Lane recommendation method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of assisted driving, in particular to a lane recommendation method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring current route navigation information of a vehicle; judging whether the current vehicle meets preset lane selection conditions based on the current route navigation information; if the current vehicle meets the preset lane selection conditions, calculating the priority of each lane of a road to be driven into by the current vehicle, and sending the priority of each lane to the vehicle. Thus, the problems of harsh lane changing conditions, short lane changing preparation time and long lane changing time of the assisted driving function in the related art are solved, the optimal lane is known in advance through real-time monitoring of the current route navigation information and the driving state of the vehicle and combining an algorithm, the optimal lane is notified to the vehicle in advance to select the optimal lane for lane changing, so that the congestion situation is avoided, the use experience of the assisted driving lane changing is improved, and the experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a lane recommendation method, device, electronic device, and storage medium. Background Technology

[0002] Level 2 assisted driving, through the vehicle's own perception and control technology, has achieved functions such as adaptive cruise control, lane keeping, automatic parking, and blind spot detection. Higher levels of assisted driving functions have enabled the vehicle to drive itself from the starting point to the destination along a predetermined route. Ideally, no driver intervention is required throughout the entire process. Any operation of the vehicle during driving, including lane changing, is fully autonomous. The hardware system perceives the surrounding environment of the vehicle, high-precision maps provide route and lane information, and autonomous driving algorithms drive the vehicle to make lane changing operations.

[0003] In related technologies, existing driver assistance functions identify vehicle status and lane data through autonomous driving hardware, collect relevant information through TBOX (Telematics BOX, vehicle-to-everything system) and report it periodically to TSP (Telematics Service Provider) platform. TSP platform accesses high-precision map service, uses Flink (framework and distributed processing engine) to calculate and process vehicle data in real time, and determines whether the vehicle needs to change lanes based on road conditions. If so, it sends lane change reminders and suggestions to the vehicle.

[0004] However, the aforementioned assisted driving methods rely entirely on the vehicle's own perception to change lanes, resulting in stringent lane-changing conditions, short preparation time, and short available lane-changing distance. Furthermore, these assisted driving methods are limited by hardware capabilities and have weak traffic congestion perception, which in turn leads to excessively long lane-changing times, requiring urgent improvement. Summary of the Invention

[0005] This application provides a lane recommendation method, device, electronic device, and storage medium to solve the problems of stringent lane change conditions, short lane change preparation time, and excessively long lane change time in related technologies for driver assistance functions.

[0006] The first aspect of this application provides a lane recommendation method, including the following steps:

[0007] Obtain the vehicle's current route navigation information;

[0008] Based on the current route navigation information, determine whether the current vehicle meets the preset lane selection conditions;

[0009] If the current vehicle meets the preset lane selection conditions, the priority of each lane of the road that the current vehicle is about to enter is calculated, and the priority of each lane is sent to the vehicle.

[0010] According to one embodiment of this application, the lane recommendation method described above further includes:

[0011] Obtain the current lane information of the vehicle, wherein the current lane information includes the priority of the current lane;

[0012] Based on the current lane information, calculate the priority of the lanes adjacent to the current lane;

[0013] If the priority of the lane adjacent to the current lane is greater than the priority of the current lane, a lane change message is sent to the vehicle to move the vehicle to the lane adjacent to the current lane.

[0014] According to one embodiment of this application, calculating the priority of lanes adjacent to the current lane includes:

[0015] Based on a preset first lane priority calculation formula, the priority of lanes adjacent to the current lane is calculated, wherein the preset first lane priority calculation formula is:

[0016] LaneChange = P Speed ×0.64+W Interference ×0.36;

[0017] Where LaneChange is the current lane recommendation index, P Speed Based on the current vehicle acceleration trend, W Interference This is the lane change interference weight.

