Vehicle control method and device, vehicle-mounted terminal and computer readable storage medium

Abstract

The application provides a vehicle control method and device, a vehicle terminal and a computer readable storage medium, and relates to the technical field of communication, wherein the method is applied to a vehicle terminal, the vehicle terminal is installed on a first vehicle, and the method comprises the following steps: determining a target area range corresponding to a target special lane of the first vehicle according to position information of the first vehicle; when the first vehicle is driving on an adjacent lane of the target special lane, judging whether the first vehicle is allowed to enter the target special lane according to speed information corresponding to the target area range; and generating entry instruction information for indicating that the first vehicle is suggested to enter the target special lane in the case that the first vehicle is determined to be allowed to enter the target special lane. The scheme of the application solves the problem that the prior art cannot dynamically use bus lane resources in time and effectively, thereby reducing the road passing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and in particular to a vehicle control method and device, a vehicle terminal and a computer readable storage medium. BACKGROUND

[0002] With the development of economy, and the increase of the number of motor vehicles and people's travel demand, traffic congestion has become a typical urban disease, and vigorously developing public transportation will be an inevitable choice for many cities. At present, in order to guide the public to travel more through the public transportation system, the government usually implements the bus priority strategy, and in particular, the setting of bus lanes has become a typical measure for local governments to ensure bus travel.

[0003] Although the setting of bus lanes can improve the driving speed and punctuality rate of buses, the opening of bus lanes will occupy limited road resources, resulting in an increase in the delay time of social vehicles and further exacerbating the congestion of social vehicles.

[0004] However, the prior art cannot dynamically and effectively use the bus lane resources in time, resulting in low road traffic efficiency. SUMMARY

[0005] The present application provides a vehicle control method, device, vehicle terminal and computer readable storage medium, which solves the problem of low road traffic efficiency caused by the prior art's inability to dynamically and effectively use bus lane resources in time.

[0006] In a first aspect, embodiments of the present application provide a vehicle control method applied to a vehicle terminal, the vehicle terminal being installed on a first vehicle, and the method comprising:

[0007] determining a target area range corresponding to the first vehicle on a target lane according to position information of the first vehicle;

[0008] when the first vehicle is driving on an adjacent lane of the target lane, determining whether to allow the first vehicle to enter the target lane according to speed information corresponding to the target area range;

[0009] generating entry instruction information for indicating that the first vehicle is suggested to enter the target lane, in a case where it is determined that the first vehicle is allowed to enter the target lane.

[0010] In a second aspect, embodiments of the present application provide a vehicle control device applied to a vehicle terminal, the vehicle terminal being installed on a first vehicle, and the device comprising:

[0011] The first processing module is configured to determine a target area range of the first vehicle on the target special lane according to position information of the first vehicle.

[0012] The second processing module is configured to determine whether the first vehicle is allowed to enter the target special lane according to speed information corresponding to the target area range when the first vehicle travels on an adjacent lane of the target special lane.

[0013] The third processing module is configured to generate entry instruction information for indicating that the first vehicle is suggested to enter the target special lane when it is determined that the first vehicle is allowed to enter the target special lane.

[0014] In a third aspect, an embodiment of the present application provides a mobile terminal, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the vehicle control method according to the first aspect when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps of the vehicle control method according to the first aspect.

[0016] The above technical solution of the present application has the following advantages:

[0017] The embodiment of the present application can dynamically determine a target area range of the first vehicle on a target special lane (for example, a bus special lane) according to position information of the first vehicle, and then determine whether the first vehicle is allowed to enter the target special lane according to speed information corresponding to the target area range when the first vehicle is located in a common lane. In this way, entry instruction information can be generated when it is determined that the first vehicle is allowed to enter the target special lane, so as to prompt a user or control the first vehicle by using the entry instruction information, which can ensure that the first vehicle uses the target special lane in a timely, efficient, and reasonable manner without affecting the driving of a bus, thereby improving road traffic efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a vehicle control method according to an embodiment of the present application is shown;

[0019] Figure 2 A position diagram of a vehicle control method according to an embodiment of the present application is shown;

[0020] Figure 3 A position diagram of a vehicle control method according to an embodiment of the present application is shown;

[0021] Figure 4Fig. 3 is a position schematic diagram illustrating a vehicle control method according to an embodiment of the present application;

[0022] Figure 5 Fig. 4 is a position schematic diagram illustrating a vehicle control method according to an embodiment of the present application;

[0023] Figure 6 Fig. 5 is a structure block diagram illustrating a vehicle control device according to an embodiment of the present application;

[0024] Figure 7 Fig. 6 is a structure block diagram illustrating a vehicle terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the technical problems solved by the present application, technical solutions and advantages clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of embodiments of the present application. Therefore, it should be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations are omitted for clarity and conciseness.

[0026] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0027] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0028] In addition, the terms "system" and "network" are often used interchangeably herein.

[0029] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0030] Specifically, the embodiments of the present application provide a vehicle control method, device, vehicle terminal and computer readable storage medium, which solve the problem that the prior art is difficult to dynamically use the bus lane resource in time and effectively, resulting in low road traffic efficiency.

