Vehicle passing method and device for intersection and roadside equipment

Abstract

The invention provides a vehicle passing method for an intersection. The method comprises the following steps: acquiring driving information of an unmanned vehicle driving to a preset area range of the intersection of a first road and a second road on the first road; determining a position relationship between the unmanned vehicle and the intersection according to the driving information; according to the position relationship, controlling a first traffic indication mark of the first road at the intersection and a second traffic indication mark of the second road at the intersection, the passing strategy indicated by the unmanned vehicle on the first road through the first passing indication identifier and the passing strategy indicated by the vehicle on the second road through the second passing indication identifier are mutually exclusive. Meanwhile, the vehicle running conditions of all roads are considered, the passing indication marks are automatically controlled, the method is more scientific and reasonable, deployment is rapid, adaptability is high, and safe and efficient operation of vehicles in the intersection area of the unmanned vehicle road and the manned vehicle road is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a vehicle passage method, device and roadside equipment at an intersection. Background Art

[0002] The vehicle operation area of ​​mining operations includes unmanned independent operation sections and manned conventional sections. With the continuous expansion of business, the overlapping areas of the two are gradually increasing, especially the intersection areas of the two. In order to ensure the safety of vehicles passing through these intersection areas, a traffic light control system is usually deployed at the intersection area. However, the current traffic light control system has the following problems:

[0003] 1. Difficult deployment: When deploying a traffic light control system, staff need to observe and record the time it takes for vehicles to pass through the intersection and configure the signal light duration parameters, which is labor-intensive and time-consuming.

[0004] 2. Poor adaptability: The signal light duration parameter value is fixed and needs to be reconfigured when the scene conditions at the intersection change, such as changes in the speed limit at the intersection or road construction.

[0005] 3. Low traffic efficiency: The configured traffic light duration parameters rely on the experience of the staff. It often happens that "vehicles in one direction have left the intersection for a certain distance, but the traffic lights in other directions have not yet switched to green", resulting in traffic congestion.

[0006] 4. Safety risks: When the scene at an intersection changes, such as in rainy or snowy weather, the speed of vehicles decreases. It may happen that "a vehicle in one direction has just entered the intersection, and the traffic lights in other directions have already switched to green, and the trajectories of vehicles in different directions intersect in the intersection", leading to safety accidents.

[0007] To sum up, for the application scenario of the intersection area between the unmanned independently operated sections of mines and the regular sections with manned vehicles, it is necessary to find a method to effectively manage the mixed traffic of unmanned vehicles and manned vehicles to ensure the safe and efficient operation of vehicles. Summary of the invention

[0008] The embodiments of the present disclosure provide a method, device and roadside equipment for vehicle passage at an intersection, so as to solve the problem of low passage efficiency of existing traffic strategies at intersections with mixed traffic of manned vehicles and unmanned vehicles.

[0009] Based on the above problems, an embodiment of the present disclosure provides a method for passing a vehicle at an intersection, comprising: obtaining driving information of an unmanned vehicle traveling on a first road to a preset area of ​​an intersection of the first road and a second road;

[0010] Determining a positional relationship between the unmanned vehicle and the intersection according to the driving information;

[0011] According to the positional relationship, the first traffic indication sign of the first road at the intersection and the second traffic indication sign of the second road at the intersection are controlled, and the following conditions are satisfied: the traffic strategy indicated by the first traffic indication sign for the unmanned vehicle on the first road and the traffic strategy indicated by the second traffic indication sign for the vehicle on the second road are mutually exclusive.

[0012] In a possible implementation, the driving information includes: current location information and driving direction information;

[0013] The determining, based on the driving information, a positional relationship between the unmanned vehicle and the intersection includes:

[0014] Determining, according to the driving direction information, a preset area range of the unmanned vehicle on the first road corresponding to the driving direction;

[0015] Determine, according to the current location information, a sub-region range within the preset region range where the unmanned vehicle is located; the sub-region range is a continuous distance interval into which the preset region range is pre-divided;

[0016] The controlling, according to the positional relationship, a first traffic indication mark of the first road at the intersection and a second traffic indication mark of the second road at the intersection comprises:

[0017] Determine the target sub-area range where unmanned vehicles exist in each driving direction;

[0018] For each target sub-area range, determining a traffic strategy for the unmanned vehicle within the target sub-area range at the intersection;

[0019] Based on the traffic strategy with the highest priority among the traffic strategies corresponding to the target sub-area ranges, a first traffic indication mark of the first road at the intersection and a second traffic indication mark of the second road at the intersection are controlled.

[0020] In a possible implementation, for each driving direction, the sub-area range of the preset area range includes: starting from the first stop line corresponding to the driving direction, in the direction away from the intersection, from near to far, the first sub-area range, the second sub-area range and the third sub-area range, and the fourth sub-area range corresponding to the intersection, and the fifth sub-area range adjacent to the fourth sub-area range after the intersection is passed according to the driving direction;

[0021] The first stop lines are stop lines respectively set at the intersection on the first road for two driving directions.

[0022] In a possible implementation, based on the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection includes:

[0023] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the first sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or,

[0024] When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second sub-area range, the first traffic indication mark for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication mark for each driving direction is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; the second stop line is a stop line set on the second road at the intersection for the two driving directions respectively; or,

[0025] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the third sub-area range, the first traffic indication mark of each driving direction is set to indicate that the unmanned vehicle is prohibited from entering the intersection; and the second traffic indication mark of each driving direction is set to indicate that the intersection is passable; or,

[0026] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the fourth sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or,

[0027] When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the fifth sub-area range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication sign for each driving direction is set to indicate that it is passable.

[0028] In one possible implementation, the traffic strategy priorities from high to low include: setting the second traffic indicator to a first traffic strategy corresponding to prohibiting vehicles from entering the intersection; setting the second traffic indicator to a second traffic strategy corresponding to prohibiting vehicles from entering the intersection, but allowing vehicles that have passed the second stop line to pass through the intersection normally; and setting the second traffic indicator to a third traffic strategy corresponding to allowing vehicles to pass.

[0029] In a possible implementation manner, for each driving direction, the fourth sub-area range includes a first intersection range and a second intersection range adjacent to each other in the intersection according to the driving direction;

[0030] Based on the traffic strategy with the highest priority among the traffic strategies corresponding to the target sub-area ranges, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection, including:

[0031] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the first intersection range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection;

[0032] When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second intersection range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction can pass through the intersection normally; and the second traffic indication sign for each driving direction is set to indicate that vehicles are prohibited from entering the intersection.

[0033] In a possible implementation, the priority of the traffic strategies from high to low includes: setting the second traffic indication mark to a first traffic strategy corresponding to a prohibition of vehicles from entering the intersection; setting the second traffic indication mark to a second traffic strategy corresponding to a prohibition of vehicles from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; setting the second traffic indication mark to a third traffic strategy corresponding to a passable intersection;

[0034] When the first traffic strategies corresponding to multiple area ranges all meet the highest priority, the first traffic strategy that meets the following conditions will be given priority: the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction can pass through the intersection normally.

