Method and device for determining road congestion and intelligent driving equipment

Abstract

The invention relates to a road jam determination method and device and intelligent driving equipment, and relates to the field of intelligent logistics. The method for determining the road congestion comprises the steps that a first reference line and a second reference line which have a specified distance in the first direction are determined, the first direction is the driving direction of a road, the first reference line and the second reference line are parallel to the second direction, and the second direction is the direction which has an included angle with the first direction; m first gaps allowing the vehicle to run on the first reference line and N second gaps allowing the vehicle to run on the second reference line are determined, and M and N are positive integers; according to the size of the vehicle, the M first gaps and the N second gaps, whether the vehicle can run from the first reference line to the second reference line or not is determined. According to the invention, the accuracy of road congestion judgment is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of smart logistics, in particular to the field of intelligent driving, and in particular to a method and apparatus for determining road congestion, a computer-readable storage medium, and an intelligent driving device. Background Art

[0002] At present, intelligent driving equipment is used to automatically transport people or objects from one location to another. Intelligent driving equipment collects environmental information through sensors on the equipment and completes automatic transportation. Logistics transportation by delivery vehicles controlled by intelligent driving technology has greatly improved the convenience of production and life and saved labor costs.

[0003] Smart driving devices traveling on the road sometimes face road congestion. In the related art, when determining whether a road is blocked, it is determined whether there is an obstacle in front of the smart driving device and whether the obstacle has blocked the road in the width direction of the road. Summary of the invention

[0004] According to a first aspect of the present disclosure, a method for determining road congestion is provided, comprising: determining a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is the driving direction of the road, the first reference line and the second reference line are parallel to the second direction, and the second direction is a direction that has an angle with the first direction; determining M first gaps on the first reference line through which vehicles are allowed to travel, and N second gaps on the second reference line through which vehicles are allowed to travel, wherein M and N are positive integers; determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the M first gaps, and the N second gaps.

[0005] In some embodiments, the determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, M first gaps, and N second gaps includes: for the ith first gap of the M first gaps, determining the first reference point of the ith first gap, wherein i is a positive integer and i≤M; for the jth second gap of the N second gaps, determining the second reference point of the jth second gap, wherein j is a positive integer and j≤N; determining the distance in the second direction between the first reference point of the ith first gap and the second reference point of the jth second gap; determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the distance corresponding to each first gap of the M first gaps and each second gap of the N second gaps.

[0006] In some embodiments, the determining whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle and the distance comprises: for the i-th first gap and the j-th second gap, according to one or more obstacles on the first reference line and one or more obstacles on the second reference line, determining a third gap along the first direction between the first reference line and the second reference line corresponding to the i-th first gap and the j-th second gap; determining whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the distance corresponding to each of the first gap and each of the second gap, and the third gap. In some embodiments, the determining whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the distance, and the third gap comprises: determining that the vehicle can travel from the first reference line to the second reference line if there are first gaps and second gaps that meet a first specified condition, wherein the first specified condition comprises that the distance corresponding to the first gap and the second gap exceeds a first threshold, and the length of the corresponding third gap in the first direction exceeds a second threshold, and the first threshold and the second threshold are determined according to the size of the vehicle.

[0007] In some embodiments, determining whether the vehicle can travel from the first reference line to the second reference line based on the size, distance and third gap of the vehicle includes: determining that the vehicle can travel from the first reference line to the second reference line in the presence of a first gap and a second gap that satisfy a second specified condition, wherein the second specified condition includes that the length of the intersection of the first gap and the second gap in the second direction exceeds a third threshold, and the third threshold is determined based on the size of the vehicle.

[0008] In some embodiments, determining whether the vehicle can travel from the first reference line to the second reference line based on the size, distance and third gap of the vehicle includes: determining that the vehicle cannot travel from the first reference line to the second reference line when there is no first gap and a second gap that satisfy the second specified condition and there is also no first gap and a second gap that satisfy the first specified condition.

[0009] In some embodiments, determining the third gap along the first direction between the first reference line and the second reference line corresponding to the ith first gap and the jth second gap based on one or more obstacles on the first reference line and one or more obstacles on the second reference line includes: determining an expansion interval corresponding to the ith first gap and the jth second gap based on the union of the ith first gap and the jth second gap in the second direction; determining one or more first obstacles within the expansion interval corresponding to the ith first gap and the jth second gap among the one or more obstacles on the first reference line; determining one or more second obstacles within the expansion interval corresponding to the ith first gap and the jth second gap among the one or more obstacles on the second reference line; and determining a third gap corresponding to the ith first gap and the jth second gap based on the one or more first obstacles and the one or more second obstacles.

[0010] In some embodiments, determining the third gap corresponding to the i-th first gap and the j-th second gap based on the one or more first obstacles and the one or more second obstacles includes: determining the third gap corresponding to the i-th first gap and the j-th second gap based on the minimum spacing between the one or more first obstacles and the one or more second obstacles in the first direction.

[0011] In some embodiments, for the i-th first gap of the M first gaps, determining the first reference point of the i-th first gap includes: determining the first reference point of the i-th first gap based on the center of the i-th first gap in the second direction; for the j-th second gap of the N second gaps, determining the second reference point of the j-th second gap includes: determining the second reference point of the j-th second gap based on the center of the j-th second gap in the second direction.

[0012] In some embodiments, the method for determining road congestion also includes: taking the second reference line as a new first reference line, repeatedly determining a new second reference line that is at a specified distance from the new first reference line in the first direction, determining the first gap, determining the second gap, and determining whether the vehicle can travel from the first reference line to the second reference line until a cutoff condition is met.

[0013] In some embodiments, determining the M first gaps on the first reference line that allow the vehicle to travel includes: determining an obstacle adjacent to a road boundary among one or more obstacles on the first reference line; determining a first candidate gap between an obstacle adjacent to the road boundary on the first reference line and the road boundary; when there are at least two obstacles on the first reference line, determining a second candidate gap between adjacent obstacles; and determining the M first gaps based on at least one of the first candidate gaps and the second candidate gap having a length in the second direction exceeding a fourth threshold.