[0031] First embodiment

[0032] like Figure 1 As shown, an embodiment of the present invention provides a vehicle control method applied to an in-vehicle terminal, wherein the in-vehicle terminal is installed in a first vehicle, and the method specifically includes the following steps:

[0033] Step 11: Based on the location information of the first vehicle, determine the target area range on the target dedicated lane corresponding to the first vehicle.

[0034] Here, the on-board terminal is installed on the first vehicle. The on-board terminal may include communication equipment (e.g., OBU) developed based on C (Cellular)-V2X (Vehicle-to-Everything) technology. The first vehicle may be a private vehicle or other types of vehicle. The target dedicated lane may be a bus lane designated for buses, which have priority driving rights; the target dedicated lane may also be an autonomous driving lane, where autonomous vehicles have the right to drive; the target dedicated lane may also be a HOV lane, where vehicles carrying at least a certain number of passengers have the right to drive, such as buses, cars with two or more passengers, or trucks. It is understood that a target dedicated lane refers to a dedicated road designated for certain types of vehicles, and the examples given above are only some feasible embodiments of target dedicated lanes; the present invention is not limited thereto.

[0035] It should be noted that, based on C-V2X, the vehicle-mounted terminal can obtain vehicle attribute information of each vehicle within the C-V2X communication range of the first vehicle, such as vehicle type (e.g., private vehicle, public vehicle), lane-accurate location information, vehicle speed, etc.; it can also obtain vehicle attribute information of the first vehicle, such as vehicle type, whether it has permission to use the target dedicated lane, driving model (e.g., autonomous driving model, manual driving mode), lane-accurate location information, vehicle speed, etc.; it can also obtain road information, such as road structure information, lane attributes, etc.; in addition, the vehicle-mounted terminal can also send the vehicle attribute information of the first vehicle through C-V2X.

[0036] In this step, a target area range can be set based on the location information of the first vehicle, so that the target area range can be used as a statistical range to collect vehicle data within that range, thereby making relevant vehicle control decisions.

[0037] Step 12: When the first vehicle is traveling in an adjacent lane of the target dedicated lane, determine whether the first vehicle is allowed to enter the target dedicated lane based on the vehicle speed information corresponding to the target area range.

[0038] In this step, whether the first vehicle is allowed to enter the target lane can be dynamically determined according to the vehicle speed information corresponding to the target area range, so that the first vehicle can use the target lane when allowed, thereby achieving the effect of fully utilizing road resources and improving vehicle driving efficiency.

[0039] In the case where it is determined that the first vehicle is allowed to enter the target lane, entry instruction information is generated, which is used to instruct the first vehicle to enter the target lane.

[0040] Specifically, as an optional embodiment, when the first vehicle is an automatic driving vehicle, the entry instruction information can be used to control the first vehicle to enter the target lane, and when the first vehicle is a manually driven vehicle, the entry instruction information can be used to prompt the driver to allow the first vehicle to enter the target lane.

[0041] In this embodiment, the target area range of the first vehicle on the target lane (e.g., a bus lane) can be dynamically determined according to the position information of the first vehicle, and then when the first vehicle is located in a general lane, whether the first vehicle is allowed to enter the target lane can be determined according to the vehicle speed information corresponding to the target area range. In this way, in the case where it is determined that the first vehicle is allowed to enter the target lane, entry instruction information is generated, so as to prompt the user or control the first vehicle by using the entry instruction information, thereby ensuring that the first vehicle can use the target lane in a timely, efficient and reasonable manner without affecting the driving of the bus, thereby improving the road traffic efficiency.

[0042] As shown in Figures 2-3 As an optional embodiment of the present application, the determination of the target area range of the first vehicle on the target lane according to the position information of the first vehicle includes:

[0043] In step 1011, the C-V2X communication range of the first vehicle is determined according to the position information of the first vehicle.

[0044] In step 1012, the starting position and the ending position of the overlapping area between the C-V2X communication range and the target lane in the first direction are determined, and the traffic flow direction on the target lane is the first direction, wherein in the first direction, the starting position is located in front of the ending position.

[0045] As shown in Figures 2-3As shown, the first vehicle travels on the common lane, and the vehicles on the common lane and the target exclusive lane (for example, the bus lane) travel in the X direction, that is, the traffic direction is the X direction (i.e., the first direction), so that the starting position refers to the front end of the C-V2X communication range of the first vehicle on the target exclusive lane, and the ending position refers to the last end of the C-V2X communication range of the first vehicle on the target exclusive lane.

[0046] In step 1013, a region from the first position to the starting position on the target exclusive lane is taken as a candidate region range, and it is determined whether the second vehicle exists in the candidate region range, to obtain a first determination result, wherein the second vehicle has a priority right of passing on the target exclusive lane, the first position is located on a first horizontal line with the front of the first vehicle, and the first horizontal line is perpendicular to the first direction.

