Vehicle traffic control method, device, equipment and storage medium

Abstract

The present invention relates to the field of vehicle control technology, and in particular to a vehicle traffic control method, device, equipment and storage medium. The present invention obtains a first vehicle traffic priority of a current vehicle and a second vehicle traffic priority of a target vehicle in an adjacent lane, so that when the current vehicle meets the lane change working condition, the current vehicle can be controlled according to the first vehicle traffic priority and the second vehicle traffic priority, thereby avoiding the technical problem of low vehicle traffic efficiency when vehicles in multiple lanes need to merge in the prior art, and improving road traffic efficiency.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle traffic control method, device, equipment and storage medium. Background Art

[0002] During the driving process, traffic jams, road maintenance and vehicle accidents may sometimes occur, causing vehicles in multiple lanes to merge into the same lane. If the driver is not experienced enough, traffic jams may easily occur at the intersection of lanes, causing road congestion and affecting vehicle traffic efficiency.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle traffic control method, device, equipment and storage medium, aiming to solve the technical problem of low vehicle traffic efficiency when vehicles in multiple lanes need to merge in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle traffic control method, the method comprising the following steps:

[0006] Obtaining a first vehicle passing priority of the current vehicle and a second vehicle passing priority of a target vehicle in an adjacent lane;

[0007] When the current vehicle meets the lane change condition, traffic control is performed according to the first vehicle traffic priority and the second vehicle traffic priority.

[0008] Optionally, when the current vehicle meets the lane change condition, performing traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes:

[0009] When the current vehicle meets a first lane change condition, determining a first traffic warning zone of the current vehicle;

[0010] When the front of the current vehicle exceeds the front of the target vehicle and there is a vehicle intruding into the first traffic warning zone, adjusting the range of the first traffic warning zone according to the first vehicle traffic priority and the second vehicle traffic priority;

[0011] When there is a vehicle intruding into the adjusted first traffic warning zone, stop and give way.

[0012] Optionally, the vehicle traffic control method further includes:

[0013] When there is no vehicle intrusion into the adjusted traffic warning area, the current vehicle is controlled to change lanes according to the first communication warning area.

[0014] Optionally, after determining the first passing warning zone of the current vehicle, the method further includes:

[0015] When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way;

[0016] reducing the coverage of the first traffic warning zone and recording the number of yielding times;

[0017] The first vehicle's priority of passage is increased until the number of times the vehicle yields is greater than or equal to a preset threshold.

[0018] Optionally, when the current vehicle meets the lane change condition, performing traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes:

[0019] When the current vehicle meets a second lane change condition, determining a second traffic warning zone of the current vehicle;

[0020] When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way;

[0021] reducing the coverage of the second traffic warning zone and recording the number of yielding times;

[0022] The first vehicle's priority of passage is increased until the number of times the vehicle yields is greater than or equal to a preset threshold.

[0023] Optionally, the vehicle traffic control method further includes:

[0024] When the number of yielding times is greater than or equal to a preset threshold, path planning is performed on the current vehicle based on a preset distance threshold to obtain a target driving path;

[0025] The control controls the current vehicle to travel according to the target driving path until the current vehicle meets a lane change condition.

[0026] Optionally, the vehicle traffic control method further includes:

[0027] When the number of yielding times is greater than or equal to a preset rated yielding threshold, exiting the automatic driving mode;

[0028] Generates a reminder message to remind the driver to take manual driving.

[0029] In addition, to achieve the above-mentioned purpose, the present invention further proposes a vehicle traffic control device, the vehicle traffic control device comprising:

[0030] An acquisition module, used to acquire a first vehicle passing priority of a current vehicle and a second vehicle passing priority of a target vehicle in an adjacent lane;

[0031] A control module is used to perform traffic control according to the first vehicle traffic priority and the second vehicle traffic priority when the current vehicle meets the lane change condition.

[0032] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle traffic control device, which includes: a memory, a processor, and a vehicle traffic control program stored in the memory and executable on the processor, and the vehicle traffic control program is configured to implement the steps of the vehicle traffic control method described above.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle traffic control program is stored, and when the vehicle traffic control program is executed by a processor, the steps of the vehicle traffic control method described above are implemented.