[0018] According to one embodiment of this application, calculating the priority of each lane of the road that the current vehicle is about to enter includes:

[0019] Based on a preset second lane priority calculation formula, the priority of each lane of the road that the current vehicle is about to enter is calculated, wherein the preset second lane priority calculation formula is:

[0020]

[0021] Where LanePriority is the priority of each lane, Nveh is the number of vehicles in the current lane, Npveh is the average number of vehicles in the current lane calculated offline for the current time period, Wint is the weight of the current lane, Wpint is the average weight of the lane calculated offline for the current time period, Pspeed is the average speed of the current lane, and Ppspeed is the average speed of the lane calculated offline for the current time period.

[0022] According to one embodiment of this application, before sending the priority of each lane to the vehicle, the method further includes:

[0023] Determine whether the vehicle has lane recommendation function enabled;

[0024] If the vehicle has not enabled the lane recommendation function, the current lane recommendation action will end.

[0025] According to the lane recommendation method provided in this application embodiment, after obtaining the vehicle's current route navigation information, if the current vehicle meets the preset lane selection conditions, the priority of each lane of the road the current vehicle is about to enter is calculated and sent to the vehicle. This solves the problems of stringent lane-changing conditions, short lane-changing preparation time, and excessively long lane-changing time in related technologies' assisted driving functions. By real-time monitoring of the current route navigation information and vehicle driving status combined with algorithms, the optimal lane is identified in advance and the vehicle is notified to select the optimal lane in advance for lane changing, thereby avoiding congestion, improving the user experience of assisted driving lane changing, and enhancing the user's overall experience.

[0026] A second aspect of this application provides a lane recommendation device, comprising:

[0027] The acquisition module is used to acquire the vehicle's current route navigation information;

[0028] The judgment module is used to determine whether the current vehicle meets the preset lane selection conditions based on the current route navigation information.

[0029] The recommendation module is used to calculate the priority of each lane of the road that the current vehicle is about to enter if the current vehicle meets the preset lane selection conditions, and send the priority of each lane to the vehicle.

[0030] According to one embodiment of this application, the lane recommendation device described above is further used for:

[0031] Obtain the current lane information of the vehicle, wherein the current lane information includes the priority of the current lane;

[0032] Based on the current lane information, calculate the priority of the lanes adjacent to the current lane;

[0033] If the priority of the lane adjacent to the current lane is greater than the priority of the current lane, a lane change message is sent to the vehicle to move the vehicle to the lane adjacent to the current lane.

[0034] According to one embodiment of this application, the lane recommendation device described above is used for:

[0035] Based on a preset first lane priority calculation formula, the priority of lanes adjacent to the current lane is calculated, wherein the preset first lane priority calculation formula is:

[0036] LaneChange = P Speed ×0.64+W Interference ×0.36;

[0037] Where LaneChange is the current lane recommendation index, P Speed Based on the current vehicle acceleration trend, W Interference This is the lane change interference weight.

[0038] According to one embodiment of this application, the recommendation module is used for:

[0039] Based on a preset second lane priority calculation formula, the priority of each lane of the road that the current vehicle is about to enter is calculated, wherein the preset second lane priority calculation formula is:

[0040]

[0041] Where LanePriority is the priority of each lane, Nveh is the number of vehicles in the current lane, Npveh is the average number of vehicles in the current lane calculated offline for the current time period, Wint is the weight of the current lane, Wpint is the average weight of the lane calculated offline for the current time period, Pspeed is the average speed of the current lane, and Ppspeed is the average speed of the lane calculated offline for the current time period.

[0042] According to one embodiment of this application, before sending the priority of each lane to the vehicle, the recommendation module is further configured to:

[0043] Determine whether the vehicle has lane recommendation function enabled;

[0044] If the vehicle has not enabled the lane recommendation function, the current lane recommendation action will end.