[0047] Here, the second vehicle has a priority right of passing on the target exclusive lane, for example, when the target exclusive lane is a bus lane, the second vehicle refers to a bus. For another example, when the target exclusive lane is an HOV lane, the second vehicle refers to a bus, a small car with more than two people, or a truck.

[0048] As an optional embodiment, in order not to affect the driving of the second vehicle, the target region range can be set according to whether the second vehicle exists in the candidate region range, wherein the candidate region range refers to the region from the front of the first vehicle to the starting position on the target exclusive lane.

[0049] In step 1014, the target region range is determined according to the first determination result.

[0050] In this embodiment, the C-V2X communication range of the first vehicle can be determined according to the position information of the first vehicle, and then the candidate region range on the target exclusive lane is determined, and then the target region range can be further determined according to whether the second vehicle exists in the candidate region range. In this way, the target region range can be determined according to the real-time traffic on the target exclusive lane, so that whether the first vehicle is allowed to enter the target exclusive lane can be determined according to the speed information in the target region range, and the timeliness is better.

[0051] In the following embodiments, the target exclusive lane is taken as a bus lane, and the second vehicle is taken as a bus.

[0052] Optionally, the determining the target region range according to the first determination result comprises at least one of the following:

[0053] Case one, as shown in FIG. 10A, the first vehicle is located on the common lane, and the second vehicle is located on the target exclusive lane. Figure 2As shown, when the first judgment result indicates that there is a second vehicle within the candidate area, the area between the first position and the rear of the target vehicle within the candidate area is determined as the target area, wherein the target vehicle is the second vehicle within the candidate area that is closest to the first vehicle.

[0054] Scenario 2, such as Figure 3 As shown, if the first judgment result indicates that there is no second vehicle within the candidate area, the candidate area is determined as the target area.

[0055] In this embodiment, the specific target area can be determined based on whether a second vehicle exists within the candidate area, making the division of the target area more refined and more conducive to accurately determining the timing when to allow the first vehicle to enter the target dedicated lane.

[0056] Optionally, if at least one vehicle exists within the target area, the vehicle speed information corresponding to the target area is the vehicle speed characteristic information of the at least one vehicle; wherein, step 12 above may specifically include:

[0057] The area between the second position and the termination position on the target dedicated lane is taken as the first area range. It is determined whether there is a second vehicle within the first area range to obtain a second judgment result. The second position and the rear of the first vehicle are located on the second horizontal line, and the second horizontal line is perpendicular to the first direction.

[0058] Based on the second judgment result and the speed characteristic information of at least one vehicle within the target area, it is determined whether the first vehicle is allowed to enter the target dedicated lane.

[0059] In this embodiment, different determination strategies can be adopted based on whether a second vehicle exists within the first area to determine whether the first vehicle is allowed to enter the bus lane.

[0060] In an optional embodiment, the vehicle speed characteristic information includes the average vehicle speed within the target area, wherein determining whether to allow the first vehicle to enter the target dedicated lane based on the second determination result and the vehicle speed characteristic information of at least one vehicle within the target area includes at least one of the following:

[0061] (i) If the second judgment result indicates that there is a second vehicle in the first area and the average vehicle speed is greater than or equal to a preset speed threshold, then the first vehicle is allowed to enter the target dedicated lane.

[0062] In this way, the first vehicle does not change the free flow state of the bus on the bus lane after entering the bus lane, and the driving efficiency of the first vehicle is improved.

[0063] Here, the preset speed threshold can be set according to specific conditions. As an optional embodiment, the preset speed threshold is determined according to the maximum speed limit corresponding to the target lane and / or the speed of the second vehicle closest to the first vehicle within the first region range.

[0064] (ii) In the case where the second determination result indicates that there is no second vehicle within the first region range, and the average speed is greater than the speed of the first vehicle, it is determined that the first vehicle is allowed to enter the target lane.

[0065] Through the above steps, whether the first vehicle will affect the free flow state of the bus after entering the bus lane can be determined according to the average speed of the target region range, that is, whether the first vehicle is allowed to enter the bus lane. If allowed, the first vehicle can be further guided to enter the bus lane. In this way, the driving speed of the first vehicle can be improved without affecting the driving efficiency of the bus, and the road utilization rate is improved.

[0066] Optionally, in the case where there is no vehicle within the target region range, the speed information corresponding to the target region range is the maximum speed limit corresponding to the target lane; and the determination of whether the first vehicle is allowed to enter the target lane according to the speed information corresponding to the target region range comprises: in the case where the speed of the first vehicle is less than or equal to the maximum speed limit, it is determined that the first vehicle is allowed to enter the target lane.

[0067] It can be understood that in this embodiment, since there is no vehicle within the target region range, the speed of the first vehicle can be allowed to borrow the target lane as long as it satisfies the condition of being less than or equal to the maximum speed limit corresponding to the target lane.

[0068] As shown in FIG. 8, in an optional embodiment, in the case where the first vehicle is in an automatic driving mode, after the driving-in instruction information is generated, the method further comprises: Figure 4 determining a first distance between a third vehicle and a fourth vehicle driving on the target lane, the third vehicle being a vehicle with its tail located before the first position, and the fourth vehicle being a vehicle with its head located after the first position and closest to the third vehicle;

[0069] in the case where the first distance is greater than a preset distance threshold, the driving-in instruction information is sent to an automatic driving domain controller of the first vehicle.