[0014] In some embodiments, determining N second gaps on the second reference line that allow the vehicle to travel includes: determining an obstacle adjacent to a road boundary among one or more obstacles on the second reference line; determining a third candidate gap between the obstacle adjacent to the road boundary on the second reference line and the road boundary; when there are at least two obstacles on the second reference line, determining a fourth candidate gap between adjacent obstacles; and determining the N second gaps based on at least one of the third candidate gap and the fourth candidate gap having a length in the second direction exceeding a fourth threshold.

[0015] According to a second aspect of the present disclosure, a device for determining road congestion is provided, comprising: a reference line determination module, configured to determine a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is the driving direction of the road, the first reference line and the second reference line are parallel to the second direction, and the second direction is a direction at an angle to the first direction; a gap determination module, configured to determine M first gaps on the first reference line through which vehicles are allowed to travel, and N second gaps on the second reference line through which vehicles are allowed to travel, wherein M and N are positive integers; a congestion determination module, configured to determine whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the M first gaps, and the N second gaps.

[0016] According to a third aspect of the present disclosure, a device for determining road congestion is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute a method for determining road congestion according to any embodiment of the present disclosure based on instructions stored in the memory.

[0017] According to a fourth aspect of the present disclosure, an intelligent driving device is provided, comprising a device for determining road congestion according to any of the embodiments of the present disclosure.

[0018] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the instructions are executed by a processor, the method for determining road congestion according to any of the embodiments of the present disclosure is implemented.

[0019] According to a sixth aspect of the present disclosure, a computer program product is provided, comprising computer program instructions, which, when executed by a processor, implement the method for determining road congestion according to any of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0022] Figure 1 A flowchart showing a method for determining road congestion according to some embodiments of the present disclosure;

[0023] Figure 2 A schematic diagram showing a road according to some embodiments of the present disclosure;

[0024] Figure 3 A schematic diagram showing a method of determining a first gap according to some embodiments of the present disclosure;

[0025] Figure 4 The case where there is no first gap whose length is greater than a length threshold according to some embodiments of the present disclosure is shown;

[0026] Figure 5 A schematic diagram showing calculation of the distance between a first reference point and a second reference point according to some embodiments of the present disclosure;

[0027] Figure 6 A schematic diagram showing that a vehicle can travel from the first reference line to the second reference line according to some embodiments of the present disclosure;

[0028] Figure 7 A schematic diagram showing that a vehicle cannot travel from the first reference line to the second reference line according to some embodiments of the present disclosure;

[0029] Figure 8 A schematic diagram showing road congestion according to some embodiments of the present disclosure;

[0030] Fig. 9 A block diagram showing a device for determining road congestion according to some embodiments of the present disclosure;

[0031] Fig.10 A block diagram showing a device for determining road congestion according to other embodiments of the present disclosure;

[0032] Fig.11 A block diagram showing a computer system for implementing some embodiments of the present disclosure;

[0033] Fig.12 A block diagram of an unmanned vehicle according to some embodiments of the present disclosure is shown;

[0034] Fig.13 A block diagram of an unmanned vehicle according to some other embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0035] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0036] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0038] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0039] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0040] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] In the related art, when determining whether a road is blocked, it is determined whether the road is blocked based on whether there is an obstacle in front of the intelligent driving device and whether the obstacle has blocked the road in the width direction of the road. In other words, it is only determined whether the vehicle will be blocked by the obstacle on the side closer to the vehicle in front. However, sometimes multiple obstacles are not only distributed in the width direction of the road, but also in the driving direction of the road. In other words, there will be obstacles behind the obstacles (further away from the vehicle), and the vehicle may also be blocked by obstacles behind the obstacles. In this case, if only the obstacle on the side closer to the vehicle in front is determined, the judgment of road congestion is not accurate enough.

[0042] The present disclosure proposes a method and device for determining road congestion, a computer-readable storage medium, and an intelligent driving device, which can improve the accuracy of judging road congestion.

[0043] Figure 1 A flow chart showing a method for determining road congestion according to some embodiments of the present disclosure.

[0044] like Figure 1 As shown, the method for determining road congestion includes steps S1 to S3. In some embodiments, the method for determining road congestion is executed by a device for determining road congestion.

[0045] In step S1, a first reference line and a second reference line at a specified interval in a first direction are determined, wherein the first direction is the driving direction of the road, the first reference line and the second reference line are parallel to the second direction, and the second direction is a direction that has an angle with the first direction.

[0046] Figure 2 A schematic diagram of a road according to some embodiments of the present disclosure is shown.

[0047] like Figure 2 As shown, a Frenet coordinate system is constructed. The direction along the road is the direction of the s-axis of the Frenet coordinate system, which is used as the first direction.

[0048] The direction of travel along the road is determined, for example, based on road signs. Road signs are, for example, lane dividing lines, such as Figure 2 The dividing line between lane 1 and lane 2 can also be the center line, side line, etc. of the road.

[0049] Those skilled in the art should be aware that the method for determining the direction of the road is not limited to the above-mentioned road signs. Other road signs can be used as needed, which will not be described in detail here.

[0050] The designated distance is set, for example, according to the density of obstacles in the first direction, and the designated distance can be adjusted according to actual needs. The vehicle is, for example, an unmanned vehicle.

[0051] In step S2, M first gaps on the first reference line where the vehicle is allowed to travel and N second gaps on the second reference line where the vehicle is allowed to travel are determined, where M and N are positive integers. The "M first gaps where the vehicle is allowed to travel" are M first gaps that are not blocked by obstacles, and each gap is continuous. The specified angle is, for example, 90°, that is, the second direction is perpendicular to the first direction.

