A lane state determination method and device, a terminal device, and a storage medium

Abstract

The application relates to the technical field of intelligent driving, and provides a lane state determination method and device, a terminal device and a storage medium, which comprises the following steps: acquiring a vehicle lane identifier and a vehicle position cumulative offset of a main lane where a vehicle is located; acquiring traffic state attribute information; the traffic state attribute information comprises lane identifiers of each lane, lane state information corresponding to each lane cumulative offset in each lane; determining a target lane identifier corresponding to the vehicle lane identifier from the lane identifiers, each target lane cumulative offset in a target lane corresponding to the target lane identifier, and target lane state information corresponding to each target lane cumulative offset; and determining the lane state of the main lane according to the vehicle position cumulative offset, each target lane cumulative offset and the target lane state information. The method can acquire accurate and comprehensive lane states and improve driving convenience.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus, terminal device and storage medium for determining lane status. Background Technology

[0002] In recent years, with the increasing vehicle ownership rate, traffic congestion has become more and more frequent. Traffic congestion not only affects drivers' driving operations but also their mood. Therefore, it is necessary to determine the lane status of the vehicle in a timely and accurate manner.

[0003] Current technical solutions utilize sensors pre-installed on the vehicle, such as millimeter-wave radar, lidar, and cameras, to directly collect road information ahead of the vehicle and determine the lane status based on this information. However, this technical solution acquires limited lane status information.

[0004] Therefore, how to obtain accurate and comprehensive lane status is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, terminal device, and computer-readable storage medium for determining lane status, with the aim of obtaining accurate and comprehensive lane status.

[0006] Firstly, this application provides a method for determining lane status. The method includes:

[0007] Obtain the vehicle lane markings and cumulative vehicle position offset in the main lane where the vehicle is located;

[0008] Obtain traffic state attribute information; the traffic state attribute information includes lane identifiers for each lane and lane state information corresponding to the cumulative offset of each lane.

[0009] Determine the target lane identifier corresponding to the vehicle lane identifier from each of the lane identifiers, and determine the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane status information corresponding to each cumulative offset of the target lane;

[0010] The lane status of the main lane is determined based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane.

[0011] In one embodiment, the method further includes:

[0012] Obtain the first distance between the vehicle and the end point of the congested road segment; the congested road segment is the road segment where the lane status is congested.

[0013] Obtain the second distance between the vehicle and the adjacent vehicle in front of the vehicle;

[0014] Obtain the vehicle's speed;

[0015] The vehicle is determined to be in the congested section of road based on the first distance, the second distance, and the driving speed.

[0016] In one embodiment, the method further includes:

[0017] Acquire the control signals of the vehicle;

[0018] Determining whether the vehicle is in the congested section based on the first distance, the second distance, and the driving speed includes:

[0019] The vehicle is determined to be in the congested section of road based on the first distance, the second distance, the driving speed, and the control signal.

[0020] In one embodiment, obtaining traffic state attribute information includes:

[0021] The configuration file is obtained through the in-vehicle map during the vehicle's operation.

[0022] If the configuration file is valid, traffic status attribute information is obtained based on the configuration file.

[0023] In one embodiment, determining whether the configuration file is valid includes one or more combinations of the following:

[0024] Determine if the file type of the configuration file is valid;

[0025] Determine whether the lane markings in the configuration file are valid;

[0026] Determine whether the value of the preset flag bit in the configuration file is valid;

[0027] Determine whether the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle.

[0028] In one embodiment, the method further includes:

[0029] If the vehicle is in the congested section of road, it responds to the driver's control command and controls the vehicle to activate the corresponding functions according to the control command; the functions include entertainment functions, seat massage functions and intelligent driving functions.

[0030] In one embodiment, the method further includes:

[0031] The driving force of the vehicle is determined based on the cumulative offset of the vehicle position and the cumulative offset of the target lane;

[0032] The energy recovery amount of the vehicle is determined based on the driving force, and the energy recovery operation is performed according to the energy recovery amount.

[0033] Secondly, this application also provides a lane state determination device. The device includes:

[0034] The first acquisition module is used to acquire the vehicle lane markings and the cumulative offset of the vehicle position in the main lane where the vehicle is located.