[0035] In a possible implementation manner, the percentage of the second intersection range to the fourth sub-area range is no more than 50%.

[0036] In a possible implementation manner, before the unmanned vehicle drives to the preset area, the method further includes:

[0037] Acquire the driving speed information of the unmanned vehicle traveling on the first road toward the intersection and at a preset distance from the intersection;

[0038] For each unmanned vehicle, according to the corresponding driving speed information, a corresponding preset area range at the intersection is determined for the unmanned vehicle, including:

[0039] For each unmanned vehicle, determine the first sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle, the speed limit of the intersection, and the first preset duration for setting the second traffic indication sign to indicate that manned vehicles are prohibited from entering the intersection;

[0040] Determine the second sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle and the second preset duration during which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally;

[0041] Determine a third sub-area range corresponding to the unmanned vehicle according to the first sub-area range and the second sub-area range;

[0042] A preset area range corresponding to the unmanned vehicle is determined according to the first sub-area range, the second sub-area range, and the third sub-area range.

[0043] In a possible implementation, when there are unmanned vehicles in both the second sub-area and the fifth sub-area, the following traffic strategy is implemented: the first traffic indication sign for each driving direction is set to indicate that the vehicle is passable; and the second traffic indication sign for each driving direction is set to indicate that the vehicle is prohibited from entering the intersection.

[0044] In a possible implementation, it further includes:

[0045] Receiving a mandatory control instruction for mandatory control of a traffic indication sign;

[0046] The first passage indication mark and the second passage indication mark are controlled according to the mandatory control instruction.

[0047] In a possible implementation manner, the mandatory control instruction is used to instruct that the first traffic indication sign is set to indicate that the unmanned vehicle is prohibited from entering the intersection; and according to the mandatory control instruction, the first traffic indication sign and the second traffic indication sign are controlled, including:

[0048] In the case where the first traffic indication sign currently indicates that the intersection is passable, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally, the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally, and the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally;

[0049] After maintaining the first preset time, setting the second traffic indication mark to indicate that the intersection is passable, and setting the first traffic indication mark to indicate that vehicles are prohibited from entering the intersection, and maintaining the second preset time;

[0050] When the first traffic indication sign currently indicates that unmanned vehicles are prohibited from entering the intersection, the second traffic indication sign is switched to indicate that the intersection is passable, and the first traffic indication sign is maintained to indicate that unmanned vehicles are prohibited from entering the intersection, and is maintained for a second preset time.

[0051] In a possible implementation manner, the mandatory control instruction is used to instruct to set the first passage indication mark to indicate that the vehicle is passable; and according to the mandatory control instruction, controlling the first passage indication mark and the second passage indication mark includes:

[0052] When the first traffic indication sign indicates that the intersection is passable, the second traffic indication sign is maintained to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is maintained to indicate that the intersection is passable, and the second preset time is maintained;

[0053] In the case where the first traffic indication sign currently indicates that unmanned vehicles are prohibited from entering the intersection, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally;

[0054] After maintaining the first preset time, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is set to indicate that vehicles are allowed to pass, and maintained for the second preset time.

[0055] In a possible implementation manner, after maintaining the second preset time, the method further includes:

[0056] The second traffic indication mark is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and the first traffic indication mark is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally;

[0057] After maintaining the first preset time, continue to execute the step of controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection according to the position relationship.

[0058] In a possible implementation, the method further includes: after the first passage indicator and the second passage indicator are determined for the first time according to the position relationship and the display is controlled, the first passage indicator and the second passage indicator are displayed accordingly in a preset display order.

[0059] In a second aspect, a vehicle passage device at an intersection is provided, comprising:

[0060] A driving information acquisition module, used to acquire driving information of an unmanned vehicle traveling on a first road to a preset area at an intersection of the first road and a second road;

[0061] A position relationship determination module, used to determine the position relationship between the unmanned vehicle and the intersection according to the driving information;

[0062] An indicator control module is used to control a first traffic indicator of the first road at the intersection and a second traffic indicator of the second road at the intersection according to the position relationship, and satisfies: the traffic strategy indicated by the first traffic indicator for the unmanned vehicle on the first road is mutually exclusive with the traffic strategy indicated by the second traffic indicator for the vehicle on the second road.

[0063] In a third aspect, a roadside device is provided, comprising: a vehicle passage device at an intersection as described in the second aspect.

[0064] The beneficial effects of the embodiments of the present disclosure include:

[0065] A method, device and roadside equipment for vehicle passage at an intersection provided by an embodiment of the present disclosure include: obtaining driving information of an unmanned vehicle that travels on a first road to a preset area at an intersection of the first road and a second road; determining a positional relationship between the unmanned vehicle and the intersection based on the driving information; and controlling a first traffic indicator sign at the intersection of the first road and a second traffic indicator sign at the intersection of the second road based on the positional relationship, and satisfying that: a traffic strategy indicated by the first traffic indicator sign for the unmanned vehicle on the first road and a traffic strategy indicated by the second traffic indicator sign for the vehicle on the second road are mutually exclusive. The vehicle passage method at an intersection provided by the embodiment of the present disclosure obtains the driving information of the unmanned vehicle in real time, and determines the first passage indication sign and the second passage indication sign according to the real-time driving situation of the unmanned vehicle. Compared with the passage strategy of the related technology in which the duration of the signal light at the intersection is fixed, the passage indication signs at the intersection can be controlled in real time according to the actual driving situation of the unmanned vehicle, without relying on the experience of the staff. Even if the scene at the intersection changes, it will not affect the real-time and effectiveness of the passage strategy. The control of the passage strategy at the intersection is more flexible, scientific and reasonable, quickly deployed, and highly adaptable, thereby ensuring the safe and efficient operation of vehicles in the intersection area of ​​the unmanned vehicle road and the manned vehicle road. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A flow chart of a vehicle passing method at an intersection provided in an embodiment of the present disclosure;

[0067] Figure 2 One of the schematic diagrams of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0068] Figure 3 A second schematic diagram of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0069] Figure 4 A third schematic diagram of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0070] Figure 5 A fourth schematic diagram of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0071] Figure 6 A fifth schematic diagram of an application scenario of a method for passing vehicles at an intersection provided by an embodiment of the present disclosure;

[0072] Figure 7 A sixth schematic diagram of an application scenario of a method for passing vehicles at an intersection provided by an embodiment of the present disclosure;

[0073] Figure 8A seventh schematic diagram of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0074] Fig. 9 An eighth schematic diagram of an application scenario of a method for passing vehicles at an intersection provided by an embodiment of the present disclosure;

[0075] Fig.10 A ninth schematic diagram of an application scenario of a method for passing vehicles at an intersection provided by an embodiment of the present disclosure;

[0076] Fig.11 A tenth schematic diagram of an application scenario of a vehicle passage method at an intersection provided by an embodiment of the present disclosure;

[0077] Fig.12 A schematic diagram of the structure of a vehicle passage device at an intersection provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0078] The embodiments of the present disclosure provide a method, device and roadside equipment for vehicle traffic at an intersection. The preferred embodiments of the present disclosure are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0079] The present disclosure provides a method for vehicles passing through an intersection, such as Figure 1 As shown, including:

[0080] S101, obtaining driving information of an unmanned vehicle that travels on a first road to a preset area at an intersection of the first road and a second road;

[0081] S102, determining the positional relationship between the unmanned vehicle and the intersection according to the driving information;

[0082] S103. Control a first traffic indicator at an intersection of a first road and a second traffic indicator at an intersection of a second road according to a positional relationship, and satisfy that: the traffic strategy indicated by the first traffic indicator for unmanned vehicles on the first road and the traffic strategy indicated by the second traffic indicator for vehicles on the second road are mutually exclusive.

