Trajectory-based vehicle guidance methods, systems, in-vehicle terminals, and storage media

Abstract

This invention provides a trajectory-based vehicle guidance method, system, vehicle-mounted terminal, and storage medium. The method includes the following steps: at a first vehicle-mounted terminal, in response to a detected trajectory recording start command, vehicle trajectory information of a first vehicle is collected at a preset frequency, and the first vehicle is associated with the first vehicle-mounted terminal; in response to a detected trajectory recording end command, a vehicle trajectory is generated based on the first vehicle's trajectory information, the vehicle trajectory carrying the trajectory information; and the vehicle trajectory is shared with a second vehicle-mounted terminal, so that the second vehicle-mounted terminal can guide the driving of a second vehicle based on the vehicle trajectory, and the second vehicle is associated with the second vehicle-mounted terminal. This invention can collect vehicle trajectory information of a first vehicle safely passing through special road sections at a sufficient density, and guide the driving of a second vehicle through the vehicle trajectory of the first vehicle, enabling the second vehicle to safely pass through special road sections and improving driving safety.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to the field of vehicle networking and interaction technology, specifically to a trajectory-based driving guidance method, system, in-vehicle terminal, and storage medium. Background Technology

[0002] The concept of the Internet of Vehicles (IoV) originates from the Internet of Things (IoT), which uses vehicles in motion as information sensing objects and leverages next-generation information and communication technologies to achieve network connections between vehicles and X (i.e., vehicles, people, roads, and service platforms). This enhances the overall intelligent driving level of vehicles, provides users with a safe, comfortable, intelligent, and efficient driving experience and transportation services, and improves traffic operation efficiency and the level of intelligence in social transportation services.

[0003] The Internet of Vehicles (IoV) utilizes next-generation information and communication technologies to achieve comprehensive network connectivity between vehicles and cloud platforms, between vehicles themselves, between vehicles and roads, between vehicles and people, and within vehicles. It primarily achieves "triple play," integrating the in-vehicle network, the inter-vehicle network, and the in-vehicle mobile internet. The IoV uses sensing technology to perceive vehicle status information and leverages wireless communication networks and modern intelligent information processing technologies to achieve intelligent traffic management, intelligent decision-making for traffic information services, and intelligent vehicle control.

[0004] When a convoy is off-roading and needs to traverse challenging terrain such as water crossings, potholes, undulations, and depressions, someone usually gets out of the vehicle to direct traffic as vehicles pass one after another. This requires drivers to possess exceptional skill and extensive experience to successfully navigate the terrain. Summary of the Invention

[0005] One objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein the vehicle trajectory information of one vehicle in a convoy that can safely pass through a special road section can be collected at a sufficient density, and the vehicle trajectory of that vehicle can guide the driving of any other vehicle in the convoy, so that other vehicles can safely pass through the special road section and improve driving safety.

[0006] Another objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, which can simultaneously collect one or more vehicle trajectory information such as the vehicle's driving position, driving time interval, driving weather information, driving speed information, and vehicle configuration information of one vehicle in the convoy, so as to confirm whether the vehicle's driving trajectory information is suitable for guiding the driving of other vehicles in the convoy, thereby improving the accuracy and safety of guidance.

[0007] Another objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein other vehicles in the convoy automatically generate vehicle control information to guide the driving of the guiding vehicle after obtaining the vehicle driving trajectory information of the guiding vehicle, thereby reducing the driving difficulty for users in other vehicles and improving the user experience.

[0008] Another objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein trajectory recording can be started or stopped according to user instructions, or can be automatically started or stopped according to road conditions, making the trajectory recording control method flexible and controllable.

[0009] Another objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein trajectory recording can be initiated automatically based on vehicle sensors or electronic maps to detect whether a vehicle has entered a special road segment, thereby improving the intelligence of trajectory recording.

[0010] Another objective of the embodiments of this application is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein the vehicle driving trajectory of a guiding vehicle that safely passes through a special road section can be displayed on an electronic map for use by other vehicles that need to pass through the same special road section, which is beneficial to expanding the application scope of vehicle driving trajectory.

[0011] Another objective of this invention is to provide a trajectory-based driving guidance method, system, vehicle terminal, and storage medium, wherein the driving trajectory of a guiding vehicle safely passing through a special road section can be directly broadcast to other vehicles, so that driving guidance to other vehicles is not affected even in environments with poor network signals.

[0012] Another objective of this invention is to provide a trajectory-based vehicle guidance method, system, vehicle terminal, and storage medium, wherein a vehicle trajectory to be shared with other vehicles can be determined from multiple candidate vehicle trajectories, thereby optimizing the vehicle trajectory for guiding other vehicles and making it easier for other vehicles to safely pass through special road sections.

[0013] To achieve the above objectives, in a first aspect, the present invention provides a trajectory-based driving guidance method, comprising the following steps: at a first vehicle-mounted terminal, in response to a detected trajectory recording start command, collecting vehicle driving trajectory information of a first vehicle at a preset frequency, wherein the first vehicle is associated with the first vehicle-mounted terminal; in response to a detected trajectory recording end command, generating a vehicle driving trajectory based on the driving trajectory information of the first vehicle, wherein the vehicle driving trajectory carries the driving trajectory information; and sharing the vehicle driving trajectory with a second vehicle-mounted terminal, so that the second vehicle-mounted terminal guides the driving of a second vehicle based on the vehicle driving trajectory, wherein the second vehicle is associated with the second vehicle-mounted terminal. Therefore, the present invention can collect the vehicle driving trajectory information of one vehicle in a convoy safely passing through a special road section at a sufficient density, and guide the driving of any other vehicle in the convoy through the vehicle driving trajectory of that vehicle, so that other vehicles can safely pass through the special road section, thereby improving driving safety.