[0045] According to the lane recommendation device provided in this application embodiment, after obtaining the vehicle's current route navigation information, it determines whether the current vehicle meets the preset lane selection conditions, calculates the priority of each lane of the road the current vehicle is about to enter, and sends it to the vehicle. This solves the problems of stringent lane-changing conditions, short lane-changing preparation time, and excessively long lane-changing time in related technologies' assisted driving functions. By real-time monitoring of the current route navigation information and vehicle driving status, combined with algorithms, the optimal lane is identified in advance and the vehicle is notified to select the optimal lane in advance for lane changing, thereby avoiding congestion, improving the user experience of assisted driving lane changing, and enhancing the user's overall experience.

[0046] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lane recommendation method as described in the above embodiments.

[0047] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the lane recommendation method as described in the above embodiments.

[0048] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0049] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0050] Figure 1 This is a sample diagram of traffic data according to an embodiment of this application;

[0051] Figure 2 This is a flowchart of a lane recommendation method provided according to an embodiment of this application;

[0052] Figure 3 This is a flowchart of a lane recommendation method according to an embodiment of this application;

[0053] Figure 4 This is a block diagram of a lane recommendation device according to an embodiment of this application;

[0054] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0055] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0056] The lane recommendation method, apparatus, electronic device, and storage medium of this application are described below with reference to the accompanying drawings. Addressing the problems mentioned in the background art regarding stringent lane-changing conditions, short preparation times, and excessively long lane-changing times in assisted driving functions, this application provides a lane recommendation method. After obtaining the vehicle's current route navigation information, it determines whether the vehicle meets preset lane selection conditions, calculates the priority of each lane on the road the vehicle is about to enter, and sends this priority to the vehicle. This solves the problems of stringent lane-changing conditions, short preparation times, and excessively long lane-changing times in related technologies. By real-time monitoring of the current route navigation information and vehicle driving status, combined with algorithms, the optimal lane is identified in advance, and the vehicle is notified to select the optimal lane in advance for lane changing, thereby avoiding congestion, improving the user experience of lane changing in assisted driving, and enhancing the user experience.

[0057] It should be noted that current driver assistance hardware already meets the requirements of this application, therefore this application mainly involves software aspects, primarily the TSP platform for vehicle networking.

[0058] Before introducing the lane recommendation method of this application embodiment, let's first introduce the road information warehouse of this application embodiment.

[0059] Specifically, the TSP platform first needs to connect with map service providers to access high-precision map services, establish a comprehensive national road information database, and create a network topology map based on the national road traffic map, such as... Figure 1 As shown, points in the topology diagram are the intersections of various roads. The road connecting two points, or the line connecting the two points, is the smallest unit called a passage. For each passage, 1 to n information warehouses are established (n is determined by the number of vehicles in the lane). The information warehouse stores the current lane availability, including but not limited to the number of vehicles in the lane, average driving speed, and the number of new vehicles added at non-intersection points (i.e., lane change situations). The data is processed by data summarization, and the road is split into individual channels. Vehicle information is placed into the channel according to its current position as the smallest unit.

[0060] Specifically, Figure 2 This is a schematic flowchart of a lane recommendation method provided in an embodiment of this application.

[0061] like Figure 2 As shown, the lane recommendation method includes the following steps:

[0062] In step S201, the vehicle's current route navigation information is obtained.

[0063] Optionally, the current route navigation information may include the current vehicle's route information and current vehicle's driving information, without specific limitations.

[0064] Specifically, the embodiments of this application can utilize existing driver assistance technologies to obtain the vehicle's current route navigation information, without making specific limitations here.

[0065] Furthermore, in this embodiment of the application, after obtaining the vehicle's current route navigation information, it can report it to the TSP platform through the vehicle terminal device. The TSP platform collects various data of the vehicle and, based on the coordinates and road lane information reported by the vehicle, places the vehicle into the information warehouse of the corresponding lane. Through big data real-time computing technology, it updates the current information warehouse data.

[0066] In step S202, based on the current route navigation information, it is determined whether the current vehicle meets the preset lane selection conditions.

[0067] Preferably, the preset lane selection condition can be that the current vehicle is about to be removed from an information repository, without being specifically limited here.