[0035] The second acquisition module is used to acquire traffic state attribute information; the traffic state attribute information includes lane identifiers for each lane and lane state information corresponding to the cumulative offset of each lane.

[0036] The first determining module is used to determine the target lane identifier corresponding to the vehicle lane identifier from each of the lane identifiers, and the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane status information corresponding to each of the cumulative offsets of the target lanes;

[0037] The second determining module is used to determine the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the state information of each target lane.

[0038] Thirdly, this application also provides a terminal device. The terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0039] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described above.

[0040] This application provides a method for determining lane status. The method involves acquiring the vehicle lane identifier and cumulative vehicle position offset of the main lane where the vehicle is located, and obtaining traffic state attribute information. Then, it determines the target lane identifier corresponding to the vehicle lane identifier from among the lane identifiers, and obtains the cumulative offset of each target lane in the target lane corresponding to the target lane identifier, as well as the target lane status information corresponding to each cumulative offset. The lane status of the main lane is determined based on the cumulative vehicle position offset, the cumulative offsets of each target lane, and the target lane status information. As can be seen, this method transforms the target lane status information in the geodetic coordinate system into target lane status information in the vehicle coordinate system, that is, it determines the offset between each target lane status and the vehicle, thus obtaining accurate and comprehensive lane status and improving driving convenience.

[0041] It is understood that the lane state determination device, terminal device and computer-readable storage medium provided in the embodiments of this application have the same beneficial effects as the lane state determination method described above, and will not be repeated here. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a method for determining lane status as provided in an embodiment of this application;

[0044] Figure 2 A schematic diagram of a traffic road structure provided in an embodiment of this application;

[0045] Figure 3 A schematic diagram of the structure of a lane state determination device provided in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0047] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0048] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0049] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0050] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0051] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0052] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0053] The lane status determination method provided in this application embodiment can be executed by the processor of a terminal device when running a corresponding computer program.

[0054] Figure 1 The flowchart illustrates a method for determining lane status according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The method provided in this embodiment includes the following steps:

[0055] S100: Obtain the vehicle lane markings and cumulative vehicle position offset of the main lane where the vehicle is located.

[0056] Here, the main lane refers to the lane in which the vehicle is currently traveling; the branch road connecting to the main lane is the sub-lane; the vehicle lane mark refers to the lane mark corresponding to the main lane; the lane mark refers to the information used to uniquely identify each lane; it can be represented by numbers or characters, but this embodiment does not limit this.

[0057] The cumulative offset of vehicle position refers to the offset determined based on the vehicle's travel distance, with a preset origin as the starting point. The preset origin can be the starting point of the lane or the intersection; this embodiment does not limit this.

[0058] In practical applications, the configuration file can be obtained through the in-vehicle map during vehicle operation, and the vehicle lane markings and cumulative vehicle position offset can be determined based on the configuration file.

[0059] S200: Obtain traffic status attribute information; traffic status attribute information includes lane markings for each lane and lane status information corresponding to the cumulative offset of each lane.

[0060] Among them, the cumulative lane offset refers to the offset determined according to the lane direction, starting from the preset origin.

[0061] Lane status information refers to information used to describe road conditions, such as congestion, smooth traffic, or severe congestion. In practical applications, lane status can be described directly using text or represented by parameters. For example, a larger value indicates more congestion, with 1 indicating smooth traffic, 2 indicating congestion, and 3 indicating severe congestion. This embodiment does not limit the specific representation of lane status information.

[0062] It should be noted that this embodiment does not limit the granularity of lane cumulative offset data collection; for example, the granularity of lane cumulative offset data collection can be 1 meter, that is, obtaining lane status information corresponding to each meter. Furthermore, when the lane status changes, the lane status information will be updated, that is, the traffic status attribute information will be updated.