[0070] ​

[0071] Thus, if the first vehicle is an autonomous vehicle, the driving-in instruction information can be sent to the autonomous domain controller to instruct the first vehicle to drive into the bus lane when the first distance (D) is greater than the preset distance threshold.

[0072] It should be noted that the preset distance threshold can be set according to specific circumstances. As an optional embodiment, the preset distance threshold (i.e., the safety distance) can be set as aL, where L represents the length of the first vehicle, and a represents a safety factor. Here, a can be set according to the average speed of vehicles in the target area range, or can be set as a fixed value according to experience, for example, a can be set as 2.

[0073] It can be understood that in the case of manual driving mode of the first vehicle, after generating the driving-in instruction information, the driver can be further prompted in the form of sound, light, electricity, etc. (for example, displaying prompt information such as text or icons on the human-computer interaction interface of the first vehicle) to make the driver know that the first vehicle can be currently allowed to borrow the bus lane for driving, and the specific timing of the first vehicle driving into the bus lane can be controlled by the driver.

[0074] Optionally, after the first vehicle drives into the target lane, the method further comprises:

[0075] According to the vehicle information of the target vehicle, it is determined whether the first vehicle needs to give way, the target vehicle being a second vehicle located behind the first vehicle and closest to the first vehicle within the C-V2X communication range;

[0076] In the case where it is determined that the first vehicle needs to give way, driving-off instruction information is generated, the driving-off instruction information being used to instruct the first vehicle to drive off the target lane.

[0077] In this embodiment, for the first vehicle that has already driven into the bus lane, in order to avoid affecting the driving efficiency of the bus driving from behind, it can be determined whether the first vehicle needs to give way for the bus according to the vehicle information of the first vehicle and the vehicle information of other vehicles.

[0078] Optionally, in the case where the first vehicle is in autonomous driving mode, after the driving-off instruction information is generated, the method further comprises: sending the driving-off instruction information to the autonomous domain controller of the first vehicle.

[0079] Thus, if the first vehicle is an autonomous vehicle, the driving-off instruction information can be sent to the autonomous domain controller to instruct the first vehicle to drive off the bus lane after the driving-off instruction information is generated.

[0080] Understandably, when the first vehicle is in manual driving mode, after generating the departure instruction information, the driver can be further prompted by means of sound, light, or electricity on the first vehicle (e.g., displaying text or icons on the human-machine interface of the first vehicle) so that the driver is aware that the first vehicle needs to leave the bus lane in order to make way for the bus.

[0081] like Figure 5 As shown, in an optional embodiment, the vehicle information includes vehicle speed and / or location information, wherein determining whether the first vehicle needs to yield based on the target vehicle's vehicle information includes:

[0082] (1) Determine the second vehicle distance (D1) between the target vehicle and the first vehicle based on the location information of the target vehicle;

[0083] (2) Determine the lane-changing time margin based on the second vehicle distance, the speed of the target vehicle and the speed of the first vehicle.

[0084]

[0085] Where T0 represents the lane-changing time margin, v2 represents the speed of the target vehicle, and v1 represents the speed of the first vehicle.

[0086] (3) If the lane change time margin is less than the preset time threshold, it is determined that the first vehicle needs to give way.

[0087] Here, the preset time threshold can be dynamically set according to the target vehicle's speed (v2), or it can be set to a fixed value based on experience. For example, the preset time threshold can be set to 10 seconds.

[0088] It should be noted that the existing technology does not fully consider the impact of vehicle speed. When the instantaneous traffic density in a certain section of the bus lane is too high, connected vehicles may not be able to give way to buses in time, which may affect the driving efficiency of buses.

[0089] According to the embodiments of the present invention, based on the speed of the first vehicle and the speeds of other related vehicles, it can be determined whether the first vehicle needs to give way, so that the first vehicle can change lanes in a timely manner to give way to the bus when it needs to, thereby avoiding affecting the driving efficiency of the bus.

[0090] In addition, if it is determined that the first vehicle needs to give way, the first vehicle can also actively send a lane-changing request. In this way, when a vehicle behind the first vehicle in the ordinary lane receives the lane-changing request sent by the first vehicle, it can give way to the first vehicle by a preset distance threshold so that the first vehicle can successfully change lanes.

[0091] In the embodiment of the present application, whether the first vehicle is allowed to enter the target special lane and whether the first vehicle needs to give way to the bus can be dynamically determined according to the position information of the first vehicle. In this way, the target special lane can be used in a timely, efficient and reasonable manner without affecting the driving of the bus, thereby improving the road resource utilization rate and the road traffic efficiency.

[0092] Second embodiment

[0093] As shown in Figure 6 The present application provides a vehicle control device 600 applied to a vehicle terminal installed on a first vehicle, which comprises:

[0094] A first processing module 601 is configured to determine a target area range of the first vehicle on a target special lane according to position information of the first vehicle.