[0014] The vehicle trajectory information further includes at least one of the following: vehicle travel time interval, vehicle travel weather information, and vehicle travel speed information. The step of collecting the vehicle trajectory information of the first vehicle at a preset frequency also includes any one or two of the following steps: collecting vehicle travel speed information and / or vehicle travel weather information corresponding to each of the vehicle travel location points; and collecting the vehicle travel timestamp corresponding to the first vehicle travel location point and the vehicle travel timestamp corresponding to the last vehicle travel location point to obtain the vehicle travel time interval. The second vehicle terminal guides the second vehicle's travel based on the vehicle trajectory by including the following steps: obtaining the current time and current weather information of the second vehicle; and responding to the current time and the vehicle travel time interval being within a continuous time period and the current weather information being consistent with... The vehicle travel weather information is matched, and the second vehicle terminal guides the second vehicle's travel based on the vehicle's travel trajectory; or the second vehicle terminal guides the second vehicle's travel based on the vehicle's travel trajectory by the following steps: the second vehicle terminal generates vehicle control information based on the vehicle's travel speed information and the vehicle's travel position point in the vehicle travel trajectory information; and based on the vehicle control information, guides the second vehicle to travel according to the vehicle travel trajectory, so that the present invention can simultaneously collect one or more vehicle travel trajectory information such as the vehicle's travel position point, vehicle travel time interval, vehicle travel weather information, vehicle travel speed information, and vehicle configuration information of one of the vehicles in the convoy, so as to confirm whether the vehicle's travel trajectory information is suitable for guiding the travel of other vehicles in the convoy, thereby improving the accuracy and safety of guidance.

[0015] Before guiding the second vehicle based on the vehicle's driving trajectory, the second vehicle terminal further includes the following steps: obtaining the second vehicle configuration information of the second vehicle; and in response to the fact that the matching degree between the first vehicle configuration information and the second vehicle configuration information does not meet a preset condition, prompting the second vehicle terminal that the second vehicle is not suitable for using the vehicle driving trajectory, so that other vehicles in the fleet of the present invention can automatically generate vehicle control information to guide the driving of the guiding vehicle after obtaining the vehicle driving trajectory information of the guiding vehicle, thereby reducing the driving difficulty for users in other vehicles and improving the user experience.

[0016] The trajectory recording start command is generated based on the following steps: generating the trajectory recording start command based on user command input; or generating the trajectory recording start command in response to determining that the first vehicle has entered a special road segment; the trajectory recording end command is generated based on the following steps: generating the trajectory recording end command based on user command input; or generating the trajectory recording end command in response to determining that the first vehicle has left a special road segment. This allows the present invention to start or end trajectory recording according to user command, or to automatically start or end trajectory recording according to road segment conditions, making the trajectory recording control method flexible and controllable.

[0017] The invention determines whether the first vehicle has entered or left a special road segment based on any of the following methods: based on vehicle sensor data of the first vehicle; and based on electronic map data or electronic map markers; wherein the type of the special road segment includes any of the following: wading, narrow, potholed, undulating, sunken, or swampy. This allows the invention to automatically detect whether a vehicle has entered a special road segment based on vehicle sensors or electronic maps to initiate trajectory recording, thereby improving the intelligence of trajectory recording initiation.

[0018] The step of sharing the generated vehicle trajectory with the second vehicle terminal includes the following steps: the first vehicle terminal sends the vehicle trajectory to a server for display on an electronic map for use by the second vehicle terminal; or the first vehicle terminal sends the vehicle trajectory to the second vehicle terminal via broadcast. This invention can directly broadcast the vehicle trajectory of a guiding vehicle safely passing through a special road section to other vehicles, ensuring that guidance for other vehicles is not affected even in environments with poor network signals.

[0019] In this invention, the first vehicle and the second vehicle are in the same convoy, which includes multiple first vehicles. Before sharing the vehicle's trajectory to the second in-vehicle terminal, the invention further includes the following steps: acquiring multiple candidate vehicle trajectories generated by the multiple first vehicles based on the same road segment at the server or the first in-vehicle terminal; determining a target vehicle trajectory from among the multiple candidate vehicle trajectories; and sharing the target vehicle trajectory as the vehicle trajectory to the second in-vehicle terminal. This invention can determine the vehicle trajectory to be shared with other vehicles from multiple candidate vehicle trajectories, thus optimizing the vehicle trajectory for guiding other vehicles and helping them safely pass through special road segments.

[0020] Secondly, the present invention provides a trajectory-based vehicle guidance system, including a first vehicle-mounted terminal and a second vehicle-mounted terminal. The first vehicle-mounted terminal is associated with a first vehicle, and the second vehicle-mounted terminal is associated with a second vehicle. The first vehicle-mounted terminal is configured to: in response to a detected trajectory recording start command, collect vehicle trajectory information of the first vehicle at a preset frequency; in response to a detected trajectory recording end command, generate a vehicle trajectory based on the first vehicle's trajectory information; and share the vehicle trajectory with the second vehicle-mounted terminal. The second vehicle-mounted terminal is configured to: receive the vehicle trajectory; and generate vehicle control information based on the vehicle trajectory to guide the second vehicle to travel along the vehicle trajectory.

[0021] Thirdly, the present invention provides an in-vehicle terminal associated with a first vehicle. The in-vehicle terminal includes at least one processor and at least one sensor, wherein the at least one sensor is configured to: in response to detecting a trajectory recording start command, collect and transmit vehicle driving trajectory information of the first vehicle at a preset frequency; and in response to detecting a trajectory recording end command, stop collecting and transmitting the vehicle driving trajectory information; the at least one processor is configured to: receive the vehicle driving trajectory information, generate a vehicle driving trajectory based on the driving trajectory information; and share the vehicle driving trajectory with a second in-vehicle terminal so that the second in-vehicle terminal guides the driving of a second vehicle based on the vehicle driving trajectory, wherein the second vehicle is associated with the second in-vehicle terminal.

[0022] Fourthly, the present invention provides a vehicle-mounted terminal associated with a second vehicle, the vehicle-mounted terminal including at least one processor, wherein the at least one processor is configured to: receive a vehicle driving trajectory of a first vehicle; and generate vehicle control information based on the vehicle driving trajectory to guide the second vehicle to drive according to the vehicle driving trajectory.

[0023] Fifthly, the present invention provides a computer storage medium storing program instructions that, when executed, implement the method described above. Attached Figure Description

[0024] Figure 1 The diagram shows an application of the trajectory-based vehicle guidance method of the present invention in one embodiment.

[0025] Figure 2 The diagram shown is a flowchart illustrating the principle of the trajectory-based vehicle guidance method of the present invention in one embodiment.

[0026] Figure 3 The diagram shown illustrates the acquisition of a vehicle's driving trajectory in one embodiment of the trajectory-based driving guidance method of the present invention.

[0027] Figure 4 The diagram shown is a flowchart illustrating how the trajectory-based driving guidance method of the present invention guides a second vehicle in one embodiment.

[0028] Figure 5 This is shown as another flowchart illustrating how the trajectory-based driving guidance method of the present invention guides a second vehicle in one embodiment.

[0029] Figure 6 The flowchart shown is a process of sharing a vehicle's driving trajectory to a second vehicle terminal in one embodiment of the trajectory-based driving guidance method of the present invention.