[0068] Specifically, the system monitors the status of the vehicle and other vehicles in the lane in real time, and determines whether the current vehicle meets the preset lane selection conditions based on the current route navigation information. For example, if the current vehicle is about to move out of an information warehouse, the preset lane selection conditions are met, and the optimal selection algorithm model of the information warehouse is triggered.

[0069] In addition, the embodiments of this application can simultaneously monitor the status of all information warehouses in real time. When an anomaly occurs in the information warehouse, such as an increase in the number of lane changes or a sudden decrease in average vehicle speed, an anomaly message and lane change reminder are immediately sent to the vehicles in the information warehouse, so that vehicles can enter lane change or change routes in advance.

[0070] In step S203, if the current vehicle meets the preset lane selection conditions, the priority of each lane of the road that the current vehicle is about to enter is calculated, and the priority of each lane is sent to the vehicle.

[0071] Specifically, by calculating lane priority based on preset lane selection conditions, the optimal lane selection can be flexibly determined according to actual road conditions and vehicle status, improving driving safety and efficiency. By calculating and sending the priority of each lane to the vehicle, detailed lane selection information can be provided to the user, enabling the user to better understand the priority of each lane and improve their perception and response to road traffic conditions.

[0072] Furthermore, in some embodiments, before sending the priority of each lane to the vehicle, the method further includes: determining whether the vehicle has enabled the lane recommendation function; if the vehicle has not enabled the lane recommendation function, then the current lane recommendation action is terminated.

[0073] Understandably, if the lane recommendation function is not enabled, it means that the user may not need to use the lane recommendation function, and continuing to use lane recommendation would affect the user's driving experience.

[0074] Specifically, such as Figure 3 As shown, if the vehicle does not have lane recommendation enabled, ending the current lane recommendation action can save energy, avoid unnecessary energy waste, and prevent users from being disturbed, allowing them to better enjoy the driving experience and thus improve user satisfaction.

[0075] Furthermore, in some embodiments, the lane recommendation method described above further includes: obtaining the vehicle's current lane information, wherein the current lane information includes the priority of the current lane; calculating the priority of the lane adjacent to the current lane based on the current lane information; and if the priority of the lane adjacent to the current lane is greater than the priority of the current lane, sending lane change information to the vehicle to move the vehicle to the lane adjacent to the current lane.

[0076] Specifically, if the priority of the lane adjacent to the current lane is higher than that of the current lane, it means that the lane adjacent to the current lane is more congested. By sending lane change information to the vehicle, the vehicle can be moved to the more congested lane, thereby avoiding congestion and improving the user's lane change experience.

[0077] Furthermore, in some embodiments, calculating the priority of lanes adjacent to the current lane includes: calculating the priority of lanes adjacent to the current lane based on a preset first lane priority calculation formula, wherein the preset first lane priority calculation formula is:

[0078] LaneChange = P speed ×0.64+W Interference ×0.36;

[0079] Where LaneChange is the current lane recommendation index, P Speed Based on the current vehicle acceleration trend, W Interference This is the lane change interference weight.

[0080] Specifically, when a vehicle reports real-time data to the TSP platform, the reported data is parsed and calculated to obtain basic data for the individual vehicle, such as average speed Vave and average acceleration Aavg. Based on the steering wheel torque reported by the individual vehicle's ECU (Electronic Control Unit) (which can be defined as positive for left turn and negative for right turn), the current vehicle steering probability can be obtained by substituting it into the following formula:

[0081]

[0082] Among them, P turn Let A be the current vehicle steering probability, t be the steering angle, t be the time, and t0 be the calculation start time.

[0083] Furthermore, when the vehicle's slope at the current time point, P trun The closer P is to 0, the lower the probability of the vehicle turning. turn The greater the deviation from 0, the higher the probability of the vehicle turning. turn When the value approaches ±8.5, the lane change insertion weight W of adjacent corresponding lanes in the current information warehouse is... Interference The current lane interference probability increases by 0.01, and this tendency data is saved offline via Kafka (a high-throughput distributed publish-subscribe messaging system) middleware.