[0083] In the disclosed embodiment, the unmanned vehicle may be a mining vehicle with unmanned mine transportation, and is equipped with an integrated terminal device. Through vehicle-to-vehicle communication (V2V, Vehicle-to-Vehicle Communication), within its own detection range or communication range, it obtains the driving information of the unmanned vehicle traveling on the first road, and sends its own driving information to the roadside equipment. The manned vehicle may be a common type of vehicle covering the mining area, such as: production command vehicle (pickup or SUV), bulldozer, grader, sprinkler, refueling truck, excavator, manned mining truck, etc. Such vehicles are usually not equipped with an integrated terminal and cannot communicate with the unmanned vehicle or roadside equipment to obtain the driving information of both parties. With the continuous expansion of business, it is inevitable that there is an intersection area between the first road where the unmanned vehicle is traveling during operation and the second road where the manned vehicle is traveling. In order to avoid the occurrence of safety accidents, traffic indication signs are usually set at the intersection area, such as: traffic lights, road markings, safety warning signs, speed limit signs, etc. The unmanned vehicle can be equipped with a combined navigation device as a positioning module to obtain the location information of the road it is on. In addition, it can be equipped with various types of perception devices (such as cameras, laser radars, millimeter-wave radars, ultrasonic radars, etc.) to obtain the information indicated by the traffic sign. When the unmanned vehicle obtains the location information that it is about to pass through an intersection, it executes driving, braking, steering and other driving instructions according to the information indicated by the traffic sign to carry out transportation operations.

[0084] However, there are some common problems when only relying on traffic signs to direct traffic. For example, when the traffic sign is a traffic light, the green light duration parameters of the traffic light usually need to be manually configured by staff, which is a lot of work. Staff need to frequently observe and record the time it takes for vehicles to pass through the intersection at the intersection, and configure the green light duration parameters based on experience. Moreover, when the scene conditions at the intersection change, such as changes in the speed limit at the intersection, these parameters need to be reconfigured, wasting manpower and material resources. Because of reliance on the experience of staff, some efficiency and safety-related problems may also arise, such as Figure 2 As shown in FIG. 1 , the unmanned vehicle a on the first road has already driven a distance out of the intersection, but the traffic light at the intersection of the second road is still red, and the manned vehicle b is still unable to pass through the intersection area, resulting in traffic congestion and low traffic efficiency; Figure 3 As shown, when the traffic scene changes, such as in rainy or snowy weather, the vehicle speed decreases. The manned vehicle b traveling on the second road has just entered the intersection, and the traffic light at the intersection of the first road has switched to green. The driving trajectories of the unmanned vehicle a and the manned vehicle b intersect at the intersection, which can easily cause a traffic accident.

[0085] In the disclosed embodiments, the following examples are based on a typical crossroad area. For the case of a five-way intersection or more forks, the concept is consistent with the method provided for the crossroad. For the forks where the unmanned vehicle is traveling, the control is carried out according to the traffic strategy of the corresponding road for the unmanned vehicle. For the forks where manned vehicles are traveling, the control is carried out according to the traffic strategy of the corresponding road for manned vehicles. Roadside equipment can be deployed at the intersection of the first road and the second road. The roadside equipment is a key component in the unmanned driving technology. It is responsible for communication between the vehicle and the road infrastructure. The roadside equipment can be installed beside the road, such as on traffic lights, street light poles or other roadside structures, and is used to collect and transmit information about traffic conditions, vehicle location, speed and direction of travel. First, the roadside equipment obtains the driving information of the unmanned vehicle within a certain preset area, or the roadside equipment can obtain the driving information of the unmanned vehicle through the platform, and the unmanned vehicle can also actively provide this driving information to the roadside equipment through the integrated terminal, which is not restricted here; secondly, based on this driving information, the roadside equipment can obtain the positional relationship between the unmanned vehicle and the intersection on the first road through calculation, for example, the unmanned vehicle is approaching the intersection, passing the intersection or exiting the intersection. At the same time, traffic signs can also be arranged in the intersection area. Usually, the traffic signs and roadside equipment are installed in the center of the intersection, facing the entrance direction of the first lane and the second lane. In special cases, for example, when there is a large slope or curve in the entrance direction, the traffic signs and roadside equipment are installed on the side of the first road and the second road.

[0086] Furthermore, the roadside equipment automatically controls the first traffic sign of the first road at the intersection according to the position relationship, and correspondingly controls the second traffic sign of the second road at the intersection, so as to solve the problems of difficult deployment and poor adaptability. The unmanned vehicle traveling on the first road and the manned vehicle traveling on the second road need to drive the vehicle according to the traffic sign of the road they are on, and the first traffic sign and the second traffic sign follow the linkage rule and the mutual exclusion rule. Regarding the linkage rule: all second traffic signs facing the intersections with manned vehicles should be linked, that is, the same sign should be displayed at the same time (for example: the same color light should be lit); all first traffic signs facing the intersections with unmanned mining trucks should be linked, that is, the same sign should be displayed at the same time (for example: the same color light should be lit). For mutually exclusive rules: the traffic strategy indicated by the first traffic indicator for unmanned vehicles on the first road is mutually exclusive with the traffic strategy indicated by the second traffic indicator for vehicles on the second road. For example, when the first traffic indicator indicates that the road is passable, the second traffic indicator indicates that vehicles are prohibited from entering the intersection; when the first traffic indicator indicates that vehicles are prohibited from entering the intersection, the second traffic indicator indicates that the road is passable or that vehicles are prohibited from entering the intersection. However, vehicles that have passed the second stop line can pass through the intersection normally, thereby ensuring the safe and efficient operation of vehicles at the intersection of unmanned roads and manned roads. For example, Figure 4 As shown, when the roadside equipment obtains that the unmanned vehicle a traveling on the first road is approaching the intersection area, it controls the first traffic indication sign to indicate that the unmanned vehicle a passes through the intersection, and the road test equipment controls the second traffic indication sign to indicate that vehicles are prohibited from entering the intersection, and the manned vehicle b stops at the stop line of the second road. Figure 5 As shown, when the roadside equipment obtains that the unmanned vehicle traveling on the first road is away from the intersection area and / or has driven out of the intersection area, it controls the first traffic indication sign to indicate that the vehicle is prohibited from entering the intersection, and controls the second traffic indication sign to indicate that the intersection is passable.