[0034] The present invention discloses a vehicle traffic control method, which comprises: obtaining a first vehicle traffic priority of a current vehicle and a second vehicle traffic priority of a target vehicle in an adjacent lane; when the current vehicle meets a lane-changing condition, traffic control is performed according to the first vehicle traffic priority and the second vehicle traffic priority. Compared with the prior art, the present invention obtains the first vehicle traffic priority of the current vehicle and the second vehicle traffic priority of the target vehicle in the adjacent lane, so that when the current vehicle meets the lane-changing condition, traffic control can be performed according to the first vehicle traffic priority and the second vehicle traffic priority, thereby avoiding the technical problem of low vehicle traffic efficiency when vehicles in multiple lanes need to merge in the prior art, and improving road traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a vehicle traffic control device in a hardware operating environment involved in an embodiment of the present invention;

[0036] Figure 2 It is a flow chart of the first embodiment of the vehicle traffic control method of the present invention;

[0037] Figure 3 A schematic flow chart of a second embodiment of a vehicle traffic control method according to the present invention;

[0038] Figure 4 A schematic diagram of a lane changing scenario under a first lane changing condition of an embodiment of a vehicle traffic control method of the present invention;

[0039] Figure 5 A schematic diagram of a flow chart of a third embodiment of a vehicle traffic control method of the present invention;

[0040] Figure 6A schematic diagram of a lane changing scenario under a second lane changing condition of an embodiment of a vehicle traffic control method of the present invention;

[0041] Figure 7 A schematic diagram of another lane changing scenario under the second lane changing condition of an embodiment of a vehicle traffic control method of the present invention;

[0042] Figure 8 It is a structural block diagram of the first embodiment of the vehicle traffic control device of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a vehicle traffic control device in a hardware operating environment according to an embodiment of the present invention.

[0046] like Figure 1 As shown, the vehicle traffic control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle traffic control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle traffic control program.

[0049] exist Figure 1 In the vehicle traffic control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle traffic control device of the present invention can be set in the vehicle traffic control device, and the vehicle traffic control device calls the vehicle traffic control program stored in the memory 1005 through the processor 1001, and executes the vehicle traffic control method provided by the embodiment of the present invention.

[0050] The embodiment of the present invention provides a vehicle traffic control method, referring to Figure 2 , Figure 2 It is a flow chart of a first embodiment of a vehicle traffic control method of the present invention.

[0051] In this embodiment, the vehicle traffic control method includes the following steps:

[0052] Step S10: Obtain the first vehicle passing priority of the current vehicle and the second vehicle passing priority of the target vehicle in the adjacent lane.

[0053] It should be noted that the executor of the method of this embodiment can be a device with functions such as data processing, data collection and program running, such as: an on-board computer and / or a controller inside the vehicle, etc., or other devices that can achieve the same or similar functions. This embodiment does not impose specific restrictions on this. In this embodiment and the following embodiments, the controller inside the vehicle will be used as an example for explanation.

[0054] It is worth noting that the first vehicle passing priority of the current vehicle is initialized to 1. After each passing judgment, and the current vehicle fails to pass successfully, the first vehicle passing priority of the current vehicle is increased by one level until the current vehicle successfully passes the accident section, and the first vehicle passing priority of the current vehicle is reinitialized to 1.

[0055] It can be understood that the target vehicle in the adjacent lane refers to the vehicle that overlaps with the current vehicle in the adjacent lane when the current vehicle is translated to the adjacent lane, or one of the rear vehicles of the vehicle with overlapping parts. In addition, the second vehicle passage priority of the target vehicle is initialized to 1.

[0056] If the current vehicle or the target vehicle needs to change lanes and merge into the same lane, at this time, in order to improve the safety during the lane change process, the current vehicle will only change lanes when the priority of the current vehicle is greater than that of the target vehicle.

[0057] Step S20: When the current vehicle meets the lane change condition, traffic control is performed according to the first vehicle traffic priority and the second vehicle traffic priority.

[0058] It should be noted that the lane change condition refers to at least one of the following three situations: the speeds of the current vehicle and the target vehicle in the adjacent lane are both lower than a preset speed threshold, there is an accident or road construction in the lane where the current vehicle is located, or there is an accident or road construction in the adjacent lane, which affects traffic. The preset speed threshold can be set to 20 km / h, and this embodiment does not impose any specific restrictions on this.

[0059] In a specific implementation, traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes two situations. The first situation is that a vehicle in an adjacent lane changes lanes to the current lane, and the second situation is that the current vehicle changes lanes to an adjacent lane.