[0095] A second processing module 602 is configured to determine whether the first vehicle is allowed to enter the target special lane according to vehicle speed information corresponding to the target area range when the first vehicle is driving on an adjacent lane of the target special lane.

[0096] A third processing module 603 is configured to generate entry indication information for indicating that the first vehicle is suggested to enter the target special lane when it is determined that the first vehicle is allowed to enter the target special lane.

[0097] Optionally, the first processing module 601 comprises:

[0098] A first processing submodule is configured to determine a cellular vehicle-to-everything (C-V2X) communication range of the first vehicle according to the position information of the first vehicle.

[0099] A second processing submodule is configured to determine a starting position and an ending position of an overlapping area between the C-V2X communication range and the target special lane in a first direction of a traffic flow direction on the target special lane, wherein the starting position is located in front of the ending position in the first direction.

[0100] A third processing submodule is configured to determine whether a second vehicle exists in a candidate area range from a first position to the starting position on the target special lane to obtain a first determination result, wherein the second vehicle has a priority right of passage on the target special lane, the first position and a vehicle head of the first vehicle are located on a first horizontal line, and the first horizontal line is perpendicular to the first direction.

[0101] The fourth processing submodule is configured to determine the target area range according to the first determination result.

[0102] Optionally, the fourth processing submodule comprises:

[0103] The first processing unit is configured to, in a case where the first determination result indicates that there is a second vehicle in the candidate area range, determine an area between the first position and a tail of a target vehicle in the candidate area range as the target area range, wherein the target vehicle is a second vehicle closest to the first vehicle in the candidate area range.

[0104] The second processing unit is configured to, in a case where the first determination result indicates that there is no second vehicle in the candidate area range, determine the candidate area range as the target area range.

[0105] Optionally, in a case where there is at least one vehicle in the target area range, the speed information corresponding to the target area range is speed characteristic information of the at least one vehicle.

[0106] The second processing module 602 comprises:

[0107] The fifth processing submodule is configured to determine a first area range as an area on the target special lane from a second position to the end position, determine whether there is a second vehicle in the first area range, and obtain a second determination result, wherein the second position and the tail of the first vehicle are located on a second horizontal line, and the second horizontal line is perpendicular to the first direction.

[0108] The sixth processing submodule is configured to determine whether the first vehicle is allowed to enter the target special lane according to the second determination result and speed characteristic information of at least one vehicle in the target area range.

[0109] Optionally, the speed characteristic information comprises an average speed of vehicles in the target area range, and the sixth processing submodule comprises:

[0110] The third processing unit is configured to, in a case where the second determination result indicates that there is a second vehicle in the first area range and the average speed is greater than or equal to a preset speed threshold, determine that the first vehicle is allowed to enter the target special lane.

[0111] The fourth processing unit is configured to, in a case where the second determination result indicates that there is no second vehicle in the first area range and the average speed is greater than a speed of the first vehicle, determine that the first vehicle is allowed to enter the target special lane.

[0112] Optionally, the preset vehicle speed threshold is determined according to a highest speed limit corresponding to the target special lane and / or a vehicle speed of a second vehicle closest to the first vehicle within the first region range.

[0113] Optionally, in a case where no vehicle exists within the target region range, the vehicle speed information corresponding to the target region range is the highest speed limit corresponding to the target special lane.

[0114] The second processing module 602 includes:

[0115] The seventh processing submodule is configured to determine that the first vehicle is allowed to enter the target special lane in a case where the vehicle speed of the first vehicle is less than or equal to the highest speed limit.

[0116] Optionally, the device 600 further includes:

[0117] The distance determination module is configured to determine a first distance between a third vehicle and a fourth vehicle on the target special lane, the third vehicle being a vehicle with a tail located before the first position, and the fourth vehicle being a vehicle with a head located after the first position and closest to the third vehicle.

[0118] The instruction sending module is configured to send the entry instruction information to an automatic driving domain controller of the first vehicle in a case where the first distance is greater than a preset distance threshold.

[0119] Optionally, the device 600 further includes:

[0120] The yielding judgment module is configured to determine whether the first vehicle needs to yield according to vehicle information of a target vehicle, the target vehicle being a second vehicle located behind the first vehicle and closest to the first vehicle within the C-V2X communication range.

[0121] The instruction generation module is configured to generate exit instruction information in a case where it is determined that the first vehicle needs to yield, the exit instruction information being used to instruct the first vehicle to exit the target special lane.

[0122] Optionally, the vehicle information includes vehicle speed and / or position information, and the yielding judgment module includes:

[0123] The eighth processing submodule is configured to determine a second distance between the target vehicle and the first vehicle according to the position information of the target vehicle.

[0124] The ninth processing submodule is configured to determine a lane changing time margin according to the second distance, a vehicle speed of the target vehicle, and a vehicle speed of the first vehicle.

[0125] The tenth processing submodule is used to determine that the first vehicle needs to give way when the lane-changing time margin is less than a preset time threshold.