[0087] It can be seen that compared with the traffic strategy of related technologies in which the duration of traffic lights at intersections is fixed, the disclosed embodiment can control the traffic signs at intersections in real time according to the actual driving conditions of the unmanned vehicle, without relying on the experience of the staff. Even if the intersection scene changes, it will not affect the real-time and effectiveness of the traffic strategy. The control of the traffic strategy at the intersection is more flexible, ensuring the safe and efficient operation of vehicles in the intersection area of ​​unmanned vehicle roads and manned vehicle roads.

[0088] In another embodiment of the present disclosure, in the above step S101, the driving information includes: current location information and driving direction information;

[0089] In the above step S102, determining the positional relationship between the unmanned vehicle and the intersection according to the driving information includes:

[0090] Step 1: Determine a preset area of ​​the unmanned vehicle on the first road corresponding to the driving direction according to the driving direction information;

[0091] Step 2: Determine the sub-area range within the preset area range where the unmanned vehicle is located according to the current location information; the sub-area range is a continuous distance interval pre-divided by the preset area range;

[0092] In the above step S103, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection according to the position relationship includes the following steps:

[0093] Step 3: Determine the target sub-area range where the unmanned vehicle exists in each driving direction;

[0094] Step 4: for each target sub-area, determine a traffic strategy for the unmanned vehicle at the intersection within the target sub-area;

[0095] Step 5: Based on the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range, control the first traffic indication sign at the intersection of the first road and the second traffic indication sign at the intersection of the second road.

[0096] In the disclosed embodiment, the driving information of the unmanned vehicle acquired by the roadside equipment includes the current position information and driving direction information of the unmanned vehicle; the current position information determines the distance between the unmanned vehicle and the intersection, and the driving direction information determines whether the unmanned vehicle is an incoming vehicle or an outgoing vehicle relative to the intersection. Therefore, the positional relationship between the unmanned vehicle and the intersection can be determined based on the current position information and driving direction information of the unmanned vehicle.

[0097] The position relationship includes: determining the preset area range corresponding to the driving direction of the unmanned vehicle on the first road according to the driving direction information. For example, the roadside equipment detects the unmanned vehicle within the monitoring range and obtains the driving direction of the unmanned vehicle, thereby determining the preset area range corresponding to the driving direction. Figure 6 As shown, the unmanned vehicle a is an oncoming vehicle at the intersection traveling on the first road, with a driving direction in the x direction, and the corresponding preset area range in the x direction is AB. For the opposite lane in the x direction (y direction) on the first road, the corresponding preset area range is AB of the opposite lane. It can be seen that because the current position and driving direction of each unmanned vehicle are different, the corresponding preset area range is also different.

[0098] According to the current position information of the unmanned vehicle, the sub-area range within the preset area range where the unmanned vehicle is located is determined, and the sub-area range is a continuous distance interval pre-divided by the preset area range. For example, Figure 6 As shown, the unmanned vehicle a is located in a sub-area range AC within the preset area range AB, and the preset area range is pre-divided into continuous distance intervals including: AC, CD, DE, EF, and FB.

[0099] Further, according to the position relationship, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection includes: determining the target sub-area range where the unmanned vehicle exists in each driving direction; for example, Figure 6 and Figure 7 As shown, the unmanned vehicles traveling on the first road include unmanned vehicle a and unmanned vehicle a', then the preset area range of unmanned vehicle a is AB, the preset area range of unmanned vehicle a' is A'B', the target sub-area range of unmanned vehicle a is determined to be AC, and the target sub-area range of unmanned vehicle a' is determined to be C'D'. It can be seen that different sub-area ranges represent different distances from the intersection, and different driving directions relative to the intersection (coming or going), and different intersection traffic strategies can be adopted. In the case where the unmanned vehicle is an oncoming vehicle at the intersection and is still far away from the intersection, the manned vehicle on the second road can be allowed to pass through the intersection; and in the case where the unmanned vehicle is an oncoming vehicle at the intersection and is very close to the intersection, the manned vehicle on the second road can be stopped at the stop line before entering the intersection to avoid collision; in the case where the unmanned vehicle is a going vehicle at the intersection and has left the intersection, the manned vehicle on the second road can be allowed to pass through the intersection.

[0100] Therefore, for each sub-area range, the intersection traffic strategy corresponding to the sub-area range can be determined. When there is an unmanned vehicle in the sub-area range, the intersection traffic strategy corresponding to the sub-area range can be executed. Take a single unmanned vehicle a, and the first and second traffic signs as traffic lights as an example. Initially, unmanned vehicle a is in sub-area range AC and is approaching the intersection. At this time, it is far away from the intersection, and manned vehicles on the second road can be allowed to pass through the intersection, that is, the second traffic sign for the second road is lit green, and the first traffic sign for the first road is lit red; then, unmanned vehicle a enters sub-area range CD and continues to approach the intersection. The second traffic sign can be lit yellow, and the first traffic sign continues to be lit red; unmanned vehicle a continues to drive into the sub-area range CD. In area range DE, when the unmanned vehicle a is about to enter the intersection, the second traffic sign turns on the red light, and manned vehicles should not enter the intersection and need to stop at the stop line of the intersection. The first traffic sign turns on the green light, and the unmanned vehicle is ready to enter the intersection. After the unmanned vehicle a enters the intersection, that is, sub-area range EF, the second traffic sign continues to turn on the red light, and the first traffic sign continues to turn on the green light. After the unmanned vehicle a passes the intersection, it enters sub-area range FB, has left the intersection, and is gradually moving away, the second traffic sign can be turned on the green light, and the first traffic sign can be turned on the red light.

[0101] The above example is for the case where there is an unmanned vehicle a. When there are unmanned vehicles in multiple sub-areas at the same time, and the traffic strategies of the intersections in the multiple sub-areas conflict (for example, some intersection traffic strategies indicate that the second traffic sign should light up green, while some intersection traffic strategies indicate that the second traffic sign should light up red), the traffic strategies of the multiple intersections can be prioritized, and the traffic strategy with the highest priority can be executed according to the traffic strategy priority. Therefore, for each target sub-area range of an unmanned vehicle, the traffic strategy for the unmanned vehicle at the intersection within the target sub-area range can be determined. And the priority is set for the traffic strategy, and based on the highest priority traffic strategy, the first traffic indicator of the first road at the intersection and the second traffic indicator of the second road at the intersection are controlled.

