optionally, the processor is used to determine that the first vehicle is on a continuous curve based on the position information of each calibration point within the candidate road range, including: determining the angle of adjacent calibration points sequentially based on the position information of each calibration point within the candidate road range, and determining that the first vehicle is on a continuous curve when the number of times the change value of the angle of adjacent calibration points is greater than a second preset threshold reaches a first preset number.

[0177] Optionally, the processor is used to determine that the first vehicle is on a continuous uphill or downhill slope based on the height information of each calibration point within the candidate road range, including: determining the height difference between adjacent calibration points sequentially based on the height information of each calibration point within the candidate road range, and determining that the first vehicle is on a continuous uphill or downhill slope when the number of times the height difference between adjacent calibration points is greater than a third preset threshold reaches a second preset number.

[0178] Optionally, the processor is further configured to: during the driving of the first vehicle, receive vehicle status information of reference vehicles within the candidate road range sent by the road testing equipment, the vehicle status information including vehicle driving direction, vehicle type, vehicle status and vehicle key status; wherein, the vehicle status is used to identify whether the vehicle has malfunctioned, and the vehicle key status is used to identify whether the vehicle has started.

[0179] Optionally, the processor is used to display the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle, including: determining the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle, and displaying the position of each reference vehicle in the road outline map separately using different identifiers based on the vehicle status information of each target reference vehicle.

[0180] Optionally, the processor is used to display the position of each target reference vehicle in the road contour map, including: displaying the vehicle identification of each target reference vehicle and its corresponding position in the road contour map; wherein, the vehicle identification of each target reference vehicle is obtained from the vehicle identification of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle.

[0181] Optionally, after the processor displays the positions of each target reference vehicle in the road contour map, it is further configured to: receive the position information and vehicle identification of the reference vehicles within the candidate road range from the road testing equipment at preset time intervals; and update the position of the reference vehicle corresponding to the vehicle identification displayed in the current road contour map based on the position information and vehicle identification of the reference vehicles within the candidate road range.

[0182] In some possible implementations, various aspects of the vehicle driving road condition processing method provided in this application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to cause the computer device to perform the steps in the vehicle driving road condition processing method according to the various exemplary embodiments of this application described above.

[0183] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0184] The monitoring program product of the embodiments of this application can be a portable compact disc read-only memory (CD-ROM) and include program code, and can run on a device. However, the program product of this application is not limited to this. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0185] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0186] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0187] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device or server. In cases involving remote devices, the remote device can be connected to the user device via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external device (e.g., via the Internet using an Internet service provider).

[0188] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0189] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0190] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0191] This application is described with reference to flowchart illustrations and block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block and / or block in the flowchart illustrations and block diagrams, as well as combinations of blocks and processes in the flowchart illustrations and block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0192] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and boxes Figure 1 The function specified in one or more boxes.

[0193] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and boxes Figure 1 The steps of the function specified in one or more boxes.

[0194] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0195] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for handling road conditions while a vehicle is driving, characterized in that, An on-board device applied to a first vehicle; the method includes: During the driving of the first vehicle, road information of the candidate road range and the position information of reference vehicles within the candidate road range are received from the road testing equipment; the road information includes the position and elevation information of each calibration point within the candidate road range. When it is determined that the conditions for activating the road condition display function are met, the relative position of the first vehicle within the candidate road range is determined based on the location information of the first vehicle and the location information of each calibration point. Based on the relative position, determine the target road range within a set range from the first vehicle, and select the position information of the target reference vehicle located within the target road range from the position information of the reference vehicle; A road outline map is drawn based on the location and height information of multiple calibration points within the target road area, and the position of each target reference vehicle is displayed in the road outline map based on the location information of each target reference vehicle. The road condition display function is activated when the angles of adjacent calibration points are determined sequentially based on the position information of each calibration point within the candidate road range. When the number of times the change value of the angle of adjacent calibration points exceeds the second preset threshold reaches the first preset number, it is determined that the first vehicle is on a continuous curve.