[0052] In some embodiments, determining M first gaps on the first reference line that allow the vehicle to travel includes: determining an obstacle adjacent to a road boundary among one or more obstacles on the first reference line; determining a first candidate gap between the obstacle adjacent to the road boundary on the first reference line and the road boundary; when there are at least two obstacles on the first reference line, determining a second candidate gap between adjacent obstacles; and determining the M first gaps based on at least one of the first candidate gaps and the second candidate gaps having a length in the second direction exceeding a fourth threshold.

[0053] Figure 3 A schematic diagram showing determination of a first gap according to some embodiments of the present disclosure is shown.

[0054] like Figure 3 As shown, the obstacle divides the road into two candidate first gaps a and b at the first reference line. After removing the area occupied by the obstacle, the candidate gap whose length in the second direction exceeds the fourth threshold is determined as the first gap allowing the vehicle to travel. The first gap can be determined based on the gap between the obstacle and the road boundary, or based on the gap between adjacent obstacles on the first reference line. The fourth threshold pass_l4 is, for example, the length of the space required for the vehicle to pass in the second direction, which is determined based on the size of the vehicle.

[0055] The s-axis coordinate of the first reference line is s1. The first gap can be determined based on the projection of the obstacle at s1; or based on the length actually occupied by the obstacle at s1, that is, the cross section of the obstacle at s1. The following takes the length actually occupied by the obstacle at s1 as an example for introduction.

[0056] There is an obstacle on the straight line with coordinates s1 (first reference line). The coordinates of the intersection of road boundary A and the straight line with coordinates s1 are (s1, l1), the coordinates of the intersection of the obstacle on the side close to road boundary A and the straight line with coordinates s1 are (s1, l2), and the coordinates of the intersection of the obstacle on the side close to road boundary B and the straight line with coordinates s1 are (s1, l3). The coordinates of the intersection of road boundary B and the straight line with coordinates s1 are (s1, l4).

[0057] The gap a on the side of the obstacle close to the road boundary A is expressed as (l1, l2), indicating that the gap ranges from l1 to l2 on the l-axis. If (l2-l1)> pass_l4, then gap a is a first gap, and if (l2-l1)≤pass_l4, then gap a is not a first gap. Similarly, the gap b on the side of the obstacle close to the road boundary B is expressed as (l3, l4), indicating that the gap ranges from l3 to l4 on the l-axis. If (l4-l3)> pass_l4, then gap b is a first gap, and if (l4-l3)≤pass_l4, then gap b is not a first gap.

[0058] In some embodiments, determining N second gaps on the second reference line that allow the vehicle to travel includes: determining an obstacle adjacent to a road boundary among one or more obstacles on the second reference line; determining a third candidate gap between the obstacle adjacent to the road boundary on the second reference line and the road boundary; when there are at least two obstacles on the second reference line, determining a fourth candidate gap between adjacent obstacles; and determining the N second gaps based on at least one of the third candidate gap and the fourth candidate gap having a length in the second direction exceeding a fourth threshold.

[0059] The method for determining the second gap is similar to that for determining the first gap, and will not be described in detail here.

[0060] In some embodiments, the method for determining road congestion further includes: determining that the vehicle cannot travel from the first reference line to the second reference line when there is no first gap whose length exceeds the fourth threshold and / or there is no second gap whose length exceeds the fourth threshold, that is, the gap left is not enough for the vehicle to pass.

[0061] Figure 4 It shows a situation where there is no first gap having a length greater than the fourth threshold according to some embodiments of the present disclosure.

[0062] like Figure 4 As shown, there are multiple obstacles arranged along the second direction at the first reference line. After deducting the area occupied by the obstacles, there is very little space left. There is no first gap with a length greater than the fourth threshold in the second direction, and vehicles have difficulty passing.

[0063] In step S3, it is determined whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the M first gaps, and the N second gaps. Compared with the related art which only determines whether the vehicle can pass the first reference line, the road congestion determination method disclosed in the present invention also determines whether the vehicle can travel from the first reference line to the second reference line. Figure 2For example, according to the method for determining road congestion disclosed in the present invention, the situation that the vehicle can pass the first reference line but cannot drive to the second reference line is also considered, thereby improving the accuracy of judging road congestion.

[0064] In some embodiments, determining whether the vehicle can travel from a first reference line to a second reference line is performed based on the size of the vehicle, M first gaps, and N second gaps, including: for an ith first gap of the M first gaps, determining a first reference point of the ith first gap, where i is a positive integer and i≤M; for a jth second gap of the N second gaps, determining a second reference point of the jth second gap, where j is a positive integer and j≤N; determining a distance in a second direction between the first reference point of the ith first gap and the second reference point of the jth second gap; determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the distances corresponding to each first gap of the M first gaps and each second gap of the N second gaps.

[0065] For example, for the i-th first gap, a first reference point indicating the position of the first gap in the second direction is determined. For the j-th second gap, a second reference point indicating the position of the second gap in the second direction is determined. Then, the distance between the first reference point and the second reference point in the second direction is calculated. The distance between the first reference point and the second reference point in the second direction represents the offset of the second gap relative to the first gap in the second direction. The first gap corresponds to the first reference point one-to-one, and the second gap corresponds to the first reference point one-to-one.

[0066] When there are multiple first gaps and / or multiple second gaps, there are multiple combinations of the first gaps and the second gaps. For the multiple combinations, the distance between the first reference point and the second reference point of each combination can be calculated one by one.

[0067] Figure 5 A schematic diagram illustrating calculation of the distance between a first reference point and a second reference point according to some embodiments of the present disclosure.

[0068] like Figure 5 As shown, the obstacles are not only arranged in a staggered manner along the road direction, but also in a staggered manner in the second direction, forming a chessboard-like structure. The mutual relationship between these obstacles in the width direction of the road and the driving direction of the road will jointly restrict the driving of the vehicle.