[0063] In one practical application, the distance range corresponding to the traffic state attribute information of the main lane is greater than the distance range corresponding to the traffic state attribute information of the sub-lanes. For example, assuming that Path ID is used to represent lane identification; if the main lane corresponding to the vehicle is Path ID=8, and the sub-lanes include the lanes corresponding to Path ID=9, Path ID=10, and Path ID=11; the traffic state attribute information corresponding to the main lane within a 2km range is obtained; the traffic state attribute information corresponding to each sub-lane within a 500m range is obtained. If the vehicle changes lanes from Path ID=8 to Path ID=9, that is, Path ID=9, which was originally a sub-lane, is now updated to a main lane, the lane status of the main lane (Path ID=9) after the lane change can be continuously determined based on the traffic state attribute information corresponding to the 500m range, and the updated traffic state attribute information corresponding to the main lane and each sub-lane can continue to be obtained.

[0064] S300: Determine the target lane sign corresponding to the vehicle lane sign from each lane sign, and determine the cumulative offset of each target lane in the target lane corresponding to the target lane sign, as well as the target lane status information corresponding to each cumulative offset.

[0065] The target lane identifier refers to the lane identifier that is identical to the vehicle lane identifier of the main lane. In other words, in practice, lane status information for multiple lanes, including the main lane and sub-lanes, will be acquired. Therefore, the target lane identifier corresponding to the vehicle lane identifier will be determined from all lane identifiers, and the cumulative offset of each target lane within the target lane, along with the target lane status information corresponding to each cumulative offset, will be determined based on the target lane identifier. This means obtaining the target lane status information corresponding to the cumulative offset of the target lane in the geodetic coordinate system.

[0066] For example, suppose the traffic status attribute information includes three lane identifiers: Path ID=8, Path ID=9, and Path ID=10, as well as the lane status information corresponding to the cumulative offset of each lane identifier. If the vehicle lane identifier of the main lane where the vehicle is located is Path ID=8, that is, the target lane identifier is Path ID=8, then the lane status information corresponding to Path ID=8 is obtained from the traffic status attribute information.

[0067] S400: Determine the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane.

[0068] Specifically, the difference between the cumulative offset of each target lane and the cumulative offset of the vehicle position is calculated to obtain the offset difference; based on the correspondence between the offset difference and the cumulative offset of the target lane, and the correspondence between the cumulative offset of the target lane and the target lane status information, the target lane status information corresponding to each offset difference is determined; the target lane status information in the geodetic coordinate system is converted into the target lane status information in the vehicle coordinate system, that is, the offset corresponding to each target lane status information and the vehicle is determined.

[0069] Table 1 shows the vehicle lane markings and cumulative vehicle position offsets for the main lane where the vehicle is located, and Table 2 shows the traffic status attribute information. From Table 2, the target lane markings corresponding to the vehicle lane markings are determined, along with the target lane cumulative offset and target lane status information. The offset difference is obtained by subtracting the vehicle position cumulative offset from the target lane cumulative offset, and the target lane status information corresponding to each offset difference is determined. The lane status of the main lanes is determined based on Tables 1 and 2, as shown in Table 3.

[0070] Table 1

[0071] Path ID 8 Cumulative offset of vehicle position 600

[0072] Table 2

[0073]

[0074]

[0075] Table 3

[0076]

[0077] Figure 2 A schematic diagram of a traffic road structure is provided as an embodiment of this application; such as Figure 2 As shown, the vehicle is traveling in the main lane (Path ID = 8), and the other side roads are sub-lanes; the traffic congestion 1171m ahead is the lane status information determined after reconstruction. Specifically, after determining the distance corresponding to the congested road segment, it can be directly displayed on the vehicle's screen, allowing the driver to select a lane based on the lane status information corresponding to each offset difference (distance from the vehicle), thereby improving traffic efficiency. This embodiment does not limit the specific display method.

[0078] This application provides a method for determining lane status. The method involves acquiring the vehicle lane marker and cumulative vehicle position offset of the main lane where the vehicle is located, and obtaining traffic state attribute information. Then, it determines the target lane marker corresponding to the vehicle lane marker from among the lane markers, and obtains the cumulative offset of each target lane in the target lane corresponding to the target lane marker, as well as the target lane status information corresponding to each cumulative offset. Based on the cumulative vehicle position offset, the cumulative offset of each target lane, and the target lane status information, the lane status of the main lane is determined. As can be seen, this method transforms the target lane status information in the geodetic coordinate system into the target lane status information in the vehicle coordinate system, that is, it determines the offset of each target lane status information corresponding to the vehicle. Therefore, it can obtain accurate and comprehensive lane status, improving driving convenience.