[0060] This embodiment obtains the first vehicle traffic priority of the current vehicle and the second vehicle traffic priority of the target vehicle in the adjacent lane, so that when the current vehicle meets the lane change conditions, the current vehicle can be controlled according to the first vehicle traffic priority and the second vehicle traffic priority, thereby avoiding the technical problem of low vehicle traffic efficiency when vehicles in multiple lanes need to merge in the prior art, and improving road traffic efficiency.

[0061] refer to Figure 3 , Figure 3 It is a flow chart of a second embodiment of a vehicle traffic control method of the present invention.

[0062] Based on the above first embodiment, in this embodiment, step S20 includes:

[0063] Step S201: When the current vehicle meets a first lane change condition, a first traffic warning zone of the current vehicle is determined.

[0064] It should be noted that the first lane change condition refers to the situation where the lane where the vehicle is currently located is impassable and needs to change lanes to an adjacent lane. In the first lane change condition, the first traffic warning area of ​​the current vehicle refers to Figure 4 , Figure 4 This is a schematic diagram of the traffic warning zone of the current vehicle when the current vehicle needs to change lanes to an adjacent lane.

[0065] In a specific implementation, the first traffic warning zone can be based on the driving trajectory of the current vehicle's drivable space and form a certain range interval based on the current vehicle's width and length. Within the range interval, the range d1 is widened as the traffic warning zone, and the vehicle closest to the vehicle in the warning zone is regarded as the front vehicle, with a following distance of m1.

[0066] Step S202: When the front of the current vehicle exceeds the front of the target vehicle and there is a vehicle intruding into the first traffic warning zone, adjusting the range of the first traffic warning zone according to the first vehicle traffic priority and the second vehicle traffic priority.

[0067] It can be understood that if the front of the current vehicle exceeds the front of the target vehicle in the adjacent lane, it means that the current vehicle has the feasibility of changing lanes. However, if there is a vehicle intruding into the traffic warning zone of the current vehicle, it means that if the lane is changed forcibly, there is a possibility of an accident. Therefore, when there is a vehicle in the traffic warning zone, priority judgment can be made to reduce the possibility of accidents.

[0068] In the specific implementation, if the projection of the front of the current vehicle on the lane exceeds the projection of the front of the target vehicle on the lane by a certain distance, the traffic priority of the current vehicle can be increased to level 2, d1 and m1 can be reduced to d2 and m2, and the warning area and following distance can be re-planned according to d2 and m2. The vehicle can continue to follow the vehicle to improve the safety of the vehicle driving process.

[0069] Furthermore, the vehicle traffic control method further includes:

[0070] When there is no vehicle intrusion into the adjusted traffic warning area, the current vehicle is controlled to change lanes according to the first communication warning area.

[0071] In order to improve the safety of vehicle driving, if the front of the current vehicle exceeds the front of the target vehicle in the adjacent lane, it means that the current vehicle is feasible to change lanes and there is a possibility of an accident. Similarly, when the front of the current vehicle exceeds the front of the target vehicle and there is no vehicle intruding into the traffic warning area, it means that the possibility of an accident is small and the current vehicle can change lanes.

[0072] Step S203: When there is a vehicle intruding into the adjusted first traffic warning zone, stop and give way.

[0073] It should be understood that if there is a vehicle intruding into the adjusted traffic warning zone and the current vehicle forcibly changes lanes, a safety accident may occur. Therefore, by controlling the current vehicle to stop and give way, accidents can be avoided. At the same time, the number of times the lane change condition is given way is recorded, and the traffic priority of the current vehicle is updated.

[0074] Furthermore, after determining the first passing warning zone of the current vehicle, the method further includes:

[0075] When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way;

[0076] reducing the coverage of the first traffic warning zone and recording the number of yielding times;

[0077] The first vehicle's priority of passage is increased until the number of times the vehicle yields is greater than or equal to a preset threshold.

[0078] In the specific implementation, if the projection of the front of the ego vehicle on the lane does not exceed the projection of the front of the target vehicle on the lane by a certain distance or is behind the projection of the front of the target vehicle, it means that there is a high possibility of an accident if the lane is changed at this time. Therefore, the current vehicle can be controlled to stop and give way, waiting for the next judgment, and the priority of the ego vehicle is increased to level 2, the number of times it gives way is recorded +1, and d1 and m1 are reduced to d2 and m2.

[0079] In addition, if the current vehicle changes lanes smoothly, it is judged as smooth passage when the rear end of the own vehicle overtakes the front of the target vehicle, and the automatic driving is exited. If the own vehicle stops to give way, the target vehicle is changed to the vehicle in front, and the next vehicle in the adjacent lane is selected as the target vehicle. The process returns to the step of determining the first passage warning zone of the current vehicle when the current vehicle meets the first lane change operating condition until the current vehicle changes lanes and passes.