[0084] Furthermore, based on real-time data uploaded by all vehicles in the lane, the overall average speed Vcavg and average acceleration Acavg of the current lane are calculated. Substituting the speed information uploaded by vehicles in the lane at the current time into the following formula yields the current vehicle acceleration trend:

[0085]

[0086] Among them, P Speed The current vehicle acceleration trend is represented by △t, the statistical duration is t0, the calculation start time is t1, the instantaneous peak time is t-1, the calculation end time is V, and the driving speed is V.

[0087] Specifically, when P Speed When P is greater than 0, the current lane is generally trending towards smooth traffic; when P... Speed When the value is less than 0, the current vehicle is in a congestion trend, and this trend data is saved offline via Kafka middleware.

[0088] Preferably, based on the offline lane data calculation algorithm, the average lane change interference probability and average traffic flow trend of all lanes can be calculated using the offline data calculated and saved in real time, with an hourly minimum granularity.

[0089] Specifically, the average lane change interference probability can be expressed as:

[0090] OW Interference＝ Avg(W Interferencd )

[0091] Among them, OW Interference W represents the average lane change interference probability. Interference This is the lane change interference weight.

[0092] Furthermore, the average unobstructed flow trend can be expressed as:

[0093] OP Speed=Avg(P Speed )

[0094] Among them, OP Speed For the average unobstructed trend, P Speed This reflects the current acceleration trend of vehicles.

[0095] Furthermore, the current lane recommendation index can be derived from the real-time data reported by the vehicle using the following formula:

[0096] LaneChange = P speed ×0.64+W Interference ×0.36

[0097] Where LaneChange is the current lane recommendation index, P Speed Based on the current vehicle acceleration trend, W Interference This is the lane change interference weight.

[0098] Furthermore, the current lane recommendation index is compared with the real-time recommendation index of other lanes. When the recommendation index of other lanes is greater than that of the current lane, a message is sent to the vehicle to remind it to change lanes and move the vehicle to a more unobstructed lane.

[0099] Furthermore, in some embodiments, calculating the priority of each lane of the road the current vehicle is about to enter includes: calculating the priority of each lane of the road the current vehicle is about to enter based on a preset second lane priority calculation formula, wherein the preset second lane priority calculation formula is:

[0100]

[0101] Where LanePriority is the priority of each lane, Nveh is the number of vehicles in the current lane, Npveh is the average number of vehicles in the current lane calculated offline for the current time period, Wint is the weight of the current lane, Wpint is the average weight of the lane calculated offline for the current time period, Pspeed is the average speed of the current lane, and Ppspeed is the average speed of the lane calculated offline for the current time period.

[0102] Specifically, based on the offline lane data calculation algorithm, using the aforementioned real-time calculated and saved offline data with a minimum granularity of one hour, the average lane throughput per minute for all lanes can also be calculated:

[0103] Throughput min =Count(Num Veh ) / 60

[0104] Among them, Throughput min Num represents the average lane throughput per minute. VehThis refers to the number of vehicles.

[0105] Furthermore, when a vehicle is about to enter the information warehouse, the priority of each lane can be calculated using the following formula:

[0106]

[0107] Where LanePriority is the priority of each lane, Nveh is the number of vehicles in the current lane, Npveh is the average number of vehicles in the current lane calculated offline for the current time period, Wint is the weight of the current lane, Wpint is the average weight of the lane calculated offline for the current time period, Pspeed is the average speed of the current lane, and Ppspeed is the average speed of the lane calculated offline for the current time period.

[0108] Furthermore, the priority of each lane is calculated using the above formula, and the optimal recommendation is given to the vehicle about to enter.

[0109] Therefore, by introducing high-precision maps and establishing a detailed topology map of roads nationwide, and by using data from currently operating vehicles on a real-time computing platform, the vehicle data is labeled as the input parameters of the algorithm model for the current road availability status. The availability coefficient of each lane on the current road is optimized in real time. When the availability coefficient of the current lane is low, a lane-changing instruction is issued to the vehicle currently operating in the current lane and the vehicle about to enter the current lane, and recommended lane information is provided. This enables real-time monitoring of vehicle driving status and road conditions ahead, improving the driving stability and safety when the vehicle is using assisted driving.