[0079] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, a method for determining lane status further includes:

[0080] Obtain the first distance between the vehicle and the end point of the congested road segment; the congested road segment is the road segment corresponding to the lane status being congested;

[0081] Obtain the second distance between the vehicle and the adjacent vehicle in front of it;

[0082] Obtain the vehicle's speed;

[0083] Determine whether a vehicle is in a congested area based on the first distance, the second distance, and the driving speed.

[0084] Specifically, the vehicle's current location is obtained through the vehicle positioning system, along with the start and end points of the congested road segment; the first distance is determined based on the position difference between the end point of the congested road segment and the current location.

[0085] Specifically, the vehicle's forward-facing camera and / or lidar and / or millimeter-wave radar are used to determine the second distance between the vehicle and adjacent vehicles in front of it.

[0086] Specifically, the vehicle's speed can be calculated based on the wheel speed sensors on the drive wheel axles; the vehicle's GPS navigation system can accurately calculate the vehicle's speed by monitoring signals received from multiple satellites; the vehicle's radar equipment or laser speedometer can estimate the vehicle's speed by sending signals and measuring their reflection time; this embodiment does not limit the specific method of obtaining the vehicle's speed.

[0087] In this embodiment, whether a vehicle is in a congested road segment is determined based on a first distance, a second distance, and the driving speed. In one specific implementation, if the first distance is less than a preset first distance threshold, it means that the vehicle is very close to the congested road segment and may be in the congested road segment; therefore, the relationship between the second distance and the preset second distance threshold is further determined; otherwise, it is determined that the vehicle is not in the congested road segment. If the second distance is less than the preset second distance threshold, it means that the vehicle is very close to the adjacent vehicle in front of it and may be in the congested road segment; otherwise, it is determined that the vehicle is not in the congested road segment; therefore, it is further determined whether the vehicle's driving speed is less than a preset speed threshold; if the driving speed is less than the preset speed threshold, it is determined that the vehicle is in the congested road segment; otherwise, it is determined that the vehicle is not in the congested road segment.

[0088] As can be seen, in this embodiment, the determination of whether a vehicle is in a congested section is based on the first distance between the vehicle and the end point of the congested section, the second distance between the vehicle and the adjacent vehicle in front of the vehicle, and the vehicle's speed. The judgment process is more accurate and can improve the accuracy of lane status determination.

[0089] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, a method for determining lane status further includes:

[0090] Acquire vehicle control signals;

[0091] Determining whether a vehicle is in a congested area based on the first distance, the second distance, and the driving speed includes:

[0092] The vehicle is determined to be in a congested area based on the first distance, the second distance, the driving speed, and control signals.

[0093] The vehicle's control signals include gear position, EPB (Electrical Park Brake) status, brake pedal signal, and accelerator pedal signal. In practical applications, the vehicle's driving status is determined by collecting these signals.

[0094] It should be noted that this embodiment, based on determining whether a vehicle is in a congested section according to a first distance from the end point of the congested section, a second distance from the vehicle to the adjacent vehicle in front of it, and the vehicle's speed, further determines whether the vehicle is in a congested section based on the vehicle's control signals. Therefore, the method of this embodiment can more accurately determine whether a vehicle is in a congested section.

[0095] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, obtaining traffic state attribute information includes:

[0096] The configuration file is obtained through the in-vehicle map while the vehicle is in motion;

[0097] If the configuration file is valid, traffic status attribute information is obtained based on the configuration file.

[0098] Specifically, the vehicle-mounted map collects real-time map input data and generates a corresponding configuration file, which is then sent to the terminal device via the vehicle's infotainment system so that the terminal device can obtain the configuration file.

[0099] In practical applications, if the terminal device is a Parking Distance Control Unit (PDCU) or a Vehicle Control Unit (VCU), it receives the configuration file sent by the Head Unit (HUT, also known as the terminal information display unit) through the Parking Distance Control Unit or the Vehicle Control Unit, and then verifies the configuration file to determine whether the configuration file is valid. If the configuration file is valid, traffic status attribute information is obtained based on the configuration file; if the configuration file is invalid, the configuration file is discarded.