[0080] In addition, if the current vehicle's priority reaches the highest and it cannot pass, the priority will no longer be upgraded, and it will continue to try to change lanes and record the number of times it gives way.

[0081] This embodiment reduces the possibility of accidents by determining the first traffic warning zone of the current vehicle during the lane change process when the current vehicle needs to change lanes, and adjusting the scope of the first traffic warning zone according to the front position of the current vehicle and the front position of the target vehicle in the adjacent lane and the presence of a vehicle intruding into the first traffic warning zone.

[0082] refer to Figure 5 , Figure 5 It is a flow chart of a third embodiment of a vehicle traffic control method of the present invention.

[0083] Based on the above second embodiment, in this embodiment, the step S20 further includes:

[0084] Step S201': when the current vehicle meets a second lane change condition, determining a second traffic warning zone of the current vehicle.

[0085] Step S202': When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way.

[0086] Step S203': reducing the coverage of the second traffic warning zone and recording the number of yielding times.

[0087] Step S204': Raise the first vehicle's priority of passage until the number of times the vehicle yields is greater than or equal to a preset threshold.

[0088] It should be noted that the second lane change condition refers to the situation where the adjacent lane is impassable and the vehicle in the adjacent lane needs to change lanes to the lane where the current vehicle is located. In the second lane change condition, the first traffic warning area of ​​the current vehicle refers to Figure 6 , Figure 6 Schematic diagram of the traffic warning zone of the current vehicle when a target vehicle in an adjacent lane is preparing to change lanes to the current lane.

[0089] In the specific implementation, refer to Figure 6 The second traffic warning zone can form a certain range according to the width and length of the current vehicle, and widen the range d1 within the range as the traffic warning zone, and take the vehicle closest to the vehicle in the warning zone as the front vehicle, with a following distance of m1.

[0090] It can be understood that if the front of the current vehicle does not exceed the front of the target vehicle in the adjacent lane, it means that the target vehicle has the feasibility of changing lanes, and the target vehicle can stop to give way at this time. However, if there is a vehicle invading the traffic warning zone of the current vehicle, it means that there is a possibility of an accident if the vehicle continues to pass. Therefore, when there is a vehicle in the traffic warning zone, priority determination can be made to reduce the possibility of accidents.

[0091] In the specific implementation, if the projection of the front of the current vehicle on the lane exceeds the projection of the front of the target vehicle on the lane by a certain distance, the target vehicle can change lanes and pass first, and the traffic priority of the current vehicle is increased to level 2, d1 and m1 are reduced to d2 and m2, and the warning area and following distance are re-planned according to d2 and m2, and the following vehicle continues to drive, thereby improving the safety of the vehicle driving process.

[0092] Furthermore, the vehicle traffic control method further includes:

[0093] When there is no vehicle intrusion into the adjusted traffic warning area, the current vehicle is controlled to continue traveling according to the second communication warning area.

[0094] In order to improve the safety of vehicle driving, if the front of the current vehicle exceeds the front of the target vehicle in the adjacent lane, and there is no vehicle intruding into the second communication warning area of ​​the current vehicle, it means that the current vehicle can pass directly. Similarly, when the front of the current vehicle exceeds the front of the target vehicle and there is no vehicle intruding into the passing warning area, it means that the possibility of an accident is small and the vehicle can pass directly.

[0095] In addition, when the front of the current vehicle does not exceed the front of the target vehicle, while stopping to yield, the coverage of the second traffic warning zone is reduced, and the number of yielding times is recorded to increase the passing priority of the first vehicle until the number of yielding times is greater than or equal to a preset threshold.

[0096] Further, when the number of yielding times is greater than or equal to a preset threshold, a path planning is performed on the current vehicle based on a preset distance threshold to obtain a target driving path;

[0097] The control controls the current vehicle to travel according to the target driving path until the current vehicle meets a lane change condition.

[0098] In the specific implementation, refer to Figure 7 , if the current vehicle's yield times are greater than the set maximum yield times and the current vehicle is still unable to pass, the current vehicle is controlled to re-plan its path according to the minimum distance in the lane away from the accident side (such as Figure 7 As shown), try to pass through and record the number of times of giving way, where the preset threshold can be set to 3 times, and this embodiment does not make any specific limitation to this.