[0110] According to the lane recommendation method proposed in this application, after obtaining the vehicle's current route navigation information, if the current vehicle meets the preset lane selection conditions, the priority of each lane of the road the current vehicle is about to enter is calculated and sent to the vehicle. This solves the problems of stringent lane-changing conditions, short lane-changing preparation time, and excessively long lane-changing time in related technologies' assisted driving functions. By real-time monitoring of the current route navigation information and vehicle driving status combined with algorithms, the optimal lane is identified in advance and the vehicle is notified to select the optimal lane in advance for lane changing, thereby avoiding congestion, improving the user experience of assisted driving lane changing, and enhancing the user's overall experience.

[0111] Next, the lane recommendation device proposed according to an embodiment of this application is described with reference to the accompanying drawings.

[0112] Figure 4 This is a block diagram of the lane recommendation device 10 according to an embodiment of this application.

[0113] like Figure 4 As shown, the lane recommendation device 10 includes: an acquisition module 100, a judgment module 200, and a recommendation module 300.

[0114] The acquisition module 100 is used to acquire the vehicle's current route navigation information; the judgment module 200 is used to determine whether the current vehicle meets the preset lane selection conditions based on the current route navigation information; and the recommendation module 300 is used to calculate the priority of each lane of the road that the current vehicle is about to enter if the current vehicle meets the preset lane selection conditions, and send the priority of each lane to the vehicle.

[0115] Furthermore, in some embodiments, the lane recommendation device 10 described above is also used to: obtain the current lane information of the vehicle, wherein the current lane information includes the priority of the current lane; calculate the priority of the lane adjacent to the current lane based on the current lane information; if the priority of the lane adjacent to the current lane is greater than the priority of the current lane, send lane change information to the vehicle to move the vehicle to the lane adjacent to the current lane.

[0116] Furthermore, in some embodiments, the lane recommendation device 10 described above is used to: calculate the priority of lanes adjacent to the current lane based on a preset first lane priority calculation formula, wherein the preset first lane priority calculation formula is:

[0117] LaneChange = P speed ×0.64+W Interference ×0.36;

[0118] Where LaneChange is the current lane recommendation index, P Speed Based on the current vehicle acceleration trend, W Interference lane change interference weight

[0119] Furthermore, in some embodiments, the recommendation module is used to: calculate the priority of each lane of the road that the current vehicle is about to enter, based on a preset second lane priority calculation formula, wherein the preset second lane priority calculation formula is:

[0120]

[0121] Where LanePriority is the priority of each lane, Nveh is the number of vehicles in the current lane, Npveh is the average number of vehicles in the current lane calculated offline for the current time period, Wint is the weight of the current lane, Wpint is the average weight of the lane calculated offline for the current time period, Pspeed is the average speed of the current lane, and Ppspeed is the average speed of the lane calculated offline for the current time period.

[0122] Furthermore, in some embodiments, before sending the priority of each lane to the vehicle, the recommendation module 300 is also used to: determine whether the vehicle has enabled the lane recommendation function; if the vehicle has not enabled the lane recommendation function, then end the current lane recommendation action.

[0123] It should be noted that the foregoing explanation of the lane recommendation method embodiment also applies to the lane recommendation device of this embodiment, and will not be repeated here.

[0124] According to the lane recommendation device proposed in this application, after obtaining the vehicle's current route navigation information, it determines whether the current vehicle meets the preset lane selection conditions, calculates the priority of each lane of the road the current vehicle is about to enter, and sends it to the vehicle. This solves the problems of stringent lane-changing conditions, short lane-changing preparation time, and excessively long lane-changing time in related technologies' assisted driving functions. By real-time monitoring of the current route navigation information and vehicle driving status, combined with algorithms, the optimal lane is identified in advance and the vehicle is notified to select the optimal lane in advance for lane changing, thereby avoiding congestion, improving the user experience of assisted driving lane changing, and enhancing the user's overall experience.