[0030] Figure 7 The diagram shown is a schematic block diagram of the trajectory-based vehicle guidance system of the present invention.

[0031] Figure 8 The diagram shown is a schematic diagram of the principle structure of the vehicle terminal of the present invention in one embodiment;

[0032] Figure 9 The diagram shown is a schematic diagram of the principle structure of the vehicle terminal of the present invention in another embodiment.

[0033] Component designation explanation

[0034] 100 Trajectory-based vehicle guidance system

[0035] 110 First Vehicle Terminal

[0036] 120 Second Vehicle Terminal

[0037] 130 vehicle-mounted terminal

[0038] 131 processor

[0039] 132 sensors

[0040] 140 vehicle-mounted terminal

[0041] 141 processor

[0042] 142 sensors

[0043] S100~S300 Steps

[0044] Steps S211~S212

[0045] Steps S221~S222

[0046] S310~S330 Steps Detailed Implementation

[0047] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0048] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0049] This embodiment provides a trajectory-based driving guidance method, system, vehicle terminal, and storage medium. When encountering complex road sections with high driving difficulty, such as wading through water, potholes, undulations, and depressions, the system collects the vehicle trajectory information of one vehicle in a convoy that can safely pass through the special road section with sufficient density. The system then guides the driving of any other vehicle in the convoy based on the vehicle's trajectory, enabling other vehicles to safely pass through the special road section and improving driving safety.

[0050] Figure 1 This diagram illustrates the application of the trajectory-based vehicle guidance method in this embodiment. Figure 1 When the first vehicle passes through a special road section (such as a wading through water, a narrow passage, a pothole, an undulating path, a depression, or a swamp), it initiates trajectory recording. The system collects the vehicle's location points at a preset frequency, ensuring accurate positioning and a sufficiently dense network of trajectory points. Based on this trajectory information, a vehicle trajectory is generated, and then the first vehicle shares this generated trajectory with at least one second vehicle that has not yet passed through the special road section. Figure 1The second vehicle (1 to N) shown in the diagram. After receiving the vehicle trajectory of the first vehicle traveling on the special road section, the second vehicle guides its travel based on the vehicle trajectory, enabling the second vehicle to safely pass through the special road section and improving driving safety.

[0051] The following will describe in detail the principles and implementation methods of the trajectory-based vehicle guidance method, system, vehicle terminal, and storage medium of this embodiment, so that those skilled in the art can understand the trajectory-based vehicle guidance method, system, vehicle terminal, and storage medium of this embodiment without creative effort.

[0052] This embodiment provides a trajectory-based vehicle guidance method. Figure 2 The diagram shown illustrates the principle flowchart of the trajectory-based vehicle guidance method in this embodiment, which can be executed by the vehicle's onboard terminal. Figure 2 As shown, the trajectory-based vehicle guidance method includes the following steps:

[0053] Step S100: At the first vehicle terminal, in response to the detection of the trajectory recording start command, the vehicle driving trajectory information of the first vehicle is collected at a preset frequency, and the first vehicle is associated with the first vehicle terminal;

[0054] Step S200: In response to detecting a trajectory recording end command, a vehicle driving trajectory is generated based on the driving trajectory information of the first vehicle, the vehicle driving trajectory carrying the driving trajectory information; and

[0055] Step S300: Share the vehicle's driving trajectory with the second vehicle terminal so that the second vehicle terminal can guide the driving of the second vehicle based on the vehicle's driving trajectory, and the second vehicle is associated with the second vehicle terminal.

[0056] The trajectory-based driving guidance method in this embodiment can collect the vehicle trajectory information of a first vehicle that can safely pass through a special road section at a sufficient density, and guide the driving of a second vehicle through the vehicle trajectory of the first vehicle, so that the second vehicle can safely pass through the special road section and improve driving safety.

[0057] The following provides a detailed description of steps S100 to S300 of the trajectory-based vehicle guidance method in this embodiment.

[0058] Step S100: At the first vehicle terminal, in response to the detection of a trajectory recording start command, the vehicle driving trajectory information of the first vehicle is collected at a preset frequency, and the first vehicle is associated with the first vehicle terminal.

[0059] In this embodiment, the trajectory recording start command is generated based on any method:

[0060] 1) Generate the trajectory recording start command based on user input. The user inputs the command via buttons, voice, preset actions, or other methods.

[0061] 2) In response to determining that the first vehicle has entered a special road section, the trajectory recording start command is generated.

[0062] Therefore, the trajectory-based driving guidance method in this embodiment can start trajectory recording according to user instructions, or it can automatically start trajectory recording according to road conditions, making the trajectory recording control method flexible and controllable.

[0063] The types of special road sections include any of the following: water crossings, narrow sections, potholes, undulations, depressions, and swamps.

[0064] In this embodiment, the entry of the first vehicle into the special road section is determined based on any of the following methods:

[0065] 1) Based on vehicle sensor data of the first vehicle. These vehicle sensors include, for example, humidity sensors, distance sensors, vibration sensors, etc. For instance, if the distance between the vehicle chassis and the ground fluctuates more than a preset value within a preset time period, the road section is determined to be potholes, undulations, or depressions.

[0066] 2) Based on electronic map data or electronic map identifiers. For example, if the electronic map data contains road segment type data as swamp, or the electronic map identifier is swamp, then the road segment is directly determined to be a special road segment swamp based on the electronic map data or electronic map identifier.

[0067] Therefore, the trajectory-based driving guidance method in this embodiment can automatically detect whether the vehicle has entered a special road section based on vehicle sensors or electronic maps to start trajectory recording, thereby improving the intelligence of starting trajectory recording and avoiding user distraction due to inputting commands when passing through the special road section.

[0068] In this embodiment, the vehicle trajectory information includes the vehicle's driving position point, which is the center point of the first vehicle.

[0069] In this embodiment, the center point position of the first vehicle is collected at a preset frequency. Specifically, the first vehicle is equipped with a high-precision positioning module and a gyroscope to collect its center point position, ensuring the accuracy of the recorded center point location.

[0070] In this embodiment, the method further includes configuring a preset frequency for collecting the vehicle center point position of the first vehicle to ensure that the trajectory points formed by the vehicle center point position recorded by the first vehicle are sufficiently dense.

[0071] For example, when the first vehicle passes through a special road section, the trajectory recording start command is initiated to record the high-precision trajectory of the first vehicle. The trajectory is used as the center point, and the positioning error is less than 10cm. The preset frequency is to transmit more than 10 position points per second to collect the vehicle's center point position.