[0102] In another embodiment of the present disclosure, for each driving direction, the sub-regional range of the preset region range includes: starting from the first stop line corresponding to the driving direction, in the direction away from the intersection, from near to far, the first sub-regional range, the second sub-regional range and the third sub-regional range, and the fourth sub-regional range corresponding to the intersection, and the fifth sub-regional range adjacent to the fourth sub-regional range after the intersection is passed according to the driving direction;

[0103] The first stop line is the first road at the intersection for two driving directions (such as Figure 6The stop lines are set in the x direction and y direction respectively.

[0104] In the present disclosure, Figure 8 As shown, for each driving direction, for example, the sub-area range of the preset area AB where the unmanned vehicle a is located includes: from the first stop line corresponding to the corresponding driving direction, to the direction away from the intersection, from near to far, the first sub-area range DE, the second sub-area range CD and the third sub-area range AC, and the fourth sub-area range EF corresponding to the intersection, and the fifth sub-area range FB adjacent to the fourth sub-area range after passing the intersection according to the driving direction; the sub-area range of the preset area GH where the unmanned vehicle b is located includes: from the first stop line corresponding to the driving direction, to the direction away from the intersection, from near to far, the first sub-area range DE, the second sub-area range CD and the third sub-area range AC, and the fourth sub-area range EF corresponding to the intersection, and the fifth sub-area range FB adjacent to the fourth sub-area range after passing the intersection according to the driving direction. The first stop line can be a traffic road marking at the intersection on the first road, or a stop and yield sign standing beside the first road. It can be seen that the preset area ranges corresponding to the opposite lanes on both sides of the intersection of the first road can be set symmetrically.

[0105] In another embodiment of the present disclosure, the above step 5: controlling the first traffic indicator at the intersection of the first road and the second traffic indicator at the intersection of the second road based on the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range can be implemented as follows:

[0106] Step 1: When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the first sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is passable; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or,

[0107] Step 2: When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second sub-area range, the first traffic indication mark for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication mark for each driving direction is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; the second stop line is the stop lines set at the intersection for the two driving directions on the second road; or,

[0108] Step 3: When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the third sub-area range, the first traffic indication mark of each driving direction is set to indicate that the unmanned vehicle is prohibited from entering the intersection; and the second traffic indication mark of each driving direction is set to indicate that the intersection is passable; or,

[0109] Step 4: When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the fourth sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is passable; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or,

[0110] Step 5. When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the fifth sub-area range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication sign for each driving direction is set to indicate that it is passable.

[0111] In the present disclosure, Figure 8 As shown, for step 1, assuming that the unmanned vehicle d is traveling on the first road, and is located within the first sub-area range DE relative to the direction of the intersection, and the traffic strategy corresponding to the DE range has the highest priority at this time, then the first traffic indicator sign of the first road at the intersection is set to indicate that the road is passable, and exemplarily, the roadside equipment controls the light color of the traffic light to be set to green; the second traffic indicator sign of the second road at the intersection is set to indicate that vehicles are prohibited from entering the intersection, and exemplarily, the roadside equipment controls the light color of the traffic light at the intersection of the second road where the manned vehicle is located to be set to red; or,

[0112] For step 2, assuming that the unmanned vehicle c is traveling on the first road, and is located within the second sub-area range CD relative to the direction of the intersection, and the traffic strategy corresponding to the CD range has the highest priority at this time, then the first traffic indicator sign at the intersection of the first road is set to indicate that unmanned vehicles are prohibited from entering the intersection. Exemplarily, the roadside equipment controls the traffic light to be set to red; the second traffic indicator sign at the intersection of the second road is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally. Exemplarily, the roadside equipment controls the traffic light at the intersection of the second road where manned vehicles are located to be set to yellow; or,

[0113] For step 3, assuming that the unmanned vehicle a is traveling on the first road, and is located within the third sub-area range AC relative to the direction of the intersection, and the traffic strategy corresponding to the AC range has the highest priority at this time, then the first traffic indicator sign at the intersection of the first road is set to indicate that the unmanned vehicle is prohibited from entering the intersection. Exemplarily, the roadside equipment controls the light color of the traffic light to be red; the second traffic indicator sign at the intersection of the second road is set to indicate that the road is passable. Exemplarily, the roadside equipment controls the light color of the traffic light at the intersection of the second road where the manned vehicle is located to be green; or,

[0114] For step 4, assuming that the unmanned vehicle e is traveling on the first road and passing through an intersection, and is located within the fourth sub-area range EF, and the traffic strategy corresponding to the EF range has the highest priority at this time, then the first traffic indicator sign at the intersection of the first road is set to indicate that unmanned vehicles are prohibited from entering the intersection. Exemplarily, the roadside equipment controls the light color of the traffic light to be set to green; the second traffic indicator sign at the intersection of the second road is set to indicate that vehicles are prohibited from entering the intersection. Exemplarily, the roadside equipment controls the light color of the traffic light at the intersection of the second road where a manned vehicle is located to be set to red; or,

[0115] For step 5, assuming that the unmanned vehicle f is traveling on the first road, and is located within the fifth sub-area range FB relative to the direction of the intersection, and the traffic strategy corresponding to the FB range has the highest priority at this time, then the first traffic indicator sign at the intersection of the first road is set to indicate that unmanned vehicles are prohibited from entering the intersection. Exemplarily, the roadside equipment controls the traffic light to be set to red; the second traffic indicator sign at the intersection of the second road is set to indicate that the road is passable. Exemplarily, the roadside equipment controls the traffic light at the intersection of the second road where a manned vehicle is located to be set to green.

[0116] In another embodiment of the present disclosure, the traffic strategy priorities from high to low include: setting the second traffic indication sign to a first traffic strategy corresponding to a prohibition on vehicles from entering the intersection; setting the second traffic indication sign to a second traffic strategy corresponding to a prohibition on vehicles from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; and setting the second traffic indication sign to a third traffic strategy corresponding to permission to pass.

[0117] In the disclosed embodiment, the traffic strategy priorities from high to low include: setting the second traffic indication sign to a first traffic strategy corresponding to indicating that vehicles are prohibited from entering the intersection, exemplarily, the first traffic strategy in which the roadside device controls the traffic light color of the second road where there are vehicles to be set to red at the intersection has the highest priority; setting the second traffic indication sign to a second traffic strategy corresponding to indicating that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, exemplarily, the roadside device controls the traffic light color of the second road where there are vehicles to be set to yellow at the intersection has the second highest priority; setting the second traffic indication sign to a third traffic strategy corresponding to indicating that traffic is allowed, exemplarily, the third traffic strategy in which the roadside device controls the traffic light color of the second road where there are vehicles to be set to green at the intersection has the lowest priority.