[0100] The method described in this embodiment can efficiently acquire traffic state attribute information, thereby improving the efficiency of determining lane status.

[0101] In one specific embodiment, determining whether a configuration file is valid includes one or more combinations of the following:

[0102] Determine if the configuration file file type is valid;

[0103] Determine if the lane markings in the configuration file are valid;

[0104] Determine if the values ​​of the preset flags in the configuration file are valid;

[0105] Determine whether the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle.

[0106] Determining the validity of the configuration file's file type essentially means determining whether the short type of the configuration file represents traffic flow information. Specifically, this is determined by checking if the configuration file's ADAS_ProfShort_ProfTyp = 0×13 (ADAS_ProfLong_ProfType = 19). If the short type is not traffic flow information, the configuration file's file type is invalid, and the configuration file is discarded; otherwise, the configuration file's file type is considered valid.

[0107] The process of determining whether the lane identifier in the configuration file is valid is as follows: obtain the data representing the lane identifier in the configuration file and determine whether the data is within the preset identifier value range, such as whether ADAS_ProfShort_PathIdx = 0×00~0×3F is true; if the data is within the preset identifier value range, it means that the lane identifier in the configuration file is valid; otherwise, that is, if the data is not within the preset identifier value range, it means that the lane identifier in the configuration file is invalid.

[0108] Specifically, determining whether the value of the preset flag in the configuration file is valid includes determining whether the offset bit in the configuration file is valid and whether the value in the configuration file is valid.

[0109] It should be noted that the validity of the offset bit in the configuration file is determined by checking whether its value falls within a preset range. For example, the validity of the offset bit in the configuration file is determined by checking whether ADAS_ProfShort_Offset = 0x0 to 0x1FFE.

[0110] It should be noted that the validity of the value in the configuration file is determined by checking whether the value of the value bit in the configuration file falls within a preset range. For example, the validity of the value in the configuration file is determined by checking whether ADAS_ProfShort_Value0 = 0x1 to 0x3FE.

[0111] Specifically, determining whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle means that this embodiment only considers the lane status in front of the vehicle. Specifically, if the cumulative lane offset is greater than the cumulative vehicle position offset, it means that the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle; otherwise, it means that the traffic state attribute information corresponding to the configuration file is data information behind or on the same horizontal line as the vehicle. More specifically, the difference between the cumulative lane offset and the cumulative vehicle position offset can be calculated; if the difference is greater than 0, it means that the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle; otherwise, it means that the traffic state attribute information corresponding to the configuration file is data information on the same horizontal line or behind the vehicle. Alternatively, it can be determined whether the cumulative lane offset is greater than the cumulative vehicle position offset by calculating a ratio, but this embodiment does not limit this method.

[0112] In one specific implementation, the process of determining whether the configuration file is valid is as follows:

[0113] Determine if the configuration file type is valid;

[0114] If the file type of the configuration file is valid, then determine whether the lane identifier in the configuration file is valid;

[0115] If the lane identifier in the configuration file is valid, then determine whether the offset bit in the configuration file is valid;

[0116] If the offset bit in the configuration file is valid, then determine whether the value in the configuration file is valid;

[0117] If the value in the configuration file is valid, then determine whether the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle.

[0118] If the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle while driving, then the configuration file is considered valid.

[0119] In one specific implementation, traffic status attribute information includes: ADAS_Posn_Offset (cumulative vehicle position offset), ADAS_Posn_Pathldx (vehicle lane identifier), ADAS_ProfLong_PathIdx (lane identifier), ADAS_ProfLong_Offset (cumulative lane offset), ADAS_ProfLong_Value (status information), and ADAS_ProfLong_ProfType (short configuration file type).

[0120] The enabling conditions are: ADAS_Posn_Pathldx = ADAS_ProfLong_PathIdx; ADAS_ProfLong_ProfType = 19; the high 1 bit of ADAS_ProfLong_Value represents the event status description (0: new; 1: cancel); the high 2 bits represent the event start and end point description (0: startpoint; 1: endpoint); the high 3 to 6 bits represent the event credibility; the high 7 to 13 bits represent the event type: values ​​equal to 4 (congestion) and 5 (blockage); and then the difference between ADAS_ProfLong_Offset and ADAS_Posn_Offset is calculated based on these conditions.