[0099] Furthermore, the vehicle traffic control method further includes:

[0100] When the number of yielding times is greater than or equal to a preset rated yielding threshold, exiting the automatic driving mode;

[0101] Generates a reminder message to remind the driver to take manual driving.

[0102] It is understandable that the preset rated yielding threshold can be set to 5 times. If the current vehicle yields too many times, it will affect the passage of the current vehicle. Therefore, in order not to affect the user's travel plan, this embodiment can accelerate the passage by reminding the driver to drive manually.

[0103] This embodiment reduces the possibility of accidents by determining the second traffic warning zone of the current vehicle during the lane change process when a target vehicle in an adjacent lane needs to change lanes, and adjusting the scope of the second traffic warning zone according to the front position of the current vehicle and the front position of the target vehicle in the adjacent lane and the presence of a vehicle intruding into the first traffic warning zone.

[0104] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle traffic control program is stored. When the vehicle traffic control program is executed by a processor, the steps of the vehicle traffic control method described above are implemented.

[0105] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0106] Reference Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the vehicle traffic control device of the present invention.

[0107] like Figure 8 As shown, the vehicle traffic control device proposed in the embodiment of the present invention includes:

[0108] The acquisition module 10 is used to acquire the first vehicle passing priority of the current vehicle and the second vehicle passing priority of the target vehicle in the adjacent lane.

[0109] It is worth noting that the first vehicle passing priority of the current vehicle is initialized to 1. After each passing judgment, and the current vehicle fails to pass successfully, the first vehicle passing priority of the current vehicle is increased by one level until the current vehicle successfully passes the accident section, and the first vehicle passing priority of the current vehicle is reinitialized to 1.

[0110] It can be understood that the target vehicle in the adjacent lane refers to the vehicle that overlaps with the current vehicle in the adjacent lane when the current vehicle is translated to the adjacent lane, or one of the rear vehicles of the vehicle with overlapping parts. In addition, the second vehicle passage priority of the target vehicle is initialized to 1.

[0111] If the current vehicle or the target vehicle needs to change lanes and merge into the same lane, at this time, in order to improve the safety during the lane change process, the current vehicle will only change lanes when the priority of the current vehicle is greater than that of the target vehicle.

[0112] The control module 20 is used to perform traffic control according to the first vehicle traffic priority and the second vehicle traffic priority when the current vehicle meets the lane change condition.

[0113] It should be noted that the lane change condition refers to at least one of the following three situations: the speeds of the current vehicle and the target vehicle in the adjacent lane are both lower than a preset speed threshold, there is an accident or road construction in the lane where the current vehicle is located, or there is an accident or road construction in the adjacent lane, which affects traffic. The preset speed threshold can be set to 20 km / h, and this embodiment does not impose any specific restrictions on this.

[0114] In a specific implementation, traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes two situations. The first situation is that a vehicle in an adjacent lane changes lanes to the current lane, and the second situation is that the current vehicle changes lanes to an adjacent lane.

[0115] In one embodiment, the control module 20 is further used to determine a first traffic warning zone of the current vehicle when the current vehicle meets a first lane change condition; when the front of the current vehicle exceeds the front of the target vehicle and there is a vehicle intruding into the first traffic warning zone, adjust the range of the first traffic warning zone according to the first vehicle traffic priority and the second vehicle traffic priority; and when there is a vehicle intruding into the adjusted first traffic warning zone, stop and give way.

[0116] In one embodiment, the control module 20 is further configured to control the current vehicle to change lanes according to the first communication warning area when there is no vehicle intrusion into the adjusted traffic warning area.

[0117] In one embodiment, the control module 20 is further used to stop and yield when the front of the current vehicle does not exceed the front of the target vehicle; reduce the coverage of the second traffic warning area and record the number of yield times; increase the traffic priority of the first vehicle until the number of yield times is greater than or equal to a preset threshold.

[0118] In one embodiment, the control module 20 is further used to determine a second traffic warning zone for the current vehicle when the current vehicle meets a second lane change condition; stop and yield when the front of the current vehicle does not exceed the front of the target vehicle; reduce the coverage of the second traffic warning zone and record the number of yield times; and increase the traffic priority of the first vehicle until the number of yield times is greater than or equal to a preset threshold.

[0119] In one embodiment, the control module 20 is further used to plan a path for the current vehicle based on a preset distance threshold to obtain a target driving path when the number of yield times is greater than or equal to a preset threshold; and control the driving of the current vehicle according to the target driving path until the current vehicle meets the lane change condition.