[0126] The second embodiment of the present invention corresponds to the method of the first embodiment described above. All the implementation means in the first embodiment described above are applicable to the embodiment of the vehicle control device and can achieve the same technical effect.

[0127] Third Embodiment

[0128] To better achieve the above objectives, such as Figure 7 As shown, a third embodiment of the present invention also provides a vehicle-mounted terminal, which is installed in a first vehicle and includes:

[0129] The processor 700; and the memory 720 connected to the processor 700 via a bus interface, the memory 720 being used to store programs and data used by the processor 700 during operation, and the processor 700 calling and executing the programs and data stored in the memory 720.

[0130] The transceiver 710 is connected to a bus interface and is used to receive and send data under the control of the processor 700; the processor 700 is used to read the program in the memory 720 and execute the following steps:

[0131] Based on the location information of the first vehicle, the target area range corresponding to the first vehicle on the target dedicated lane is determined;

[0132] When the first vehicle is traveling in an adjacent lane of the target dedicated lane, it is determined whether the first vehicle is allowed to enter the target dedicated lane based on the vehicle speed information corresponding to the target area range.

[0133] If it is determined that the first vehicle is permitted to enter the target dedicated lane, entry instruction information is generated, which is used to instruct and recommend that the first vehicle enter the target dedicated lane.

[0134] Among them, Figure 7In particular embodiments, the bus architecture can include any number of interconnecting buses and bridges, depending on the specific application of processor 700 and the overall design constraints. The bus architecture can link various circuits of the various circuits, represented by the processor 700 and the memory 720, together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus, not described further. The bus interface provides an interface. The transceiver 710 can be a plurality of elements, including a transmitter and a receiver, that provides a means for communicating with various other apparatus over a transmission medium. The user interface 730 can also be an interface that can be external or internal to the device as needed, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 can store data used by the processor 700 in executing operations.

[0135] Optionally, the processor 700 is specifically configured to determine the target area range corresponding to a target exclusive lane according to the position information of the first vehicle, in particular for:

[0136] determine a cellular vehicle-to-everything (C-V2X) communication range of the first vehicle according to the position information of the first vehicle;

[0137] determine a start position and an end position of an overlapping area between the C-V2X communication range and the target exclusive lane in a first direction of a traffic flow on the target exclusive lane, wherein the start position is located in front of the end position in the first direction;

[0138] determine a candidate area range from a first position to the start position on the target exclusive lane as a candidate area range, and determine whether a second vehicle exists in the candidate area range to obtain a first determination result, wherein the second vehicle has a priority right of passing on the target exclusive lane, the first position and a front end of the first vehicle are located on a first horizontal line, and the first horizontal line is perpendicular to the first direction;

[0139] determine the target area range according to the first determination result.

[0140] Optionally, the processor 700 is specifically configured to determine the target area range according to the first determination result, in particular for:

[0141] in a case where the first determination result indicates that the second vehicle exists in the candidate area range, determine an area between the first position and a rear end of a target vehicle in the candidate area range as the target area range, wherein the target vehicle is the second vehicle closest to the first vehicle in the candidate area range;

[0142] In a case where the first determination result indicates that there is no second vehicle in the candidate region range, the candidate region range is determined as the target region range.

[0143] Optionally, in a case where there is at least one vehicle in the target region range, the vehicle speed information corresponding to the target region range is vehicle speed characteristic information of the at least one vehicle.

[0144] The processor 700 is specifically configured to:

[0145] determine whether there is a second vehicle in a first region range on the target special lane from a second position to the end position, to obtain a second determination result, wherein the second position and the tail of the first vehicle are located on a second horizontal line, and the second horizontal line is perpendicular to the first direction.

[0146] determine whether the first vehicle is allowed to enter the target special lane according to the second determination result and vehicle speed characteristic information of at least one vehicle in the target region range.

[0147] Optionally, the vehicle speed characteristic information includes an average vehicle speed of vehicles in the target region range, and the processor 700 is specifically configured to:

[0148] In a case where the second determination result indicates that there is a second vehicle in the first region range, and the average vehicle speed is greater than or equal to a preset vehicle speed threshold, it is determined that the first vehicle is allowed to enter the target special lane.

[0149] In a case where the second determination result indicates that there is no second vehicle in the first region range, and the average vehicle speed is greater than the vehicle speed of the first vehicle, it is determined that the first vehicle is allowed to enter the target special lane.

[0150] Optionally, the preset vehicle speed threshold is determined according to a highest speed limit corresponding to the target special lane and / or a vehicle speed of a second vehicle closest to the first vehicle in the first region range.

[0151] Optionally, in a case where there is no vehicle in the target region range, the vehicle speed information corresponding to the target region range is a highest speed limit corresponding to the target special lane.

[0152] Specifically, when the processor 700 determines whether the first vehicle is permitted to enter the target dedicated lane based on the vehicle speed information corresponding to the target area, it is used to:

[0153] If the speed of the first vehicle is less than or equal to the maximum speed limit, it is determined that the first vehicle is permitted to enter the target dedicated lane.