[0121] As can be seen, the method of this embodiment can conveniently and accurately determine whether the configuration file is valid and can efficiently obtain traffic status attribute information, thereby improving the efficiency of determining lane status.

[0122] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, a method for determining lane status further includes:

[0123] If the vehicle is in a congested area, it will respond to the driver's control commands and activate the corresponding functions, including entertainment, seat massage, and intelligent driving functions.

[0124] In this embodiment, after determining that the vehicle is in a congested area, the vehicle's infotainment system issues a corresponding prompt to the driver, asking whether to control the vehicle to enter the Comfort Follow mode. The prompt may include voice prompts or virtual buttons displayed on the screen for the driver to select. Correspondingly, the terminal device receives and parses the driver's voice information to obtain the corresponding control command; or it responds to the driver's operation of the virtual button to obtain the corresponding control command. The Comfort Follow mode is a function that the vehicle performs to alleviate the driver's anxiety caused by traffic congestion. The functions include entertainment functions, seat massage functions, and intelligent driving functions, etc.

[0125] When the control command indicates that the vehicle needs to enter Comfort Follow mode, the driver is first prompted whether to make a voice call with a preset contact to communicate about pre-arranged meals or business. If the driver confirms the need to make a voice call with the preset contact via voice or a virtual button on the display screen, a voice call is established. If the driver confirms that they do not need to make a voice call with the preset contact, the driver is further prompted whether to activate the entertainment and seat massage functions. The entertainment functions include music, ambient lighting, and games. The entertainment and seat massage functions can be activated simultaneously, and one or more of the entertainment functions can be activated.

[0126] Additionally, after a control command indicates the need to enter Comfort Follow mode, the system responds to the driver's command and activates intelligent driving functions. Specifically, the vehicle's display shows a prompt to enter ACC (Adaptive Cruise Control) full-speed range follow mode (cruise mode), which may display: "About to enter ACC full-speed range follow mode, please release the brake pedal and pay attention to driving safety." After the vehicle enters ACC full-speed range follow mode, it follows the vehicle in front in its lane. Alternatively, after a control command indicates the need to enter Comfort Follow mode, the system displays a prompt to enter NOA (Navigate On Autopilot) city assist driving mode (navigation mode), which may display: "About to enter NOA city assist driving, please release the brake pedal and pay attention to driving safety." Then, the system uses voice recognition or the vehicle's display to obtain the driver's destination and activates NOA city assist driving mode.

[0127] In practical applications, after the vehicle is in cruise control and navigation mode, the driver can also choose to connect the in-vehicle controller to the vehicle's infotainment system to play games when the vehicle is parked. When the vehicle is in motion, the game screen displayed on the infotainment system will be hidden.

[0128] As can be seen, the method according to this embodiment can provide drivers with convenient and comfortable services when the vehicle is in a congested road section, thereby improving the driver's driving experience.

[0129] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, a method for determining lane status further includes:

[0130] The vehicle's driving force is determined based on the cumulative offset of the vehicle's position and the cumulative offset of the target lane;

[0131] The amount of energy recovered by the vehicle is determined based on the driving force, and energy recovery operations are performed according to the amount of energy recovered.

[0132] Specifically, the difference between the cumulative offset of the vehicle's position and the cumulative offset of the target lane is used to determine the offset between the target lane status information and the vehicle; when the lane status information is congested, the distance between the vehicle and the congested road segment is determined.

[0133] Then, according to the kinematic formula: 2ax = v 2 -v0 2Calculate the vehicle's deceleration 'a'; where x represents the offset difference, which changes dynamically and decreases as the vehicle gets closer to the congested section; v represents the vehicle's speed; v0 represents the vehicle's final speed, typically taken as 5 m / s; the result of 'a' is also a dynamic quantity, changing with x and v.

[0134] After determining the vehicle's deceleration 'a', according to the formula F... 合 =ma calculates the force F acting on the vehicle. 合 ; and then according to F 合 =F 驱 -F 阻 Calculate the driving force F of the vehicle. 驱 Then, based on the driving force F 驱 The energy recovery amount is determined, and then energy recovery operations are performed based on this amount. In practical applications, the driving mode is switched to pure electric mode when energy recovery is performed.