[0069] The distance between the first reference point and the second reference point can reflect the relative offset degree of the first gap and the second gap in the second direction, that is, how much adjustment margin there is between the first gap and the second gap of the vehicle in the second direction.

[0070] According to the distance between the first reference point and the second reference point in the second direction, it is possible to know how much remaining area is left in the second direction for the vehicle to adjust if the vehicle is to go from the first gap to the second gap. If the remaining area is large enough, the vehicle may pass by adjusting the direction, etc. In other words, the first reference line is connected to the second reference line. If the remaining area is not large enough, it is difficult for the vehicle to pass by adjusting the direction, etc., that is, a blockage occurs from the first reference line to the second reference line.

[0071] By considering the distance between the first reference point and the second reference point, it can be determined whether Figure 5 When the obstacles shown are arranged in a checkerboard pattern, whether the vehicle can travel from the first reference line to the second reference line.

[0072] In some embodiments, for the i-th first gap of M first gaps, determining the first reference point of the i-th first gap includes: determining the first reference point of the i-th first gap based on the center of the i-th first gap in the second direction; for the j-th second gap of N second gaps, determining the second reference point of the j-th second gap includes: determining the second reference point of the j-th second gap based on the center of the j-th second gap in the second direction.

[0073] For example, in Figure 5 In the example, according to obstacle B, the range of the first gap c at the first reference line is determined to be (l1, l5). According to obstacles C and D, the range of the second gap d at the second reference line is determined to be (l6, l7). If the center of the first gap is taken to represent the position of the first gap, and the center of the second gap is taken to represent the position of the second gap, then the distance between the first reference point and the second reference point in the second direction represents the offset of the center of the second gap relative to the center of the first gap in the second direction.

[0074] exist Figure 5 In the equation, the l-axis coordinate of the center point (or center line) of the first gap c is , the l-axis coordinate of the center point (or center line) of the second gap d is , then the distance diff_l between the first reference point and the second reference point in the second direction is calculated as shown in formula (1).

[0075] (1)

[0076] In some embodiments, determining whether the vehicle can travel from a first reference line to a second reference line based on the size and distance of the vehicle includes: for the ith first gap and the jth second gap, determining a third gap along a first direction between the first reference line and the second reference line corresponding to the ith first gap and the jth second gap based on one or more obstacles on the first reference line and one or more obstacles on the second reference line; determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the distance corresponding to each first gap and each second gap, and the third gap.

[0077] For example, not only the distance between the first reference point and the second reference point in the second direction (i.e., the margin available for vehicle adjustment in the second direction) is considered, but also the third gap from the first gap to the second gap that is not blocked by obstacles (i.e., the margin available for vehicle adjustment in the first direction) is considered, so as to more accurately determine whether the vehicle can travel from the first reference line to the second reference line.

[0078] In some embodiments, determining a third gap along the first direction between the first reference line and the second reference line corresponding to the ith first gap and the jth second gap based on one or more obstacles on the first reference line and one or more obstacles on the second reference line includes: determining an expansion interval corresponding to the ith first gap and the jth second gap based on the union of the ith first gap and the jth second gap in the second direction; determining one or more first obstacles within the expansion interval corresponding to the ith first gap and the jth second gap among the one or more obstacles on the first reference line; determining one or more second obstacles within the expansion interval corresponding to the ith first gap and the jth second gap among the one or more obstacles on the second reference line; and determining a third gap corresponding to the ith first gap and the jth second gap based on the one or more first obstacles and the one or more second obstacles.

[0079] “In the expansion interval” includes the situation where at least a portion of a first obstacle is in the expansion interval and / or at least a portion of a second obstacle is in the expansion interval.

[0080] by Figure 5 For example, the union of the first gap and the second gap is from the endpoint l1 of the first gap c away from the second gap d to the endpoint l7 of the second gap d away from the first gap c. For example, the expansion interval corresponding to the first gap c and the second gap d is (l1, l7).

[0081] from Figure 5It can be seen that the first obstacles in the expansion interval (l1, l7) and at the first reference line are obstacle G and obstacle B. The second obstacle in the expansion interval (l1, l7) and at the second reference line is obstacle D. The third gap is determined based on obstacles G, B, and D. For example, the third gap corresponding to the first gap c and the second gap d is determined based on the spacing between obstacles G and D in the first direction and the spacing between obstacles B and D in the first direction.

[0082] In some embodiments, determining a third gap corresponding to the i-th first gap and the j-th second gap based on one or more first obstacles and one or more second obstacles includes: determining the third gap corresponding to the i-th first gap and the j-th second gap based on a minimum spacing between one or more first obstacles and one or more second obstacles in a first direction.

[0083] like Figure 5 As shown, the distance between obstacles B and D is smaller than the distance between obstacles G and D, and the gap between obstacles B and D is determined as a third gap corresponding to the combination of the first gap c and the second gap d. The length of the third gap diff_s is the length of the distance between obstacles B and D.

[0084] In some embodiments, determining whether the vehicle can travel from a first reference line to a second reference line is performed based on the size, distance, and third gap of the vehicle, including: determining that the vehicle can travel from the first reference line to the second reference line in the presence of a first gap and a second gap that satisfy a first specified condition, wherein the first specified condition includes that the distances corresponding to the first gap and the second gap exceed a first threshold, and that the length of the corresponding third gap in the first direction exceeds a second threshold, and the first threshold and the second threshold are determined based on the size of the vehicle.

[0085] For example, when there are multiple first gaps and / or multiple second gaps, there are multiple combinations of the first gap and the second gap, and for each of the multiple combinations, a distance and a third gap can be calculated. First, find out whether there is a distance exceeding the first threshold. If found, determine whether the length of the corresponding third gap in the first direction exceeds the second threshold. If the length of the third gap in the first direction exceeds the second threshold, it is determined that the vehicle can travel from the first reference line to the second reference line, and there is no congestion from the first reference line to the second reference line. The first threshold is, for example, the same as the fourth threshold, for example, determined according to the width of the vehicle. The second threshold is, for example, determined according to the length of the vehicle.