[0154] Optionally, when the first vehicle is in autonomous driving mode, after generating the entry instruction information, the processor 700 is further configured to:

[0155] Determine a first vehicle distance between a third vehicle and a fourth vehicle traveling on the target dedicated lane. The third vehicle is the vehicle whose rear is located before the first position, and the fourth vehicle is the vehicle whose front is located after the first position and is closest to the third vehicle.

[0156] If the first vehicle distance is greater than a preset vehicle distance threshold, the entry instruction information is sent to the autonomous driving domain controller of the first vehicle.

[0157] Optionally, after the first vehicle enters the target dedicated lane, the processor 700 is further configured to:

[0158] Based on the vehicle information of the target vehicle, it is determined whether the first vehicle needs to give way. The target vehicle is the second vehicle located behind the first vehicle and closest to the first vehicle within the C-V2X communication range.

[0159] If it is determined that the first vehicle needs to give way, a departure instruction is generated, which is used to instruct and suggest that the first vehicle leave the target dedicated lane.

[0160] Optionally, the vehicle information includes vehicle speed and / or location information, wherein when the processor 700 determines whether the first vehicle needs to give way based on the target vehicle's vehicle information, it is specifically used for:

[0161] Based on the location information of the target vehicle, a second vehicle distance is determined between the target vehicle and the first vehicle;

[0162] The lane-changing time margin is determined based on the second vehicle distance, the speed of the target vehicle, and the speed of the first vehicle.

[0163] If the lane-changing time margin is less than a preset time threshold, it is determined that the first vehicle needs to give way.

[0164] It should be noted that the vehicle terminal provided by the embodiments of the present application can realize all the method steps achieved by the vehicle control method applied to the vehicle terminal and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0165] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by instructing the relevant hardware by a computer program including instructions for executing all or part of the steps of the above method. The computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0166] In addition, the embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The program is executed by a processor to implement the steps of the method in the first embodiment described above. The same technical effects can be achieved. To avoid repetition, the same parts will not be described here.

[0167] In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Moreover, the steps of executing the above series of processes can be executed in time sequence according to the order of description, but it is not necessary to be executed in time sequence. Some steps can be executed in parallel or independently of each other. For those skilled in the art, it can be understood that all or any steps or components of the method and device of the present application can be realized in any computing device (including processor, storage medium, etc.) or network of computing devices in hardware, firmware, software or their combination, which can be realized by those skilled in the art using their basic programming skills after reading the description of the present application.

[0168] Therefore, the object of the present application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a commonly known general purpose device. Therefore, the object of the present application can also be achieved by merely providing a program product containing program code for implementing the method or device. That is, such a program product also constitutes the present application, and a storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Furthermore, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0169] The above is the preferred embodiment of the present application. It should be pointed out that for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method is applied to a vehicle terminal installed on a first vehicle, and comprises the following steps: determining a target area range corresponding to a target special lane according to position information of the first vehicle; when the first vehicle is driving on a neighboring lane of the target special lane, judging whether the first vehicle is allowed to enter the target special lane according to vehicle speed information corresponding to the target area range; generating entry instruction information for indicating that the first vehicle is suggested to enter the target special lane when it is determined that the first vehicle is allowed to enter the target special lane; wherein the step of determining the target area range corresponding to the target special lane according to the position information of the first vehicle comprises: determining a C-V2X communication range of the first vehicle according to the position information of the first vehicle; determining a starting position and an ending position of an overlapping area between the C-V2X communication range and the target special lane in a first direction of a traffic flow direction on the target special lane, wherein the starting position is located in front of the ending position in the first direction; judging whether there is a second vehicle in a candidate area range from a first position to the starting position on the target special lane to obtain a first judgment result, wherein the second vehicle has a priority right of passing on the target special lane, the first position and a front end of the first vehicle are located on a first horizontal line, and the first horizontal line is perpendicular to the first direction; determining the target area range according to the first judgment result; wherein the vehicle speed information corresponding to the target area range is speed characteristic information of at least one vehicle in the target area range when there is at least one vehicle in the target area range; wherein the step of judging whether the first vehicle is allowed to enter the target special lane according to the vehicle speed information corresponding to the target area range comprises: judging whether there is a second vehicle in a first area range from a second position to the ending position on the target special lane to obtain a second judgment result, wherein the second position and a rear end of the first vehicle are located on a second horizontal line, and the second horizontal line is perpendicular to the first direction; judging whether the first vehicle is allowed to enter the target special lane according to the second judgment result and the speed characteristic information of the at least one vehicle in the target area range; wherein the speed characteristic information comprises an average speed of vehicles in the target area range, and the step of judging whether the first vehicle is allowed to enter the target special lane according to the second judgment result and the speed characteristic information of the at least one vehicle in the target area range comprises at least one of the following: determining that the first vehicle is allowed to enter the target special lane when the second judgment result indicates that there is a second vehicle in the first area range, and the average speed is greater than or equal to a preset speed threshold; In a case where the second judgment result indicates that there is no second vehicle in the first region range and the average vehicle speed is greater than the vehicle speed of the first vehicle, it is determined that the first vehicle is allowed to enter the target lane.