[0120] In one embodiment, the control module 20 is further configured to exit the automatic driving mode when the number of yielding times is greater than or equal to a preset rated yielding threshold; and generate a reminder message to remind the driver to perform manual driving.

[0121] This embodiment obtains the first vehicle traffic priority of the current vehicle and the second vehicle traffic priority of the target vehicle in the adjacent lane, so that when the current vehicle meets the lane change conditions, the current vehicle can be controlled according to the first vehicle traffic priority and the second vehicle traffic priority, thereby avoiding the technical problem of low vehicle traffic efficiency when vehicles in multiple lanes need to merge in the prior art, and improving road traffic efficiency.

[0122] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0123] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0124] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0125] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle traffic control method provided in any embodiment of the present invention, and will not be repeated here.

[0126] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0127] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0129] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle traffic control method, characterized in that: The vehicle traffic control method comprises: Obtaining a first vehicle passing priority of the current vehicle and a second vehicle passing priority of a target vehicle in an adjacent lane; When the current vehicle meets the lane change condition, traffic control is performed according to the first vehicle traffic priority and the second vehicle traffic priority; When the current vehicle meets the lane change condition, performing traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes: When the current vehicle meets a first lane change condition, determining a first traffic warning zone of the current vehicle; When the front of the current vehicle exceeds the front of the target vehicle and there is a vehicle intruding into the first traffic warning zone, adjusting the range of the first traffic warning zone according to the first vehicle traffic priority and the second vehicle traffic priority; When there is a vehicle intruding into the adjusted first traffic warning zone, stop and give way.

2. The vehicle traffic control method according to claim 1, characterized in that: The vehicle traffic control method further includes: When there is no vehicle intrusion into the adjusted traffic warning zone, the current vehicle is controlled to change lanes according to the first traffic warning zone.

3. The vehicle traffic control method according to claim 1, characterized in that: After determining the first passing warning zone of the current vehicle, the method further includes: When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way; reducing the coverage of the first traffic warning zone and recording the number of yielding times; The first vehicle's priority of passage is increased until the number of times the vehicle yields is greater than or equal to a preset threshold.

4. The vehicle traffic control method according to any one of claims 1 to 3, characterized in that: When the current vehicle meets the lane change condition, performing traffic control according to the first vehicle traffic priority and the second vehicle traffic priority includes: When the current vehicle meets a second lane change condition, determining a second traffic warning zone of the current vehicle; When the front of the current vehicle does not exceed the front of the target vehicle, stop and give way; reducing the coverage of the second traffic warning zone and recording the number of yielding times; The first vehicle's priority of passage is increased until the number of times the vehicle yields is greater than or equal to a preset threshold.

5. The vehicle traffic control method according to claim 4, characterized in that: The vehicle traffic control method further includes: When the number of yielding times is greater than or equal to a preset threshold, path planning is performed on the current vehicle based on a preset distance threshold to obtain a target driving path; The current vehicle is controlled to travel according to the target driving path until the current vehicle meets a lane change condition.

6. The vehicle traffic control method according to claim 5, characterized in that: The vehicle traffic control method further includes: When the number of yielding times is greater than or equal to a preset rated yielding threshold, exiting the automatic driving mode; Generates a reminder message to remind the driver to take manual driving.

7. A vehicle traffic control device, characterized in that: The vehicle traffic control device comprises: An acquisition module, used to acquire a first vehicle passing priority of a current vehicle and a second vehicle passing priority of a target vehicle in an adjacent lane; A control module, configured to perform traffic control according to the first vehicle traffic priority and the second vehicle traffic priority when the current vehicle meets a lane change condition; The control module is further configured to determine a first traffic warning zone for the current vehicle when the current vehicle meets a first lane change condition; adjust a range of the first traffic warning zone according to the first vehicle traffic priority and the second vehicle traffic priority when the front end of the current vehicle exceeds the front end of the target vehicle and a vehicle intrudes into the first traffic warning zone; and stop and give way when a vehicle intrudes into the adjusted first traffic warning zone.

8. A vehicle traffic control device, characterized in that: The vehicle traffic control device comprises: a memory, a processor, and a vehicle traffic control program stored in the memory and executable on the processor, wherein the vehicle traffic control program is configured to implement the vehicle traffic control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle traffic control program, and when the vehicle traffic control program is executed by the processor, the vehicle traffic control method according to any one of claims 1 to 6 is implemented.

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