[0072] Figure 3 This diagram illustrates the acquisition of a vehicle's driving trajectory in the trajectory-based driving guidance method of this embodiment; as shown below. Figure 3 As shown, the vehicle trajectory information further includes at least one of the following: vehicle travel time interval, vehicle travel weather information, and vehicle travel speed information; the process of collecting the vehicle trajectory information of the first vehicle at a preset frequency also includes any one of the following steps:

[0073] 1) Collect vehicle speed information and / or vehicle weather information corresponding to each of the vehicle's driving locations.

[0074] Specifically, in this embodiment, vehicle speed and weather information are collected simultaneously with the location of each vehicle. The weather information includes, but is not limited to, temperature, weather type (e.g., rainy or sunny), wind direction, humidity, and air pressure. The weather information can be collected via onboard sensors (e.g., rain sensors) or obtained from third-party websites or applications.

[0075] 2) Collect the vehicle travel timestamp corresponding to the first vehicle travel location point and the vehicle travel timestamp corresponding to the last vehicle travel location point to obtain the vehicle travel time interval.

[0076] In one possible implementation, the vehicle travel timestamp can be collected only when the first vehicle travel position is collected after receiving the trajectory recording start command, and when the last vehicle travel position is collected after receiving the trajectory recording end command. This reduces the amount of data collected by only collecting the timestamps corresponding to the beginning and end of the vehicle travel time interval.

[0077] Therefore, the trajectory-based driving guidance method in this embodiment can simultaneously collect one or more vehicle trajectory information, such as the vehicle's driving position, driving time interval, driving weather information, driving speed information, and vehicle configuration information, of one of the vehicles in the convoy. This is to confirm whether the vehicle's driving trajectory information is suitable for guiding the driving of other vehicles in the convoy, thereby improving the accuracy and safety of the guidance.

[0078] Step S200: In response to the detection of a trajectory recording end command, a vehicle driving trajectory is generated based on the driving trajectory information of the first vehicle, the vehicle driving trajectory carrying the driving trajectory information.

[0079] The trajectory recording end command is generated based on the following steps:

[0080] 1) Generate an end command for trajectory recording based on user input. The user inputs the command via buttons, voice, preset actions, etc., or...

[0081] 2) In response to determining that the first vehicle has left the special road section, generate the trajectory recording end command.

[0082] The types of special road sections and the specific methods for determining the departure of the first vehicle from the special road section are described in the above-mentioned trajectory recording start command generation steps, and will not be repeated here.

[0083] In this embodiment, one implementation method for generating a vehicle trajectory based on the driving trajectory information of the first vehicle includes:

[0084] 1) Obtain the center point positions of each vehicle in the first vehicle;

[0085] 2) Based on the center point location of each vehicle, corresponding location marker symbols are generated sequentially on the in-vehicle electronic map;

[0086] 3) Generate a vehicle trajectory based on each location marker symbol, and mark the trajectory type of the vehicle trajectory; wherein, the size, color, or shape of the two location marker symbols corresponding to the start and end points of the vehicle trajectory can be distinguished from other location marker symbols in the vehicle trajectory. The trajectory type is any of the following: wading, narrow, pothole, undulating, depression, swamp.

[0087] After generating the vehicle's driving trajectory, the first vehicle continues to execute step S300.

[0088] Step S300: Share the vehicle's driving trajectory with the second vehicle terminal so that the second vehicle terminal can guide the driving of the second vehicle based on the vehicle's driving trajectory, and the second vehicle is associated with the second vehicle terminal.

[0089] Figure 4 The flowchart shown is an example of guiding a second vehicle using the trajectory-based driving guidance method in one embodiment of this invention. Specifically, as follows... Figure 4 As shown, the second vehicle terminal guides the second vehicle's movement based on the vehicle's driving trajectory, including the following steps:

[0090] Step S211: Obtain the current time and current weather information of the second vehicle; and

[0091] In step S212, in response to the current time and the vehicle travel time interval being within a continuous time period and the current weather information matching the vehicle travel weather information, the second vehicle terminal guides the second vehicle's travel based on the vehicle's travel trajectory.

[0092] In this embodiment, before the second vehicle terminal guides the second vehicle's driving based on the vehicle's driving trajectory, it first determines that the current time of the second vehicle and the vehicle's driving time interval are within a continuous time period. Then, it determines whether the current weather information matches the vehicle's driving weather information. When the current weather information matches the vehicle's driving weather information, the second vehicle terminal guides the second vehicle's driving based on the vehicle's driving trajectory.

[0093] Specifically, determining whether the current time of the second vehicle and the vehicle's travel time interval are within a continuous time period involves checking if the difference between the current time of the second vehicle and the travel time interval is less than a preset value. This ensures that the second vehicle is following the first vehicle and that the specific road segment will not change significantly due to weather or time constraints, preventing the first vehicle's trajectory from becoming unsuitable for that segment. For example, if the travel time interval is 10:00 to 10:05, and the current time of the second vehicle is 10:10, which is less than the preset value of 20 minutes, then the current time of the second vehicle is determined to be within a continuous time period.

[0094] Figure 5 This is shown as another flowchart illustrating how the trajectory-based vehicle guidance method of the present invention guides a second vehicle in one embodiment, wherein, as... Figure 5 As shown, the second vehicle terminal guides the second vehicle's movement based on the vehicle's driving trajectory, including the following steps:

[0095] Step S221: The second vehicle terminal generates vehicle control information based on the vehicle speed information and the vehicle position point in the vehicle driving trajectory information.

[0096] Step S222: Based on the vehicle control information, guide the second vehicle to travel along the vehicle's driving trajectory.

[0097] In this embodiment, the generated vehicle control information includes a sufficiently dense network of vehicle positions formed by the first vehicle passing through the special road section, and the vehicle speeds along the special route. In this way, the second vehicle can safely pass through the special road section by referring to the sufficiently dense network of vehicle positions formed by the first vehicle passing through the special road section and the vehicle speeds along the special route, thereby improving driving safety.

[0098] Furthermore, in this embodiment, the vehicle driving trajectory information also includes the first vehicle configuration information of the first vehicle, which includes at least one of the following: approach angle, departure angle, longitudinal clearance angle, ground clearance, vehicle weight, wheel grip, and wheel displacement stroke.

[0099] In this embodiment, before the second vehicle terminal guides the second vehicle's movement based on the vehicle's driving trajectory, the following steps are also included:

[0100] 1) Obtain the second vehicle configuration information of the second vehicle; wherein the second vehicle configuration information includes at least one of the following: approach angle, departure angle, longitudinal clearance angle, ground clearance, vehicle weight, wheel grip, and wheel displacement travel.