2. The method of claim 1, wherein, The target region range is determined according to the first judgment result, including at least one of the following: In a case where the first judgment result indicates that there is a second vehicle in the candidate region range, a region between the first position and a tail of a target vehicle in the candidate region range is determined as the target region range, wherein the target vehicle is a second vehicle closest to the first vehicle in the candidate region range. In a case where the first judgment result indicates that there is no second vehicle in the candidate region range, the candidate region range is determined as the target region range.

3. The method of claim 1, wherein, The preset vehicle speed threshold is determined according to a highest speed limit corresponding to the target lane and / or a vehicle speed of a second vehicle closest to the first vehicle in the first region range.

4. The method of claim 1, wherein, In a case where there is no vehicle in the target region range, the vehicle speed information corresponding to the target region range is the highest speed limit corresponding to the target lane. The target region range is determined according to the first judgment result, including at least one of the following: In a case where the vehicle speed of the first vehicle is less than or equal to the highest speed limit, it is determined that the first vehicle is allowed to enter the target lane.

5. The method of claim 1, wherein, In a case where the first vehicle is in an automatic driving mode, after the entering indication information is generated, the method further includes: determining a first distance between a third vehicle and a fourth vehicle on the target lane, the third vehicle being a vehicle with a tail located before the first position, and the fourth vehicle being a vehicle with a head located after the first position and closest to the third vehicle; in a case where the first distance is greater than a preset distance threshold, the entering indication information is sent to an automatic driving domain controller of the first vehicle.

6. The method of claim 1, wherein, After the first vehicle enters the target lane, the method further includes: determining whether the first vehicle needs to give way according to vehicle information of a target vehicle, the target vehicle being a second vehicle located behind the first vehicle and closest to the first vehicle in the C-V2X communication range; in a case where it is determined that the first vehicle needs to give way, exiting indication information is generated, the exiting indication information being used to instruct the first vehicle to exit the target lane.

7. The method of claim 6, wherein, The vehicle information includes vehicle speed and / or position information, and the determination of whether the first vehicle needs to give way according to the vehicle information of the target vehicle includes: determining a second distance between the target vehicle and the first vehicle according to position information of the target vehicle; determining a lane changing time margin according to the second distance, a vehicle speed of the target vehicle, and a vehicle speed of the first vehicle; in a case where the lane changing time margin is less than a preset time threshold, it is determined that the first vehicle needs to give way.

8. A vehicle control device characterized by comprising: The device is applied to a vehicle terminal, the vehicle terminal is installed on a first vehicle, and the device includes: The first processing module is configured to determine a target area range of the target special lane corresponding to the first vehicle according to position information of the first vehicle; The second processing module is configured to determine whether the first vehicle is allowed to enter the target special lane according to vehicle speed information corresponding to the target area range when the first vehicle travels on an adjacent lane of the target special lane; The third processing module is configured to generate entry instruction information for indicating that the first vehicle is suggested to enter the target special lane when it is determined that the first vehicle is allowed to enter the target special lane; The first processing module includes: The first processing submodule is configured to determine a cellular vehicle-to-everything (C-V2X) communication range of the first vehicle according to position information of the first vehicle; The second processing submodule is configured to determine a start position and an end position of an overlapping area between the C-V2X communication range and the target special lane in a first direction of a traffic flow direction on the target special lane, wherein the start position is located in front of the end position in the first direction; The third processing submodule is configured to determine whether a second vehicle exists in a candidate area range from a first position to the start position on the target special lane to obtain a first determination result, wherein the second vehicle has a priority right of passing on the target special lane, the first position and a front end of the first vehicle are located on a first horizontal line, and the first horizontal line is perpendicular to the first direction; The fourth processing submodule is configured to determine the target area range according to the first determination result; When at least one vehicle exists in the target area range, vehicle speed characteristic information of the at least one vehicle is used as the vehicle speed information corresponding to the target area range; The second processing module includes: The fifth processing submodule is configured to determine whether a second vehicle exists in a first area range from a second position to the end position on the target special lane to obtain a second determination result, wherein the second position and a rear end of the first vehicle are located on a second horizontal line, and the second horizontal line is perpendicular to the first direction; The sixth processing submodule is configured to determine whether the first vehicle is allowed to enter the target special lane according to the second determination result and vehicle speed characteristic information of at least one vehicle in the target area range; The vehicle speed characteristic information includes an average vehicle speed of vehicles in the target area range, and the sixth processing submodule includes: The third processing unit is configured to determine that the first vehicle is allowed to enter the target special lane when the second determination result indicates that the second vehicle exists in the first area range and the average vehicle speed is greater than or equal to a preset vehicle speed threshold; The fourth processing unit is configured to determine that the first vehicle is allowed to enter the target special lane when the second determination result indicates that the second vehicle does not exist in the first area range and the average vehicle speed is greater than a vehicle speed of the first vehicle.

9. A vehicle terminal comprising: Transceiver, memory, processor, and computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the vehicle control method according to any one of claims 1 to 7.

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