2. The method according to claim 1, characterized in that, The conditions for activating the road condition display function also include at least one of the following: The system received a user's request to enable the road condition display function. Receive the visibility index sent by the road test equipment, and detect that the visibility index is lower than a first preset threshold; Based on the height information of each calibration point within the candidate road range, it is determined that the first vehicle is on a continuous uphill or downhill slope.

3. The method according to claim 2, characterized in that, The visibility index is obtained by multiplying the minimum value between the actual visibility range and the determined reference visibility range obtained by the road test equipment with a preset ratio. The reference visibility range is determined by the road test equipment based on a predefined correspondence between light intensity and visibility range, and the actual light intensity obtained.

4. The method according to claim 2, characterized in that, Based on the height information of each calibration point within the candidate road area, it is determined that the first vehicle is on a continuous uphill or downhill slope, including: Based on the height information of each calibration point within the candidate road range, the height difference between adjacent calibration points is determined sequentially. When the number of times the height difference between adjacent calibration points exceeds the third preset threshold reaches the second preset number, it is determined that the first vehicle is on a continuous uphill or downhill slope.

5. The method according to claim 1, characterized in that, The method further includes: During the driving of the first vehicle, the vehicle status information of reference vehicles within the candidate road range sent by the road testing equipment is received. The vehicle status information includes the vehicle driving direction, vehicle type, vehicle status, and vehicle key status. The vehicle status is used to indicate whether the vehicle has malfunctioned, and the vehicle key status is used to indicate whether the vehicle has been started.

6. The method according to claim 5, characterized in that, The step of displaying the position of each target reference vehicle on the road contour map based on the position information of each target reference vehicle includes: Based on the location information of each target reference vehicle, the position of each target reference vehicle in the road outline map is determined, and based on the vehicle status information of each target reference vehicle, different identifiers are used to display the position of each reference vehicle in the road outline map.

7. The method according to any one of claims 1-6, characterized in that, The display of the positions of each target reference vehicle in the road contour map includes: The road outline map displays the vehicle identification of each target reference vehicle and its corresponding location; wherein, the vehicle identification of each target reference vehicle is obtained from the vehicle identification of reference vehicles within the candidate road range sent by the road testing equipment during the driving of the first vehicle; After displaying the positions of each target reference vehicle in the road contour map, the method further includes: At preset time intervals, the location information and vehicle identification of reference vehicles within the candidate road range are received again from the road testing equipment. Based on the location information and vehicle identification of the reference vehicles within the candidate road range, the positions of the reference vehicles corresponding to the vehicle identification displayed in the current road outline map are updated.

8. A device for processing road conditions for vehicle travel, characterized in that, The device includes: The receiving unit is configured to receive road information of a candidate road range and position information of a reference vehicle within the candidate road range from the road testing equipment during the driving of the first vehicle; the road information includes the position and elevation information of each calibration point within the candidate road range. The determining unit is used to determine the relative position of the first vehicle within the candidate road range based on the position information of the first vehicle and the position information of each calibration point when the conditions for enabling the road condition display function are met. The selection unit is configured to determine, based on the relative position, a target road range within a set range that is a distance from the first vehicle, and select the position information of a target reference vehicle located within the target road range from the position information of the reference vehicle. The display unit is used to draw a road outline map based on the position and height information of multiple calibration points within the target road area, and to display the position of each target reference vehicle in the road outline map based on the position information of each target reference vehicle. The road condition display function is activated when the angles of adjacent calibration points are determined sequentially based on the position information of each calibration point within the candidate road range. When the number of times the change value of the angle of adjacent calibration points exceeds the second preset threshold reaches the first preset number, it is determined that the first vehicle is on a continuous curve.

9. A vehicle, characterized in that, It includes at least one processor; and a memory communicatively connected to said at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores a computer program that causes the computer to perform the steps of the method as described in any one of claims 1 to 7.

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