[0101] When the second vehicle receives the vehicle trajectory of the first vehicle, it will drive exactly along the vehicle trajectory of the first vehicle. However, while driving along the vehicle trajectory of the first vehicle, the second vehicle will be affected by the configuration information of the second vehicle.

[0102] For example, the ground clearance or wheel displacement of the second vehicle may differ from that of the first vehicle. The first vehicle may be able to pass through special road sections smoothly, but the second vehicle may experience chassis jamming. Therefore, before the second vehicle adopts the driving trajectory of the first vehicle, the configuration of the second vehicle needs to be compared and matched with that of the first vehicle.

[0103] 2) In response to the fact that the matching degree between the first vehicle configuration information and the second vehicle configuration information does not meet the preset conditions, the second vehicle terminal prompts that the second vehicle is not suitable to use the vehicle driving trajectory.

[0104] Therefore, the trajectory-based driving guidance method in this embodiment can determine whether the vehicle's driving trajectory can be used based on the configuration information of the first vehicle, so that the second vehicle can be guided using the driving trajectory of the first vehicle with similar configuration, thereby improving the accuracy and effectiveness of the guidance.

[0105] In this embodiment, sharing the generated vehicle driving trajectory to the second vehicle terminal includes the following two methods:

[0106] 1) The first vehicle terminal sends the vehicle's driving trajectory to the server for display on an electronic map for use by the second vehicle terminal.

[0107] Any other second vehicle needing to pass through this special road segment can select a displayed vehicle trajectory via an electronic map. In a possible implementation, since vehicle configuration information may differ, there can be multiple vehicle trajectories with different vehicle configurations for the same special road segment. The vehicle trajectories displayed on the electronic map can carry the first vehicle configuration information. When a second vehicle selects a different vehicle trajectory, it can determine whether the trajectory is suitable based on a matching prompt between its second vehicle configuration information and the first vehicle configuration information of that trajectory.

[0108] 2) The first vehicle terminal sends the vehicle's driving trajectory to the second vehicle terminal via broadcast.

[0109] The first vehicle's onboard terminal can broadcast the vehicle's trajectory to surrounding vehicles, allowing all vehicles around the first vehicle to receive its trajectory. Furthermore, since the vehicle's trajectory does not need to be uploaded to a server, it can reduce dependence on network signals, especially in remote areas with poor signal and difficult roads.

[0110] Therefore, the trajectory-based driving guidance method in this embodiment can directly broadcast the driving trajectory of the guiding vehicle that safely passes through the special road section to other vehicles, so that driving guidance to other vehicles is not affected even in environments with poor network signals.

[0111] Figure 6 The flowchart shown illustrates, in one embodiment of the trajectory-based driving guidance method of the present invention, the sharing of a vehicle's driving trajectory to a second in-vehicle terminal; wherein, as... Figure 6 As shown, the first vehicle and the second vehicle are in the same convoy, which includes multiple vehicles of the first vehicle. Before sharing the vehicle's driving trajectory to the second vehicle terminal, the following steps are also included:

[0112] Step S310: At the server or the first vehicle terminal, acquire multiple candidate vehicle driving trajectories generated by the first vehicle based on the same road segment.

[0113] Step S320: Determine the trajectory of a target vehicle from among the multiple candidate vehicle trajectories; and

[0114] Step S330: The target vehicle's driving trajectory is determined and shared with the second vehicle terminal.

[0115] If multiple vehicles generate their own trajectories when they reach a specific road segment, the optimal trajectories are selected from these trajectories and shared with the trajectories of the second vehicles. For example, the convoy leader / team leader can select the optimal trajectories from multiple vehicle trajectories.

[0116] Therefore, the trajectory-based driving guidance method in this embodiment can determine the vehicle driving trajectory to be shared with other vehicles from multiple candidate vehicle driving trajectories, so that the vehicle driving trajectory guiding other vehicles is optimal, which is more conducive to other vehicles safely passing through special road sections.

[0117] like Figure 7 As shown, this embodiment also provides a trajectory-based vehicle guidance system 100, which includes a first vehicle terminal 110 and a second vehicle terminal 120. The first vehicle terminal 110 is associated with a first vehicle, and the second vehicle terminal 120 is associated with a second vehicle.

[0118] The first vehicle terminal 110 is configured to: in response to a detected trajectory recording start command, collect vehicle driving trajectory information of the first vehicle at a preset frequency; in response to a detected trajectory recording end command, generate a vehicle driving trajectory based on the driving trajectory information of the first vehicle; and share the vehicle driving trajectory to the second vehicle terminal 120.

[0119] In this embodiment, the first vehicle terminal 110 is further configured as follows:

[0120] 1) Generate the trajectory recording start command based on the user's input.

[0121] 2) In response to determining that the first vehicle has entered a special road section, the trajectory recording start command is generated.

[0122] Therefore, the first vehicle terminal 110 in this embodiment can start trajectory recording according to user instructions, or it can automatically start trajectory recording according to road conditions, making the trajectory recording control method flexible and controllable.

[0123] In this embodiment, the first vehicle terminal 110 is further configured to determine that the first vehicle has entered a special road section based on any of the following methods:

[0124] 1) Based on vehicle sensor data of the first vehicle. The vehicle sensors include, for example, humidity sensors and distance sensors. For instance, if the distance between the vehicle chassis and the ground fluctuates more than a preset value within a preset time period, the road section is determined to be potholes, undulations, or depressions.

[0125] 2) Based on electronic map data or electronic map identifiers. For example, if the electronic map data contains road segment type data as swamp, or the electronic map identifier is swamp, then the road segment is directly determined to be a special road segment swamp based on the electronic map data or electronic map identifier.

[0126] In this embodiment, the first vehicle terminal 110 is further configured to: configure the preset frequency for collecting the vehicle center point position of the first vehicle, so as to ensure that the trajectory points formed by the vehicle center point position recorded by the first vehicle are sufficiently dense.

[0127] In this embodiment, the vehicle trajectory information further includes at least one of the following: vehicle travel time interval, vehicle travel weather information, and vehicle travel speed information; the first vehicle terminal 110 is also configured to perform any one or two of the following steps:

[0128] 1) Collect vehicle speed information and / or weather information corresponding to each of the vehicle's travel locations; and

[0129] 2) Collect the vehicle travel timestamp corresponding to the first vehicle travel location point and the vehicle travel timestamp corresponding to the last vehicle travel location point to obtain the vehicle travel time interval.