[0086] Compared with determining whether a road is blocked based only on the distance between obstacles in the second direction, the above-mentioned road blocking determination method disclosed in the present invention comprehensively considers the relative positional relationship between obstacles in the first direction and the second direction, and determines whether there is sufficient space for the vehicle to adjust from the first reference line to the second reference line by the relative offset between the first gap and the second gap in the second direction, combined with the third gap between the first reference line and the second reference line for vehicle travel. In the case where obstacles are arranged in a staggered manner along the first direction and also in a staggered manner along the second direction, it is possible to more accurately determine whether the road is blocked.

[0087] In some embodiments, determining whether the vehicle can travel from the first reference line to the second reference line based on the size, distance, and third gap of the vehicle includes: determining that the vehicle can travel from the first reference line to the second reference line when there are first gaps and second gaps that satisfy a second specified condition, wherein the second specified condition includes that the length of the intersection of the first gap and the second gap in the second direction exceeds a third threshold, and the third threshold is determined based on the size of the vehicle. The third threshold is, for example, the same as the fourth threshold and / or the first threshold.

[0088] Figure 6 A schematic diagram showing that a vehicle can travel from a first reference line to a second reference line according to some embodiments of the present disclosure is shown.

[0089] like Figure 6 As shown, the intersection of the first gap and the second gap is (l8, l9), and the length of the intersection l9-l8 in the second direction exceeds the third threshold. The vehicle can drive from the first gap into the second gap without adjusting the direction or with a small amount of adjustment, so the road is not blocked.

[0090] In some embodiments, determining whether the vehicle can travel from the first reference line to the second reference line based on the size, distance and third gap of the vehicle includes: determining that the vehicle cannot travel from the first reference line to the second reference line when there is no first gap and second gap that satisfy the second specified condition and there is also no first gap and second gap that satisfy the first specified condition.

[0091] Figure 7 A schematic diagram illustrating that a vehicle cannot travel from a first reference line to a second reference line according to some embodiments of the present disclosure.

[0092] like Figure 7As shown, the obstacles are distributed in a checkerboard-like manner. Although the lengths of the first gap and the second gap in the second direction allow the unmanned vehicle to pass, the length of the intersection of the first gap and the second gap in the second direction is very short, less than the third threshold, and it is difficult for the vehicle to drive from the first gap into the second gap without adjusting the direction or adjusting the direction slightly. The vehicle needs a lot of adjustments to pass. At this time, according to the distance between the first reference point and the second reference point in the second direction and the third gap, consider whether there is enough margin for the vehicle to adjust. If the distance diff_l between the first reference point and the second reference point in the second direction is less than the first threshold, or the length diff_s of the third gap is less than the second threshold, it means that there is not enough space for the vehicle to make a lot of adjustments, so the vehicle is difficult to pass.

[0093] If all combinations of the first gap and the second gap are traversed, and the situation in which the length of the intersection of the first gap and the second gap in the second direction exceeds the third threshold is not found, and the situation in which the distance corresponding to the first gap and the second gap and the third gap satisfy the first specified condition is not found, it is determined that it is difficult for the vehicle to travel from the first reference line to the second reference line and the road is blocked.

[0094] In some embodiments, the method for determining road congestion also includes: taking the second reference line as a new first reference line, repeatedly determining a new second reference line that is at a specified distance from the new first reference line in the first direction, determining the first gap, determining the second gap, and determining whether the vehicle can travel from the first reference line to the second reference line until a cutoff condition is met.

[0095] For example, along the first direction of the road, sampling is performed at a specified interval s_sample to obtain n reference lines, which are recorded as n*s_sample.

[0096] When sampling, sampling may be started from the location of the vehicle, from a certain location in front of the vehicle (e.g., 100 meters in front of the vehicle), etc., which is not limited in the disclosed embodiment. If sampling is started from the location of the vehicle, the reference line may or may not include the current location of the vehicle.

[0097] First, let m=1, take the mth reference line as the first reference line, and the m+1th reference line as the second reference line, m≤n, n and m are natural numbers. First determine whether the vehicle can travel from the mth reference line to the m+1th reference line. Then, determine whether the vehicle can travel from the m+1th reference line to the m+2th reference line, and repeat this cycle until the cutoff condition is met. The cutoff condition may be, for example, that all n reference lines have been traversed, or that the roads in the specified area have been analyzed. For example, it has been analyzed whether the road from 2000 meters to 3000 meters in front of the vehicle is blocked.

[0098] In some embodiments, the method for determining road congestion further includes: for multiple reference lines, when there is no road congestion between every two adjacent reference lines in the multiple reference lines, determining a driving trajectory from a first reference line to a last reference line; when the driving trajectory does not meet the kinematic constraints of the vehicle, determining that the road is congested. When the driving trajectory meets the kinematic constraints of the vehicle, determining that the road is not congested.

[0099] Figure 8 A schematic diagram showing road congestion according to some embodiments of the present disclosure.

[0100] like Figure 8 As shown, vehicles can pass between every two adjacent reference lines. However, this continuous S-turn may not meet the kinematic constraints of vehicle drivability. First, a driving trajectory is connected based on the first gap and the second gap between adjacent reference lines where vehicles can pass. Then, it is determined whether this driving trajectory meets the kinematic constraints of the vehicle. If the driving trajectory does not meet the kinematic constraints, it is determined that the road is blocked. If the driving trajectory meets the kinematic constraints, it is determined that the road is not blocked.

[0101] According to some embodiments of the present disclosure, a method for determining road congestion includes: determining a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is the driving direction of the road, the first reference line and the second reference line are parallel to the second direction, and the second direction is a direction that has an angle with the first direction; determining M first gaps on the first reference line that allow vehicles to travel and N second gaps on the second reference line that allow vehicles to travel, wherein M and N are positive integers; and determining whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the M first gaps, and the N second gaps.