[0135] As can be seen, the method of this embodiment can recover energy according to congested road sections, further improving the driving experience of vehicles when encountering congested road sections.

[0136] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0137] Figure 3 The diagram shown is a structural schematic of a lane state determination device provided in an embodiment of this application. Figure 3 As shown, the lane state determination device in this embodiment includes a first acquisition module 310, a second acquisition module 320, a first determination module 330, and a second determination module 340; wherein,

[0138] The first acquisition module 310 is used to acquire the vehicle lane marking and the cumulative offset of the vehicle position in the main lane where the vehicle is located.

[0139] The second acquisition module 320 is used to acquire traffic state attribute information; the traffic state attribute information includes lane markings for each lane and lane state information corresponding to the cumulative offset of each lane.

[0140] The first determining module 330 is used to determine the target lane identifier corresponding to the vehicle lane identifier from each lane identifier, and to determine the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane status information corresponding to each cumulative offset of the target lane.

[0141] The second determining module 340 is used to determine the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane.

[0142] The lane state determination device provided in this application embodiment has the same beneficial effects as the lane state determination method described above.

[0143] In one embodiment, a lane state determination device further includes:

[0144] The first distance acquisition module is used to acquire the first distance between the vehicle and the end point of the congested road segment; the congested road segment is the road segment corresponding to the lane status being congested.

[0145] The second distance acquisition module is used to acquire the second distance between the vehicle and the adjacent vehicle in front of the vehicle;

[0146] The vehicle speed acquisition module is used to acquire the vehicle's speed.

[0147] The congestion determination module is used to determine whether a vehicle is in a congested section of road based on a first distance, a second distance, and the vehicle's speed.

[0148] In one embodiment, a lane state determination device further includes:

[0149] The control signal acquisition module is used to acquire the vehicle's control signals;

[0150] The congestion determination module includes:

[0151] The congestion determination submodule is used to determine whether a vehicle is in a congested section of road based on a first distance, a second distance, driving speed, and control signals.

[0152] In one embodiment, the second acquisition module 320 includes:

[0153] The file acquisition submodule is used to acquire configuration files from the in-vehicle map while the vehicle is in motion;

[0154] The information acquisition submodule is used to obtain traffic status attribute information based on the configuration file if the configuration file is valid.

[0155] In one embodiment, the information acquisition submodule includes one or more combinations of the following units:

[0156] The first determining unit is used to determine whether the file type of the configuration file is valid;

[0157] The second determining unit is used to determine whether the lane markings in the configuration file are valid;

[0158] The third determining unit is used to determine whether the value of the preset flag bit in the configuration file is valid;

[0159] The fourth determining unit is used to determine whether the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle.

[0160] In one embodiment, a lane state determination device further includes:

[0161] The control module is used to control the vehicle to activate corresponding functions according to control commands when the vehicle is in a congested area; the functions include entertainment functions, seat massage functions and intelligent driving functions.

[0162] In one embodiment, a lane state determination device further includes:

[0163] The driving force acquisition module is used to determine the driving force of the vehicle based on the cumulative offset of the vehicle position and the cumulative offset of the target lane.

[0164] The energy recovery module is used to determine the amount of energy to be recovered from the vehicle based on the driving force, and to perform energy recovery operations according to the amount of energy recovered.

[0165] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0166] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0167] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 4As shown, the terminal device 400 of this embodiment includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and executable on the processor 402; when the processor 402 executes the computer program 403, it implements the steps in the above-described methods for determining lane states; or when the processor 402 executes the computer program 403, it implements the functions of each module / unit in the above-described device embodiments.

[0168] For example, computer program 403 can be divided into one or more modules / units, one or more of which are stored in memory 401 and executed by processor 402 to implement the method of the embodiments of this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 403 in terminal device 400. For example, computer program 403 can be divided into a first acquisition module, a second acquisition module, a first determination module, and a second determination module, with the specific functions of each module as follows:

[0169] The first acquisition module is used to acquire the vehicle lane markings and the cumulative offset of the vehicle position in the main lane where the vehicle is located.