[0118] Furthermore, if Figure 8 As shown, for example, unmanned vehicles a, c, and d are traveling on the first road. Relative to the direction of the intersection, their locations are within the third sub-area, the second sub-area, and the first sub-area, respectively. According to the priority of the traffic strategy, it can be obtained that the traffic strategy corresponding to the unmanned vehicle d in the first sub-area has the highest priority. The first traffic indicator sign for each driving direction should be set to indicate that the road is passable; and the second traffic indicator sign for each driving direction should be set to indicate that the vehicle is prohibited from entering the intersection. Exemplarily, the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be green, and the traffic light color of the second road where the manned vehicle is located at the intersection is set to red.

[0119] In another embodiment of the present disclosure, for each driving direction, the fourth sub-area range includes a first intersection range and a second intersection range adjacent to each other in the intersection according to the driving direction;

[0120] Then the above step 5: controlling the first traffic indicator at the intersection of the first road and the second traffic indicator at the intersection of the second road based on the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range can be implemented as follows:

[0121] Step 1: When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the first intersection range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection;

[0122] Step 2. When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second intersection range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line in the corresponding driving direction can pass through the intersection normally; and the second traffic indication sign for each driving direction is set to indicate that vehicles are prohibited from entering the intersection.

[0123] In the disclosed embodiment, after the unmanned vehicle enters the intersection, it drives to the second half of the intersection and is about to leave the intersection. At this time, if the first traffic indicator is always set to indicate that the intersection is passable, the unmanned vehicles that have just arrived at the intersection will continue to enter the intersection, and the traffic efficiency of manned vehicles on the second road cannot be guaranteed. Therefore, the intersection, i.e., the fourth sub-area range, can be further divided into the first intersection range and the second intersection range, so that when the unmanned vehicle enters the second intersection range, the first traffic indicator is set to indicate that the unmanned vehicle is prohibited from entering the intersection, but the unmanned vehicle that has passed the first stop line corresponding to the driving direction can pass through the intersection normally. Fig. 9 As shown, the unmanned vehicle a is traveling on the first road and passing through the intersection, and its location is within the first intersection range; the unmanned vehicle b is traveling on the first road and passing through the intersection, and its location is within the second intersection range.

[0124] Continue to see Fig. 9 , if the unmanned vehicle a is traveling on the first road and passing through the intersection, and its location is within the first intersection range EM, then the first traffic indicator sign of the first road at the intersection is set to indicate that it is passable, and exemplarily, the roadside equipment controls the light color of the traffic light to be set to green; the second traffic indicator sign of the second road at the intersection is set to indicate that vehicles are prohibited from entering the intersection, and exemplarily, the roadside equipment controls the light color of the traffic light of the second road where the manned vehicle is located to be set to red. Unmanned vehicle b is traveling on the first road and passing through the intersection, and its location is within the second intersection range MF, then the first traffic indicator sign of the first road at the intersection is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction pass through the intersection normally, and exemplarily, the roadside equipment controls the light color of the traffic light to be set to yellow; the second traffic indicator sign of the second road at the intersection is set to indicate that vehicles are prohibited from entering the intersection, and exemplarily, the roadside equipment controls the light color of the traffic light of the second road where the manned vehicle is located to be set to red.

[0125] In another embodiment of the present disclosure, the priority of the traffic strategies from high to low includes: setting the second traffic indication mark to a first traffic strategy corresponding to a prohibition of vehicles from entering the intersection; setting the second traffic indication mark to a second traffic strategy corresponding to a prohibition of vehicles from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; setting the second traffic indication mark to a third traffic strategy corresponding to a passable intersection;

[0126] In the case where the first access strategies corresponding to multiple area ranges all meet the highest priority, the first access strategy that meets the following conditions will be given priority: the first access indication mark is set to indicate that the access is possible.

[0127] In the present disclosure, Fig. 9 As shown, for example, unmanned vehicles a, b, c, and d are traveling on the first road, and are located in the first intersection range, the second intersection range, the second sub-area range, and the fifth sub-area range, respectively. According to the traffic strategy priority, it can be obtained that the traffic strategy priority corresponding to the unmanned vehicles a and b within the first intersection range and the second intersection range is the highest, and the second traffic indication sign for each driving direction is set to indicate that vehicles are prohibited from entering the intersection. Exemplarily, the roadside equipment controls the traffic light at the intersection of the second road where manned vehicles are located to be set to red.

[0128] Further, as in the above example, the location of unmanned vehicle a is respectively within the first intersection range. At this time, the first traffic indicator at the intersection of the first road is set to indicate that it is passable. The location of unmanned vehicle b is respectively within the second intersection range. At this time, the first traffic indicator at the intersection of the first road is set to indicate that unmanned vehicles are prohibited from entering the intersection, but the unmanned vehicle that has passed the first stop line corresponding to the driving direction passes through the intersection normally. According to the above-mentioned first traffic strategies corresponding to multiple area ranges all meet the highest priority, the first traffic strategy that meets the following conditions will be given priority: the first traffic indicator is set to indicate that it is passable. Exemplarily, the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be set to green.

[0129] In yet another embodiment of the present disclosure, the percentage of the second intersection range to the fourth sub-area range is no more than 50%.

[0130] In the present disclosure, Fig. 9As shown, the percentage of the second intersection range MF to the fourth sub-area range EF is p% (0≤p≤50), that is, MF=EF×p%. When p=0, MF=0, that is, the fourth sub-area range only includes the first intersection range. For example, the unmanned vehicle a travels in the first intersection range, and the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be set to green, and the traffic light color of the second road where the manned vehicle is located at the intersection to be set to red. After the unmanned vehicle a completely passes through the first intersection range and enters the fifth sub-area range, the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be set to red, and the traffic light color of the second road where the manned vehicle is located at the intersection to be set to green; when p=50, MF=EF×50%, that is, the second intersection range occupies half the distance of the fourth sub-area range. For example In the embodiment of the present invention, unmanned vehicle a is traveling within the first intersection range, and the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be set to green, and the traffic light color of the second road where a manned vehicle is located at the intersection to be set to red. When unmanned vehicle a completely passes through the first intersection range and enters the second intersection range, the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be set to yellow, and the traffic light color of the second road where a manned vehicle is located at the intersection to be set to red. After unmanned vehicle a completely passes through the second intersection range and enters the fifth sub-area range, the roadside equipment controls the traffic light color of the first road where the unmanned vehicle is located at the intersection to be red, and the traffic light color of the second road where a manned vehicle is located at the intersection to be green. During implementation, the roadside equipment can reasonably set the p value according to the requirements of the scenario plan.

[0131] In another embodiment of the present disclosure, before the unmanned vehicle drives to a preset area, the method further includes:

[0132] Step 1: Obtaining the driving speed information of the unmanned vehicle traveling toward the intersection on the first road and at a preset distance from the intersection;

[0133] Step 2: for each unmanned vehicle, determine the corresponding preset area range at the intersection for the unmanned vehicle according to the corresponding driving speed information.