[0102] The method for determining road congestion disclosed in the present invention not only considers the obstruction of the vehicle by obstacles on the first reference line (e.g., a reference line closer to the vehicle), but also considers the obstruction of the vehicle by obstacles on the second reference line (e.g., a reference line closer to the vehicle). Compared with only considering the obstacles on the first reference line, it is possible to more accurately determine whether the road is congested.

[0103] Fig. 9 A block diagram showing a device for determining road congestion according to some embodiments of the present disclosure is shown.

[0104] like Fig. 9 As shown, the road congestion determination device 9 includes a reference line determination module 91 , a gap determination module 92 , and a congestion determination module 93 .

[0105] The reference line determination module 91 is configured to determine a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is the driving direction of the road, the first reference line and the second reference line are parallel to the second direction, and the second direction is a direction at an angle to the first direction, for example, by performing the following steps: Figure 1 Step S1 is shown.

[0106] The gap determination module 92 is configured to determine M first gaps on the first reference line where the vehicle is allowed to travel, and N second gaps on the second reference line where the vehicle is allowed to travel, wherein M and N are positive integers, for example, by performing the following steps: Figure 1 Step S2 is shown.

[0107] The congestion determination module 93 is configured to determine whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the M first gaps, and the N second gaps, for example, by performing the following steps: Figure 1 Step S3 shown.

[0108] In some embodiments, the congestion determination module 93 is further configured to: for the i-th first gap of the M first gaps, determine the first reference point of the i-th first gap, where i is a positive integer and i≤M; for the j-th second gap of the N second gaps, determine the second reference point of the j-th second gap, where j is a positive integer and j≤N; determine the distance between the first reference point of the i-th first gap and the second reference point of the j-th second gap in the second direction; and determine whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the distance corresponding to each first gap of the M first gaps and each second gap of the N second gaps. Please refer to the relevant description of formula (1).

[0109] In some embodiments, the congestion determination module 93 is further configured to: for the ith first gap and the jth second gap, determine a third gap along the first direction between the first reference line and the second reference line corresponding to the ith first gap and the jth second gap based on one or more obstacles on the first reference line and one or more obstacles on the second reference line; determine whether the vehicle can travel from the first reference line to the second reference line based on the size of the vehicle, the distance corresponding to each first gap and each second gap, and the third gap.

[0110] In some embodiments, the congestion determination module 93 is further configured to: determine that the vehicle can travel from the first reference line to the second reference line when there are a first gap and a second gap that meet a first specified condition, wherein the first specified condition includes that the distances corresponding to the first gap and the second gap exceed a first threshold, and the length of the corresponding third gap in the first direction exceeds a second threshold, and the first threshold and the second threshold are determined according to the size of the vehicle. Figure 5Related instructions.

[0111] In some embodiments, the congestion determination module 93 is further configured to: determine that the vehicle can travel from the first reference line to the second reference line when there are a first gap and a second gap that meet a second specified condition, wherein the second specified condition includes that the length of the intersection of the first gap and the second gap in the second direction exceeds a third threshold, and the third threshold is determined according to the size of the vehicle. Figure 6 Related instructions.

[0112] In some embodiments, the congestion determination module 93 is further configured to: determine that the vehicle cannot travel from the first reference line to the second reference line when there is no first gap and second gap that satisfy the second specified condition, and there is no first gap and second gap that satisfy the first specified condition. Figure 7 Related instructions.

[0113] In some embodiments, the congestion determination module 93 is further configured to: determine an expansion interval corresponding to the i-th first gap and the j-th second gap based on the union of the i-th first gap and the j-th second gap in the second direction; determine one or more first obstacles within the expansion interval corresponding to the i-th first gap and the j-th second gap among one or more obstacles on the first reference line; determine one or more second obstacles within the expansion interval corresponding to the i-th first gap and the j-th second gap among one or more obstacles on the second reference line; and determine a third gap corresponding to the i-th first gap and the j-th second gap based on one or more first obstacles and one or more second obstacles.

[0114] In some embodiments, the congestion determination module 93 is further configured to determine a third gap corresponding to the i-th first gap and the j-th second gap according to a minimum distance between one or more first obstacles and one or more second obstacles in the first direction.

[0115] In some embodiments, the blockage determination module 93 is further configured to: determine a first reference point of the ith first gap according to the center of the ith first gap in the second direction; determine a second reference point of the jth second gap according to the center of the jth second gap in the second direction.

[0116] In some embodiments, the device for determining road congestion also includes: a repeated determination module, configured to take the second reference line as a new first reference line, repeatedly determine a new second reference line that is at a specified distance from the new first reference line in the first direction, determine the first gap, determine the second gap, and determine whether the vehicle can travel from the first reference line to the second reference line until a cutoff condition is met.

[0117] In some embodiments, the gap determination module 92 is further configured to: determine an obstacle adjacent to the road boundary among one or more obstacles on the first reference line; determine a first candidate gap between the obstacle adjacent to the road boundary on the first reference line and the road boundary; when there are at least two obstacles on the first reference line, determine a second candidate gap between adjacent obstacles; and determine M first gaps based on at least one of the first candidate gaps and the second candidate gaps whose length in the second direction exceeds a fourth threshold.

[0118] In some embodiments, the gap determination module 92 is further configured to: determine an obstacle adjacent to the road boundary among one or more obstacles on the second reference line; determine a third candidate gap between the obstacle adjacent to the road boundary on the second reference line and the road boundary; when there are at least two obstacles on the second reference line, determine a fourth candidate gap between adjacent obstacles; and determine N second gaps based on at least one of the third candidate gap and the fourth candidate gap whose length in the second direction exceeds a fourth threshold.

[0119] Fig.10 A block diagram showing a device for determining road congestion according to some other embodiments of the present disclosure.