[0130] The first vehicle terminal 110 is also configured to:

[0131] 1) Generate an end command for trajectory recording based on user input. The user inputs the command via buttons, voice, or preset actions.

[0132] 2) In response to determining that the first vehicle has left the special road section, generate the trajectory recording end command.

[0133] In this embodiment, the first vehicle terminal 110 is further configured to determine that the first vehicle has left the special road section based on any of the following methods:

[0134] 1) Based on vehicle sensor data of the first vehicle. The vehicle sensors include, for example, humidity sensors and distance sensors. For instance, if the distance between the vehicle chassis and the ground fluctuates more than a preset value within a preset time period, the road section is determined to be potholes, undulations, or depressions.

[0135] 2) Based on electronic map data or electronic map identifiers. For example, if the electronic map data contains road segment type data as swamp, or the electronic map identifier is swamp, then the road segment is directly determined to be a special road segment swamp based on the electronic map data or electronic map identifier.

[0136] In this embodiment, the first vehicle terminal 110 is further configured to:

[0137] 1) Obtain the center point positions of each vehicle in the first vehicle;

[0138] 2) Based on the center point location of each vehicle, corresponding location marker symbols are generated sequentially on the in-vehicle electronic map;

[0139] 3) Generate the vehicle's driving trajectory based on the location marker symbols, and mark the trajectory type of the vehicle's driving trajectory.

[0140] In this embodiment, the first vehicle and the second vehicle are in the same convoy, and the first vehicle terminal 110 is further configured to:

[0141] 1) The first vehicle terminal 110 sends the vehicle's driving trajectory to the server for display on an electronic map for use by the second vehicle terminal 120; or

[0142] 2) The first vehicle terminal 110 sends the vehicle's driving trajectory to the second vehicle terminal 120 via broadcast.

[0143] The convoy includes multiple of the first vehicles, and the first vehicle-mounted terminal 110 is further configured to:

[0144] 1) At the server or the first vehicle terminal 110, acquire multiple candidate vehicle driving trajectories generated by the first vehicle based on the same road segment;

[0145] 2) Determine the trajectory of a target vehicle from among the multiple candidate vehicle trajectories; and

[0146] 3) The target vehicle's driving trajectory is determined and shared with the second vehicle terminal 120.

[0147] In this embodiment, the second vehicle terminal 120 is configured to: receive the vehicle driving trajectory; and generate vehicle control information based on the vehicle driving trajectory to guide the second vehicle to drive according to the vehicle driving trajectory.

[0148] In this embodiment, the second vehicle terminal 120 is further configured to: guide the second vehicle's movement based on the vehicle's driving trajectory.

[0149] 1) Obtain the second vehicle configuration information of the second vehicle; wherein the second vehicle configuration information includes at least one of the following: approach angle, departure angle, longitudinal clearance angle, ground clearance, vehicle weight, wheel grip, and wheel displacement travel.

[0150] 2) In response to the fact that the matching degree between the first vehicle configuration information and the second vehicle configuration information does not meet the preset conditions, the second vehicle terminal 120 prompts that the second vehicle is not suitable to use the vehicle driving trajectory.

[0151] like Figure 8 As shown, this embodiment also provides an in-vehicle terminal 130, which is associated with a first vehicle. The in-vehicle terminal 130 includes at least one processor 131 and at least one sensor 132.

[0152] The at least one sensor 132 is configured to: in response to detecting a trajectory recording start command, collect and transmit vehicle trajectory information of the first vehicle at a preset frequency; and in response to detecting a trajectory recording end command, stop collecting and transmitting the vehicle trajectory information.

[0153] The at least one processor 131 is configured to: receive the vehicle driving trajectory information, generate a vehicle driving trajectory based on the driving trajectory information; and share the vehicle driving trajectory with the second vehicle terminal 120 so that the second vehicle terminal 120 guides the driving of the second vehicle based on the vehicle driving trajectory, wherein the second vehicle is associated with the second vehicle terminal 120.

[0154] In this embodiment, the at least one processor 131 is further configured to:

[0155] 1) Generate the trajectory recording start command based on user input. The user inputs the command via buttons, voice, preset actions, or other methods.

[0156] 2) In response to determining that the first vehicle has entered a special road section, the trajectory recording start command is generated.

[0157] In this embodiment, the at least one processor 131 is further configured to determine that the first vehicle has entered a special road section based on any of the following methods:

[0158] 1) Based on vehicle sensor data of the first vehicle. The vehicle sensors include, for example, humidity sensors and distance sensors. For instance, if the distance between the vehicle chassis and the ground fluctuates more than a preset value within a preset time period, the road section is determined to be potholes, undulations, or depressions.

[0159] 2) Based on electronic map data or electronic map identifiers. For example, if the electronic map data contains road segment type data as swamp, or the electronic map identifier is swamp, then the road segment is directly determined to be a special road segment swamp based on the electronic map data or electronic map identifier.

[0160] The at least one processor 131 is further configured to: configure the preset frequency for collecting the vehicle center point position of the first vehicle to ensure that the trajectory points formed by the vehicle center point position recorded by the first vehicle are sufficiently dense.

[0161] The vehicle trajectory information further includes at least one of the following: vehicle travel time interval, vehicle travel weather information, and vehicle travel speed information; the at least one processor 131 is also configured to:

[0162] 1) Collect vehicle speed information and / or weather information corresponding to each of the vehicle's travel locations; and

[0163] 2) Collect the vehicle travel timestamp corresponding to the first vehicle travel location point and the vehicle travel timestamp corresponding to the last vehicle travel location point to obtain the vehicle travel time interval.

[0164] In this embodiment, the at least one processor 131 is further configured to:

[0165] 1) Obtain the center point positions of each vehicle in the first vehicle;

[0166] 2) Based on the center point location of each vehicle, corresponding location marker symbols are generated sequentially on the in-vehicle electronic map;

[0167] 3) Generate the vehicle's driving trajectory based on the location marker symbols, and mark the trajectory type of the vehicle's driving trajectory.

[0168] In this embodiment, the first vehicle and the second vehicle are in the same convoy, and the at least one processor 131 is further configured to:

[0169] 1) Send the vehicle's driving trajectory to the server for display on an electronic map for use by the second vehicle-mounted terminal 120; or

[0170] 2) The vehicle's driving trajectory is sent to the second vehicle terminal 120 via broadcast.