[0134] Wherein, step 2 further comprises the following steps:

[0135] Step 1: for each unmanned vehicle, determine the first sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle, the speed limit of the intersection, and the second traffic indication sign is set to a first preset duration indicating that the unmanned vehicle is prohibited from entering the intersection;

[0136] Step 2: Determine the second sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle and the second preset duration for which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection but vehicles that have passed the second stop line can pass through the intersection normally;

[0137] Step 3: Determine the third sub-area range corresponding to the unmanned vehicle according to the first sub-area range and the second sub-area range;

[0138] Step 4: Determine the preset area range corresponding to the unmanned vehicle based on the first sub-area range, the second sub-area range, and the third sub-area range.

[0139] In the disclosed embodiment, the preset area range can be set to a fixed value, and any unmanned vehicle that drives to the preset area range of the fixed value will determine the traffic strategy of the intersection according to the sub-area range it enters. However, due to the large differences between unmanned vehicles, for example: the speed difference between fully loaded and unloaded vehicles is large, in order to make the determined driving strategy at the intersection more reasonable, the preset area range corresponding to each unmanned vehicle can be determined for each unmanned vehicle according to the specific situation of each unmanned vehicle. During implementation, a preset distance can be determined, and the preset distance is greater than the preset area range that any unmanned vehicle may correspond to. Once the unmanned vehicle drives to the preset distance from the intersection, the corresponding preset area range can be determined for the unmanned vehicle.

[0140] For example, Fig.10 As shown, when unmanned vehicle a is traveling on the first road, the roadside equipment finds that unmanned vehicle a is traveling to a preset distance from the intersection, and obtains the driving speed information of unmanned vehicle a. Then, according to the driving speed, the speed limit of the intersection, and the second traffic indication sign is set to the first preset duration that indicates that manned vehicles are prohibited from entering the intersection, the first sub-area range is calculated. The first preset duration can be the early red light duration Tr1 of the traffic light at the intersection of the second road where the manned vehicle is located. The roadside equipment can configure its value, and the default duration is recommended to be 5 seconds.

[0141] The roadside equipment then determines the second sub-area range corresponding to the unmanned vehicle a according to the driving speed of the unmanned vehicle a and the second preset duration for which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally. The second preset duration can be the yellow light duration Ty of the traffic light at the intersection of the second road where the manned vehicle is located. The roadside equipment can configure its value, and the default duration is recommended to be 4 seconds.

[0142] Furthermore, the roadside equipment determines the third sub-area range corresponding to the unmanned vehicle a based on the first sub-area range and the second sub-area range; since the intersection position is fixed, the first sub-area range and the second sub-area range can be determined in sequence according to the order of the principle intersection, and the third sub-area range is adjacent to the second sub-area range, and its size can be set according to the actual situation. After determining the first sub-area range, the second sub-area range, and the third sub-area range, the preset area range corresponding to the unmanned vehicle a can be determined. The unmanned vehicle a then drives forward and enters the intersection after passing through the third sub-area range, the second sub-area range, and the first sub-area range.

[0143] In another embodiment of the present disclosure, when there are unmanned vehicles within the second sub-area range and the fifth sub-area range, the following traffic strategy is implemented: the first traffic indication sign for each driving direction is set to indicate that the road is passable; and the second traffic indication sign for each driving direction is set to indicate that vehicles are prohibited from entering the intersection.

[0144] In the embodiments of the present disclosure, for example, Fig.11 As shown, the unmanned vehicle b drives out of the fourth sub-area range and enters the fifth sub-area range FB. At this time, according to the traffic strategy corresponding to the fifth sub-area range, the roadside equipment can control the light color of the traffic light at the intersection of the second road where the manned vehicle is located to switch from red to green. Because there is an unmanned vehicle a entering the second sub-area range CD, according to the traffic strategy corresponding to the second sub-area range, the roadside equipment can control the light color of the traffic light at the intersection of the second road where the manned vehicle is located to yellow. According to the priority of the above-mentioned traffic strategy, the priority of the yellow light is higher than the green light. Therefore, at this time, the roadside equipment controls the light color of the traffic light at the intersection of the second road where the manned vehicle is located to yellow, and the unmanned vehicle a a continues to drive forward and enters the first sub-area DE. At this time, the roadside equipment controls the traffic light at the intersection of the second road where the manned vehicle is located to be red. In summary, the roadside equipment controls the traffic light at the intersection of the second road where the manned vehicle is located to change the light color from red to yellow, and from yellow to red. This change rule will cause great confusion to the drivers and passengers. Therefore, when there are unmanned vehicles in the second sub-area CD and the fifth sub-area FB, the following traffic strategy is implemented: the first traffic indicator for each driving direction is set to indicate that the vehicle is allowed to pass; and the second traffic indicator for each driving direction is set to indicate that the vehicle is prohibited from entering the intersection. At this time, the roadside equipment controls the traffic light at the intersection of the second road where the manned vehicle is located to remain red.

[0145] In another embodiment of the present disclosure, the method further includes the following steps:

[0146] Step 1: receiving a mandatory control instruction for mandatory control of a traffic indication sign;

[0147] Step 2: Control the first passage indication mark and the second passage indication mark according to the mandatory control instruction.

[0148] In the embodiments of the present disclosure, for example, when the staff finds that traffic chaos has occurred on site and human intervention is needed to restore traffic order, they can send a compulsory control instruction to the roadside equipment through the cloud platform, and the roadside equipment can enforce compulsory control of the traffic signs. They can also directly operate the roadside equipment to enforce compulsory control of the traffic signs, or enforce compulsory control of the traffic signs in other ways, which are not limited here.

[0149] In another embodiment of the present disclosure, the above-mentioned step 1 and step 2 "the mandatory control instruction is used to instruct that the first traffic indication sign is set to indicate that the unmanned vehicle is prohibited from entering the intersection; according to the mandatory control instruction, the first traffic indication sign and the second traffic indication sign are controlled" can be implemented as follows:

[0150] Step 1: When the current first traffic indication sign indicates that the intersection is passable, or indicates that the unmanned vehicle is prohibited from entering the intersection, but the unmanned vehicle that has passed the first stop line passes through the intersection normally, the second traffic indication sign is set to indicate that the vehicle is prohibited from entering the intersection, but the vehicle that has passed the second stop line passes through the intersection normally, and the first traffic indication sign is set to indicate that the unmanned vehicle is prohibited from entering the intersection, but the unmanned vehicle that has passed the first stop line passes through the intersection normally;

[0151] Step 2: After the first preset time is maintained, the second traffic indication mark is set to indicate that the intersection is passable, and the first traffic indication mark is set to indicate that vehicles are prohibited from entering the intersection, and the second preset time is maintained;

[0152] Step 3: When the first traffic sign indicates that the intersection is prohibited for unmanned vehicles, the second traffic sign is switched to indicate that the intersection is passable, and the first traffic sign is maintained to indicate that the intersection is prohibited for unmanned vehicles, and the second preset time is maintained.