[0120] like Fig.10 As shown, the road congestion determination device 10 includes a memory 1001; and a processor 1002 coupled to the memory 1001, and the memory 1001 is used to store and execute the road congestion determination method. The processor 1002 is configured to execute the road congestion determination method in any of some embodiments of the present disclosure based on the instructions stored in the memory 1001.

[0121] Fig.11 A block diagram of a computer system for implementing some embodiments of the present disclosure is shown.

[0122] like Fig.11 As shown, the computer system 110 may be embodied in the form of a general-purpose computing device. The computer system 110 includes a memory 1110, a processor 1120, and a bus 1100 that connects the various system components.

[0123] The memory 1110 may include, for example, a system memory, a non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs. The system memory may include a volatile storage medium, such as a random access memory (RAM) and / or a cache memory. The non-volatile storage medium may store, for example, instructions for executing the method for determining road congestion in any of the embodiments of the present disclosure. The non-volatile storage medium includes, but is not limited to, a disk memory, an optical memory, a flash memory, etc.

[0124] The processor 1120 may be implemented by a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors, etc., as discrete hardware components. Accordingly, each module such as the determination module and the determination module may be implemented by a central processing unit (CPU) running instructions in a memory that execute corresponding steps, or may be implemented by a dedicated circuit that executes corresponding steps.

[0125] The bus 1100 may use any of a variety of bus architectures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0126] The computer system 110 may also include an input / output interface 1130, a network interface 1140, a storage interface 1150, etc. These interfaces 1130, 1140, 1150, the memory 1110, and the processor 1120 may be connected via a bus 1100. The input / output interface 1130 may provide a connection interface for input / output devices such as a display, a mouse, and a keyboard. The network interface 1140 provides a connection interface for various networked devices. The storage interface 1150 provides a connection interface for external storage devices such as a floppy disk, a USB flash drive, and an SD card.

[0127] Fig.12 A block diagram of an unmanned vehicle according to some embodiments of the present disclosure is shown.

[0128] like Fig.12As shown, the unmanned vehicle mainly includes four parts: chassis module, automatic driving module, cargo box module and remote monitoring streaming module. The automatic driving module includes a core processing unit (Orin or Xavier module), a traffic light recognition camera, front and rear surround cameras, a multi-line laser radar, a positioning module (such as Beidou, GPS, etc.), and an inertial navigation unit. The core processing unit includes, for example, a road congestion determination device according to some embodiments of the present disclosure, and the camera and the automatic driving module can communicate with each other. In order to increase the transmission speed and reduce the wiring harness, GMSL link communication can be used. The chassis module mainly includes a battery, a power management device, a chassis controller, a motor driver, and a power motor. The battery provides power for the entire unmanned vehicle system, and the power management device converts the battery output into different levels of voltage that can be used by each functional module, and controls the power on and off. The chassis controller receives the motion instructions issued by the automatic driving module to control the unmanned vehicle to turn, move forward, move backward, brake, etc. The remote monitoring streaming module is composed of a front monitoring camera, a rear monitoring camera, a left monitoring camera, a right monitoring camera and a streaming module. The module transmits the video data collected by the monitoring camera to the background server for viewing by the background operator. The wireless communication module communicates with the backend server through the antenna, and can realize the remote control of the unmanned vehicle by the backend operator. The cargo box module is the cargo carrying device of the unmanned vehicle. The cargo box module is also provided with a display interaction module, which is used for the interaction between the unmanned vehicle and the user. The user can perform operations such as picking up, storing, and purchasing goods through the display interaction module. The type of cargo box can be changed according to actual needs. For example, in a logistics scenario, the cargo box can include multiple sub-boxes of different sizes, which can be used to load goods for distribution. In a retail scenario, the cargo box can be set as a transparent box so that users can intuitively see the products for sale.

[0129] Fig.13 A block diagram of an unmanned vehicle according to some other embodiments of the present disclosure is shown.

[0130] like Fig.13 As shown, the unmanned vehicle includes not only a device for determining road congestion, but also a display interaction module, a left-side blind spot radar, a rear-side blind spot radar, a right-side blind spot radar, a laser radar, a right-side camera, a cargo box and a chassis.

[0131] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each frame of the flowchart and / or block diagram and the combination of frames can be implemented by computer-readable program instructions.

[0132] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0133] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to work in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0134] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0135] Those skilled in the art will appreciate that, in the description of the method steps in the above embodiments, the order in which the steps are actually executed is not strictly limited, and the order in which the steps are executed in actual operation may be adjusted according to functional requirements and internal logical relationships.

[0136] In the above description of various embodiments, the differences between different embodiments are emphasized, and the same points or similarities between various embodiments can be understood by reference to each other. To keep it simple, no repeated description will be given.

[0137] The accuracy of road congestion determination is improved through the road congestion determination method and device, computer-readable storage medium and intelligent driving device in the above embodiments.

[0138] So far, the method and device for determining road congestion, the computer-readable storage medium, and the intelligent driving device according to the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

Claims

1. A method for determining road congestion, comprising: Determine a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is a driving direction of the road, the first reference line and the second reference line are parallel to a second direction, and the second direction is a direction that is at an angle to the first direction; Determine M first gaps on the first reference line where vehicles are allowed to travel, and N second gaps on the second reference line where vehicles are allowed to travel, wherein M and N are positive integers; Whether the vehicle can travel from the first reference line to the second reference line is determined according to the size of the vehicle, the M first gaps, and the N second gaps.

2. The method for determining road congestion according to claim 1, wherein: The determining, based on the size of the vehicle, the M first gaps, and the N second gaps, whether the vehicle can travel from the first reference line to the second reference line comprises: For an i-th first gap of the M first gaps, determining a first reference point of the i-th first gap, wherein i is a positive integer and i≤M; For a j-th second gap of the N second gaps, determining a second reference point of the j-th second gap, wherein j is a positive integer and j≤N; Determine a distance between a first reference point of the i-th first gap and a second reference point of the j-th second gap in a second direction; It is determined whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the distance corresponding to each of the M first gaps and each of the N second gaps.