[0171] The convoy includes a plurality of the first vehicles, and the at least one processor 131 is further configured to:

[0172] 1) At the server or the first vehicle terminal 110, acquire multiple candidate vehicle driving trajectories generated by the first vehicle based on the same road segment;

[0173] 2) Determine the trajectory of a target vehicle from among the multiple candidate vehicle trajectories; and

[0174] 3) The target vehicle's driving trajectory is determined and shared with the second vehicle terminal 120.

[0175] like Figure 9 As shown, this embodiment also provides an in-vehicle terminal 140, which is associated with a second vehicle. The in-vehicle terminal 140 includes at least one processor 141, wherein the at least one processor 141 is configured to:

[0176] 1) Receive the vehicle trajectory of the first vehicle;

[0177] 2) Based on the vehicle's driving trajectory, generate vehicle control information to guide the second vehicle to drive according to the vehicle's driving trajectory.

[0178] like Figure 9 As shown, the vehicle terminal 140 also includes at least one sensor 142, which is configured to collect and transmit the current time and current weather information of the second vehicle.

[0179] The at least one processor 141 is further configured to:

[0180] 1) Receive the current time and the current weather information;

[0181] 2) In response to the current time and the vehicle travel time interval being within a continuous time period and the current weather information matching the vehicle travel weather information, vehicle control information is generated based on the vehicle travel trajectory to guide the second vehicle to travel according to the vehicle travel trajectory.

[0182] Wherein, the at least one processor 141 is further configured to:

[0183] 1) Based on the vehicle speed information and the vehicle position point in the vehicle trajectory information, generate vehicle control information;

[0184] 2) Based on the vehicle control information, guide the second vehicle to travel along the vehicle's driving trajectory.

[0185] In this embodiment, the vehicle terminal 140 is further configured to: guide the second vehicle's movement based on the vehicle's driving trajectory.

[0186] 1) Obtain the second vehicle configuration information of the second vehicle; wherein the second vehicle configuration information includes at least one of the following: approach angle, departure angle, longitudinal clearance angle, ground clearance, vehicle weight, wheel grip, and wheel displacement travel.

[0187] 2) In response to the fact that the matching degree between the first vehicle configuration information and the second vehicle configuration information does not meet the preset conditions, the second vehicle terminal 120 prompts that the second vehicle is not suitable to use the vehicle driving trajectory.

[0188] Furthermore, this embodiment also provides a computer storage medium storing program instructions, which, when executed by a processor, implement the aforementioned trajectory-based vehicle guidance method. The trajectory-based vehicle guidance method has already been described in detail above and will not be repeated here.

[0189] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented using computer program-related hardware. The aforementioned computer program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0190] In summary, this invention can collect vehicle trajectory information of one vehicle in a convoy that can safely pass through special road sections at a sufficient density, and guide the driving of any other vehicle in the convoy using that vehicle's trajectory, enabling other vehicles to safely pass through special road sections and improving driving safety. This invention can simultaneously collect one or more types of vehicle trajectory information from one vehicle in the convoy, such as its vehicle location, driving time interval, weather information, speed information, and configuration information, to confirm whether the vehicle's trajectory information is suitable for guiding other vehicles in the convoy, thereby improving the accuracy and safety of guidance. After acquiring the guiding vehicle's trajectory information, other vehicles in the convoy automatically generate vehicle control information to guide their driving, thereby reducing their own risks. This invention reduces the driving difficulty for users in other vehicles and improves the user experience. It can start or stop trajectory recording based on user commands, or automatically start or stop trajectory recording based on road conditions, making the control method of trajectory recording flexible and controllable. This invention can automatically detect whether a vehicle has entered a special road section based on vehicle sensors or electronic maps to start trajectory recording, thereby improving the intelligence of trajectory recording initiation. This invention can directly broadcast the driving trajectory of a guiding vehicle safely passing through a special road section to other vehicles, ensuring that it does not affect the guidance of other vehicles even in environments with poor network signals. This invention can determine the vehicle driving trajectory to share with other vehicles from multiple candidate vehicle driving trajectories, making the driving trajectory of the guiding vehicle optimal and more conducive to the safe passage of other vehicles through special road sections. Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0191] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A trajectory-based driving guidance method, characterized by, The method comprises the following steps: At the first vehicle terminal, in response to determining that the first vehicle enters a special road section, a trajectory record start instruction is generated, the special road section being a complex road section with high driving difficulty, and the first vehicle being associated with the first vehicle terminal; In response to detecting the trajectory record start instruction, vehicle driving trajectory information of the first vehicle is collected at a preset frequency, the vehicle driving trajectory information comprising vehicle driving speed information and first vehicle configuration information of the first vehicle; In response to detecting a trajectory record end instruction, a vehicle driving trajectory is generated based on the driving trajectory information of the first vehicle, the vehicle driving trajectory carrying the vehicle driving trajectory information; And The vehicle driving trajectory is shared to a second vehicle terminal, so that the second vehicle terminal generates vehicle control information based on the vehicle driving trajectory to guide driving of a second vehicle, the second vehicle being associated with the second vehicle terminal; Before the second vehicle terminal guides driving of the second vehicle based on the vehicle driving trajectory, the following steps are further included: Second vehicle configuration information of the second vehicle is obtained; and In response to a matching degree of the first vehicle configuration information and the second vehicle configuration information not satisfying a preset condition, it is prompted at the second vehicle terminal that the second vehicle is not suitable for using the vehicle driving trajectory. The vehicle driving trajectory information further comprises a vehicle driving position point, the vehicle driving position point being a vehicle center point position of the first vehicle.

2. The method of claim 1, wherein, The vehicle driving trajectory information further comprises at least one of a vehicle driving time interval and vehicle driving weather information; the step of collecting vehicle driving trajectory information of the first vehicle at a preset frequency further comprises any one or both of the following steps:

3. The method of claim 2, wherein, Vehicle driving speed information and / or vehicle driving weather information corresponding to each vehicle driving position point is collected; and A vehicle driving time stamp corresponding to a first vehicle driving position point and a vehicle driving time stamp corresponding to a last vehicle driving position point are collected to obtain a vehicle driving time interval. The second vehicle terminal guiding driving of the second vehicle based on the vehicle driving trajectory comprises the following steps: Current time and current weather information of the second vehicle are obtained; and 4. The method of claim 3, wherein, In response to the current time and the vehicle driving time interval being in a continuous time period and the current weather information matching the vehicle driving weather information, the second vehicle terminal guides driving of the second vehicle based on the vehicle driving trajectory. The second vehicle terminal guiding driving of the second vehicle based on the vehicle driving trajectory comprises the following steps: The second vehicle terminal generates vehicle control information based on vehicle driving speed information in the vehicle driving trajectory information and the vehicle driving position point; and 5. The method of claim 3, wherein, Based on the vehicle control information, the second vehicle is guided to drive according to the vehicle driving trajectory. The first vehicle configuration information comprises at least one of an approach angle, a departure angle, a longitudinal pass angle, a ground clearance, a vehicle weight, a wheel grip, and a wheel displacement stroke. The trajectory record end instruction is generated based on the following steps:

6. The method of claim 1, wherein, The trajectory record end instruction is generated based on input of a user instruction; or 7. The method of claim 1, wherein, The trajectory record end instruction is generated based on a preset time interval. ​ In response to determining that the first vehicle leaves the special road section, a trajectory record end instruction is generated.