[0170] The second acquisition module is used to acquire traffic state attribute information; the traffic state attribute information includes lane markings for each lane and lane state information corresponding to the cumulative offset of each lane.

[0171] The first determining module is used to determine the target lane sign corresponding to the vehicle lane sign from each lane sign, and to determine the cumulative offset of each target lane in the target lane corresponding to the target lane sign and the target lane status information corresponding to each cumulative offset of the target lane.

[0172] The second determining module is used to determine the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane.

[0173] In applications, the terminal device 400 may be a parking distance control unit (PDCU), a vehicle control unit (VCU), or a computing device such as a cloud server. The terminal device 400 may include, but is not limited to, a memory 401 and a processor 402. Those skilled in the art will understand that... Figure 4This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.; among which, input / output devices may include cameras, audio acquisition / playback devices, displays, etc.; network access devices may include communication modules for wireless communication with external devices.

[0174] In applications, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0175] In applications, memory can be an internal storage unit of a terminal device, such as its hard drive or RAM; it can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card; or it can include both internal and external storage units. Memory is used to store operating systems, applications, boot loaders, data, and other programs, such as computer program code. Memory can also be used to temporarily store data that has been output or will be output.

[0176] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0177] The computer-readable storage medium provided in this application embodiment has the same beneficial effects as the lane state determination method described above.

[0178] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0179] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0180] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0181] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0182] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for determining lane status, characterized in that, The method includes: Obtain the vehicle lane markings and cumulative vehicle position offset in the main lane where the vehicle is located; Obtain traffic state attribute information; the traffic state attribute information includes lane identifiers for each lane and lane state information corresponding to the cumulative offset of each lane. The target lane identifier corresponding to the vehicle lane identifier is determined from the lane identifiers, and the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane status information corresponding to each cumulative offset of the target lane are determined. The lane status of the main lane is determined based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the first distance between the vehicle and the end point of the congested road segment; the congested road segment is the road segment where the lane status is congested. Obtain the second distance between the vehicle and the adjacent vehicle in front of the vehicle; Obtain the vehicle's speed; The vehicle is determined to be in the congested section of road based on the first distance, the second distance, and the driving speed.

3. The method according to claim 2, characterized in that, The method further includes: Acquire the control signals of the vehicle; Determining whether the vehicle is in the congested section based on the first distance, the second distance, and the driving speed includes: The vehicle is determined to be in the congested section of road based on the first distance, the second distance, the driving speed, and the control signal.

4. The method according to claim 1, characterized in that, The acquisition of traffic status attribute information includes: The configuration file is obtained through the in-vehicle map during the vehicle's operation. If the configuration file is valid, traffic status attribute information is obtained based on the configuration file.

5. The method according to claim 4, characterized in that, Determining whether the configuration file is valid includes one or more combinations of the following: Determine if the file type of the configuration file is valid; Determine whether the lane markings in the configuration file are valid; Determine whether the value of the preset flag bit in the configuration file is valid; Determine whether the traffic status attribute information corresponding to the configuration file is the data information in front of the vehicle.

6. The method according to claim 2, characterized in that, The method further includes: If the vehicle is in the congested section of road, it responds to the driver's control command and controls the vehicle to activate the corresponding functions according to the control command; the functions include entertainment functions, seat massage functions and intelligent driving functions.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: The driving force of the vehicle is determined based on the cumulative offset of the vehicle position and the cumulative offset of the target lane; The energy recovery amount of the vehicle is determined based on the driving force, and the energy recovery operation is performed according to the energy recovery amount.

8. A lane state determination device, characterized in that, The device includes: The first acquisition module is used to acquire the vehicle lane markings and the cumulative offset of the vehicle position in the main lane where the vehicle is located. The second acquisition module is used to acquire traffic state attribute information; the traffic state attribute information includes lane identifiers for each lane and lane state information corresponding to the cumulative offset of each lane. The first determining module is used to determine the target lane identifier corresponding to the vehicle lane identifier from each of the lane identifiers, and to determine the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane status information corresponding to each of the cumulative offsets of the target lanes; The second determining module is used to determine the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the state information of each target lane.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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