3. The method for determining road congestion according to claim 2, wherein: The determining, based on the size of the vehicle and the distance, whether the vehicle can travel from the first reference line to the second reference line comprises: For the i-th first gap and the j-th second gap, determining a third gap along the first direction between the first reference line and the second reference line corresponding to the i-th first gap and the j-th second gap according to one or more obstacles on the first reference line and one or more obstacles on the second reference line; Whether the vehicle can travel from the first reference line to the second reference line is determined according to the size of the vehicle, the distance corresponding to each of the first gaps and each of the second gaps, and the third gap.

4. The method for determining road congestion according to claim 3, wherein: The determining, based on the size, distance and third gap of the vehicle, whether the vehicle can travel from the first reference line to the second reference line comprises: In the presence of a first gap and a second gap that satisfy a first specified condition, it is determined that the vehicle can travel from the first reference line to the second reference line, wherein the first specified condition includes that the distances corresponding to the first gap and the second gap exceed a first threshold, and the length of the corresponding third gap in the first direction exceeds a second threshold, and the first threshold and the second threshold are determined according to the size of the vehicle.

5. The method for determining road congestion according to claim 4, wherein: The determining, based on the size, distance and third gap of the vehicle, whether the vehicle can travel from the first reference line to the second reference line comprises: In the presence of a first gap and a second gap satisfying a second specified condition, it is determined that the vehicle can travel from the first reference line to the second reference line, wherein the second specified condition includes that a length of an intersection of the first gap and the second gap in the second direction exceeds a third threshold, and the third threshold is determined according to the size of the vehicle.

6. The method for determining road congestion according to claim 5, wherein: The determining, based on the size, distance and third gap of the vehicle, whether the vehicle can travel from the first reference line to the second reference line comprises: In the case where there are no first gap and second gap satisfying the second specified condition and there are no first gap and second gap satisfying the first specified condition, it is determined that the vehicle cannot travel from the first reference line to the second reference line.

7. The method for determining road congestion according to claim 3, wherein: The determining, according to one or more obstacles on the first reference line and one or more obstacles on the second reference line, a third gap along the first direction between the first reference line and the second reference line corresponding to the i-th first gap and the j-th second gap, comprises: Determine, according to a union of the i-th first gap and the j-th second gap in the second direction, an expansion interval corresponding to the i-th first gap and the j-th second gap; Among the one or more obstacles on the first reference line, determining one or more first obstacles within an expansion interval corresponding to an i-th first gap and a j-th second gap; Among the one or more obstacles on the second reference line, determining one or more second obstacles within the expansion interval corresponding to the i-th first gap and the j-th second gap; A third gap corresponding to the i-th first gap and the j-th second gap is determined according to the one or more first obstacles and the one or more second obstacles.

8. The method for determining road congestion according to claim 7, wherein: The determining, according to the one or more first obstacles and the one or more second obstacles, a third gap corresponding to the i-th first gap and the j-th second gap comprises: A third gap corresponding to the i-th first gap and the j-th second gap is determined according to a minimum distance between the one or more first obstacles and the one or more second obstacles in the first direction.

9. The method for determining road congestion according to claim 2, wherein: For an i-th first gap of the M first gaps, determining a first reference point of the i-th first gap includes: determining the first reference point of the i-th first gap according to a center of the i-th first gap in the second direction; For a j-th second gap of the N second gaps, determining a second reference point of the j-th second gap includes: determining the second reference point of the j-th second gap according to a center of the j-th second gap in the second direction.

10. The method for determining road congestion according to claim 1, further comprising: The second reference line is used as a new first reference line, and a new second reference line having a specified spacing from the new first reference line in a first direction, a first gap, a second gap, and whether the vehicle can travel from the first reference line to the second reference line are repeatedly determined until a cutoff condition is met.

11. The method for determining road congestion according to claim 1, wherein: The determining of the M first gaps on the first reference line that allow the vehicle to travel comprises: determining an obstacle adjacent to a road boundary among the one or more obstacles on the first reference line; Determining a first candidate gap between the obstacle adjacent to the road boundary and the road boundary; In the case where there are at least two obstacles on the first reference line, determining a second candidate gap between adjacent obstacles; The M first gaps are determined according to at least one of the first candidate gap and the second candidate gap having a length in the second direction exceeding a fourth threshold.

12. The method for determining road congestion according to claim 1, wherein: The determining of N second gaps on the second reference line that allow the vehicle to travel comprises: determining an obstacle adjacent to a road boundary among the one or more obstacles on the second reference line; determining a third candidate gap between the obstacle adjacent to the road boundary and the road boundary; In a case where there are at least two obstacles on the second reference line, determining a fourth candidate gap between adjacent obstacles; The N second gaps are determined according to at least one of the third candidate gap and the fourth candidate gap having a length in the second direction exceeding a fourth threshold.

13. A device for determining road congestion, comprising: A reference line determination module is configured to determine a first reference line and a second reference line at a specified interval in a first direction, wherein the first direction is a driving direction of the road, the first reference line and the second reference line are parallel to a second direction, and the second direction is a direction that has an angle with the first direction; a gap determination module, configured to determine M first gaps on the first reference line where the vehicle is allowed to travel, and N second gaps on the second reference line where the vehicle is allowed to travel, wherein M and N are positive integers; The congestion determination module is configured to determine whether the vehicle can travel from the first reference line to the second reference line according to the size of the vehicle, the M first gaps, and the N second gaps.

14. A device for determining road congestion, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the method for determining road congestion according to any one of claims 1 to 12 based on instructions stored in the memory.

15. An intelligent driving device, comprising the device for determining road congestion according to claim 13 or 14.

16. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements the method for determining road congestion according to any one of claims 1 to 12.

17. A computer program product, comprising computer program instructions, which, when executed by a processor, implement the method for determining road congestion according to any one of claims 1 to 12.

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