[0125] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0126] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0127] When processor 502 executes the program, it implements the lane recommendation method provided in the above embodiments.

[0128] Furthermore, electronic devices also include:

[0129] Communication interface 503 is used for communication between memory 501 and processor 502.

[0130] The memory 501 is used to store computer programs that can run on the processor 502.

[0131] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0132] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0133] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0134] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0135] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the lane recommendation method described above.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0138] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0140] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0141] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A lane recommendation method characterized by, Includes the following steps: Obtain the vehicle's current route navigation information; Based on the current route navigation information, determine whether the current vehicle meets the preset lane selection conditions; If the current vehicle meets the preset lane selection conditions, then the priority of each lane of the road that the current vehicle is about to enter is calculated, and the priority of each lane is sent to the vehicle. The lane recommendation method further includes: obtaining the current lane information of the vehicle, wherein the current lane information includes the priority of the current lane; calculating the priority of the lane adjacent to the current lane based on the current lane information; if the priority of the lane adjacent to the current lane is greater than the priority of the current lane, then sending lane change information to the vehicle to move the vehicle to the lane adjacent to the current lane. The calculation of the priority of lanes adjacent to the current lane includes: calculating the priority of lanes adjacent to the current lane based on a preset first lane priority calculation formula, wherein the preset first lane priority calculation formula is: ； wherein, a current lane recommendation index, a current vehicle acceleration tendency, a lane change disturbance weight; The calculation of the priority of each lane of the road the current vehicle is about to enter includes: calculating the priority of each lane of the road the current vehicle is about to enter based on a preset second lane priority calculation formula, wherein the preset second lane priority calculation formula is: ； wherein, is the priority for each lane, is the number of vehicles in the current lane, is the lane average number of vehicles for the current time period calculated offline, is the current lane weight, is the lane average weight for the current time period calculated offline, is the current lane average speed, is the lane average speed for the current time period calculated offline.

2. The method of claim 1, wherein, Before sending the priority of each lane to the vehicle, the method further includes: Determine whether the vehicle has lane recommendation function enabled; If the vehicle has not enabled the lane recommendation function, the current lane recommendation action will end.

3. A lane recommendation device characterized by comprising: include: The acquisition module is used to acquire the vehicle's current route navigation information; The judgment module is used to determine whether the current vehicle meets the preset lane selection conditions based on the current route navigation information. The recommendation module is used to calculate the priority of each lane of the road that the current vehicle is about to enter if the current vehicle meets the preset lane selection conditions, and send the priority of each lane to the vehicle. The lane recommendation device is further configured to: obtain the current lane information of the vehicle, wherein the current lane information includes the priority of the current lane; calculate the priority of the lane adjacent to the current lane based on the current lane information; if the priority of the lane adjacent to the current lane is greater than the priority of the current lane, send lane change information to the vehicle to move the vehicle to the lane adjacent to the current lane. The lane recommendation device is used to: calculate the priority of lanes adjacent to the current lane based on a preset first lane priority calculation formula, wherein the preset first lane priority calculation formula is: ； wherein, is a current lane recommendation index, is a current vehicle acceleration tendency, is a lane change disturbance weight; The recommendation module is used to: calculate the priority of each lane of the road that the current vehicle is about to enter, based on a preset second lane priority calculation formula, wherein the preset second lane priority calculation formula is: ； wherein, is the priority for each lane, is the number of vehicles in the current lane, is the lane average number of vehicles for the current time period calculated offline, is the current lane weight, is the lane average weight for the current time period calculated offline, is the current lane average speed, is the lane average speed for the current time period calculated offline.

4. An electronic device, comprising: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the lane recommendation method as described in any one of claims 1-2.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the lane recommendation method as described in any one of claims 1-2.

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