8. The method of claim 1 or 7, wherein, The determination that the first vehicle enters the special road section or the determination that the first vehicle leaves the special road section is based on any one of the following: vehicle sensor data of the first vehicle; and electronic map data or electronic map identification. The type of the special road section includes any one of the following: wading, narrowness, pothole, undulation, depression, and marsh. The sharing of the generated vehicle driving trajectory to the second vehicle terminal includes the following steps:

9. The method of claim 1, wherein, The first vehicle terminal sends the vehicle driving trajectory to a server for display on an electronic map for use by the second vehicle terminal; or The first vehicle terminal broadcasts the vehicle driving trajectory to the second vehicle terminal. The first vehicle and the second vehicle are in the same vehicle fleet, and the vehicle fleet includes a plurality of the first vehicles. Before the sharing of the vehicle driving trajectory to the second vehicle terminal, the following steps are further included:

10. The method of claim 9, wherein, At the server or the first vehicle terminal, a plurality of candidate vehicle driving trajectories generated by a plurality of the first vehicles based on the same road section are obtained; Among the plurality of candidate vehicle driving trajectories, a target vehicle driving trajectory is determined; and The target vehicle driving trajectory is determined as the vehicle driving trajectory shared to the second vehicle terminal. The first vehicle terminal and the second vehicle terminal are included. The first vehicle terminal is associated with a first vehicle, and the second vehicle terminal is associated with a second vehicle. The first vehicle terminal is configured to: in response to determining that the first vehicle enters a special road section, generate a trajectory record start instruction, the special road section being a complex road section with high driving difficulty; in response to detecting the trajectory record start instruction, collect vehicle driving trajectory information of the first vehicle at a preset frequency, the vehicle driving trajectory information including vehicle driving speed information and first vehicle configuration information of the first vehicle; in response to detecting a trajectory record end instruction, generate a vehicle driving trajectory based on the driving trajectory information of the first vehicle; and share the vehicle driving trajectory to the second vehicle terminal.

11. A trajectory-based driving guidance system, characterized by The second vehicle terminal is configured to: receive the vehicle driving trajectory; based on the vehicle driving trajectory, generate vehicle control information to guide the second vehicle to drive according to the vehicle driving trajectory; The second vehicle terminal is further configured to: obtain second vehicle configuration information of the second vehicle; and in response to a matching degree of the first vehicle configuration information and the second vehicle configuration information not satisfying a preset condition, prompt the second vehicle that the vehicle driving trajectory is not suitable. The vehicle terminal is associated with a first vehicle. The vehicle terminal includes at least one processor and at least one sensor.

12. A vehicle terminal, characterized by ​ The at least one sensor is configured to: generate a trajectory recording start instruction in response to determining that the first vehicle enters a special road section, the special road section being a complex road section with high driving difficulty; collect and transmit vehicle driving trajectory information of the first vehicle at a preset frequency in response to detecting the trajectory recording start instruction, the vehicle driving trajectory information including vehicle driving speed information and first vehicle configuration information of the first vehicle; and stop collecting and transmitting the vehicle driving trajectory information in response to detecting a trajectory recording end instruction; The at least one processor is configured to: receive the vehicle driving trajectory information, generate a vehicle driving trajectory based on the vehicle driving trajectory information, and share the vehicle driving trajectory to a second vehicle terminal so that the second vehicle terminal generates vehicle control information to guide driving of a second vehicle based on the vehicle driving trajectory, the second vehicle being associated with the second vehicle terminal; The at least one processor is further configured to: obtain second vehicle configuration information of the second vehicle, and prompt, at the second vehicle terminal, that the second vehicle is not suitable for using the vehicle driving trajectory in response to a matching degree of the first vehicle configuration information and the second vehicle configuration information not satisfying a preset condition.

13. A vehicle terminal, characterized by The vehicle terminal is associated with a second vehicle, and the vehicle terminal includes at least one processor, wherein the at least one processor is configured to: receive a vehicle driving trajectory of a first vehicle, the vehicle driving trajectory being a driving trajectory of the first vehicle through a special road section, the special road section being a complex road section with high driving difficulty, the vehicle driving trajectory carrying vehicle driving trajectory information of the first vehicle, the vehicle driving trajectory information including vehicle driving speed information and first vehicle configuration information of the first vehicle; generate vehicle control information to guide driving of the second vehicle according to the vehicle driving trajectory based on the vehicle driving trajectory; Before guiding the second vehicle to drive according to the vehicle driving trajectory, the at least one processor is further configured to: obtain second vehicle configuration information of the second vehicle, and prompt, at the second vehicle terminal, that the second vehicle is not suitable for using the vehicle driving trajectory in response to a matching degree of the first vehicle configuration information and the second vehicle configuration information not satisfying a preset condition.

14. The vehicle terminal according to claim 13, wherein The vehicle driving trajectory carries vehicle driving trajectory information of the first vehicle collected at a preset frequency, the vehicle driving trajectory information further including at least one of a vehicle driving position point, a vehicle driving time interval corresponding to the vehicle driving position point, and vehicle driving weather information.

15. The vehicle terminal according to claim 14, wherein The vehicle terminal further includes at least one sensor configured to collect and transmit current time and current weather information of the second vehicle; The at least one processor is further configured to: receive the current time and the current weather information; In response to the current time being in a continuous time period with the vehicle travel time interval and the current weather information matching the vehicle travel weather information, vehicle control information is generated based on the vehicle travel trajectory to guide the second vehicle to travel according to the vehicle travel trajectory.

16. The vehicle terminal of claim 14, wherein, The at least one processor is further configured to: generate vehicle control information based on the vehicle travel speed information and the vehicle travel location point in the vehicle travel trajectory information; and guide the second vehicle to travel according to the vehicle travel trajectory based on the vehicle control information.

17. A computer storage medium storing program instructions, wherein, The program instructions, when executed, implement the method of any one of claims 1-10.

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