[0153] In the embodiment of the present disclosure, the mandatory control instruction is exemplarily executed according to the following two situations when the light color of the traffic light at the intersection of the first road where the unmanned vehicle is located is set to red:

[0154] The first case: when the traffic light at the intersection of the first road where the unmanned vehicle is located is green or yellow, the traffic light at the intersection of the first road where the unmanned vehicle is located and the traffic light at the intersection of the second road where the manned vehicle is located are both set to yellow and maintained for the first preset time Ty, during which the traffic light serves as a warning to the unmanned vehicle and the manned vehicle, and then the traffic light at the intersection of the second road where the manned vehicle is located is set to green, and the traffic light at the intersection of the first road where the unmanned vehicle is located is set to red, and maintained for the second preset time Tp, which is used to restore traffic order on site. The roadside equipment can customize the first preset time Ty and the second preset time Tp.

[0155] The second situation: when the traffic light at the intersection of the first road where the unmanned vehicle is located is red, the traffic light at the intersection of the second road where the manned vehicle is located is set to green, and the traffic light at the intersection of the first road where the unmanned vehicle is located is set to red, and maintained for a second preset time Tp, which is used to restore traffic order on site. The roadside equipment can customize the second preset time Tp.

[0156] In another embodiment of the present disclosure, the above-mentioned step 1 and step 2 "the mandatory control instruction is used to instruct to set the first passage indication mark to indicate that the passage is allowed; according to the mandatory control instruction, the first passage indication mark and the second passage indication mark are controlled" can be implemented as follows:

[0157] Step 1: when the first traffic indication sign indicates that the intersection is passable, the second traffic indication sign is maintained to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is maintained to indicate that the intersection is passable for a second preset time;

[0158] Step 2: When the current first traffic indication sign indicates that unmanned vehicles are prohibited from entering the intersection, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally;

[0159] Step 3: After maintaining the first preset time, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is set to indicate that vehicles are allowed to pass, and maintained for the second preset time.

[0160] In the embodiment of the present disclosure, for example, when the mandatory control instruction instructs the traffic light at the intersection of the first road where the unmanned vehicle is located to be set to green, the command is executed according to the following two situations:

[0161] The first case: when the traffic light at the intersection of the first road where the unmanned vehicle is located is green, the traffic light at the intersection of the second road where the manned vehicle is located is maintained as red, and the traffic light at the intersection of the first road where the unmanned vehicle is located is maintained as green for a second preset time Tp, which is used to restore traffic order on site. The roadside equipment can customize the second preset time Tp.

[0162] The second situation: when the traffic light color of the first road where the unmanned vehicle is located at the intersection is yellow or red, the traffic light color of the first road where the unmanned vehicle is located at the intersection and the traffic light color of the second road where the manned vehicle is located at the intersection are both set to yellow and maintained for the first preset time Ty, during which the traffic light serves as a warning to the unmanned vehicle and the manned vehicle, and then the traffic light color of the second road where the manned vehicle is located at the intersection is set to red, and the traffic light color of the first road where the unmanned vehicle is located at the intersection is set to green, and maintained for the second preset time Tp, which is used to restore traffic order on site. The roadside equipment can customize the first preset time Ty and the second preset time Tp.

[0163] In another embodiment of the present disclosure, after maintaining the second preset time, the method further includes:

[0164] Step 1: Set the second traffic indication sign to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; set the first traffic indication sign to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally;

[0165] Step 2: After maintaining the first preset time, continue to execute the step of controlling the first traffic indication sign of the first road at the intersection and the second traffic indication sign of the second road at the intersection according to the position relationship.

[0166] In the embodiment of the present disclosure, for example, after the second preset time is maintained, the traffic order on site has been restored, and the road test equipment needs to resume automatic control of the traffic indication sign. At this time, the following steps are performed respectively:

[0167] Step 1: Set the traffic lights at the intersection of the first road where the unmanned vehicle is located and the traffic lights at the intersection of the second road where the manned vehicle is located to yellow and keep them for a first preset time Ty, during which the traffic lights serve as a warning to the unmanned vehicle and the manned vehicle. The roadside equipment can customize the first preset time Ty.

[0168] Step 2: Continue to execute after maintaining the first preset time Ty Figure 1 The step S103 is shown.

[0169] In another embodiment provided by the present disclosure, the above method also includes: after the first passage indicator and the second passage indicator are determined for the first time according to the position relationship and the display is controlled, the first passage indicator and the second passage indicator are displayed accordingly in a preset display order.

[0170] In this embodiment, for the first road, since the first unmanned vehicle will drive from far to near to the intersection, see Figure 6 For unmanned vehicle a, taking the traffic light as an example, the first traffic sign will be red light (unmanned vehicle a enters sub-area range AC) -> yellow light (unmanned vehicle a enters sub-area range CD) -> green light (unmanned vehicle a enters sub-area range DE) -> green light (unmanned vehicle a enters sub-area range EM (see Fig. 9 The sub-area range division in the diagram))->yellow light (unmanned vehicle a enters sub-area range MF)->red light (unmanned vehicle a enters sub-area range FB), and the second traffic indicator and the first traffic indicator are displayed mutually exclusive. This display order is more in line with common sense. Therefore, after the first traffic indicator and the second traffic indicator are displayed for the first time, they can be displayed in a reasonable display order, but the display time can be controlled according to the actual driving situation of the unmanned vehicle. For example: if the unmanned vehicle a drives to the sub-area range DE, there are also unmanned vehicles in the sub-area range MF at this time. The traffic strategy corresponding to the sub-area range MF is to turn on the yellow light, and the traffic strategy corresponding to the sub-area range DE is to turn on the green light. If the yellow light is on, then because there are unmanned vehicles in the sub-area range DE, the green light will be displayed later, which is not in line with common sense. Therefore, the display time of the green light can be extended, and the yellow light can be turned on when the unmanned vehicle drives to the sub-area range MF and there are no unmanned vehicles in the sub-area range DE.

[0171] The present disclosure provides a vehicle passage device at an intersection, such as Fig.12 As shown, including:

[0172] The driving information acquisition module 1201 is used to acquire driving information of an unmanned vehicle traveling on a first road to a preset area within the intersection of the first road and the second road;

[0173] A position relationship determination module 1202, configured to determine a position relationship between the unmanned vehicle and the intersection according to the driving information;

[0174] The indicator control module 1203 is used to control the first traffic indicator of the first road at the intersection and the second traffic indicator of the second road at the intersection according to the position relationship, and satisfies: the traffic strategy indicated by the first traffic indicator for the unmanned vehicle on the first road is mutually exclusive with the traffic strategy indicated by the second traffic indicator for the vehicle on the second road.

[0175] In another embodiment provided by the present disclosure, the position relationship determination module 1202 is used to determine, according to the driving direction information, a preset area range of the unmanned vehicle on the first road corresponding to the driving direction; and determine, according to the current position information, a sub-area range within the preset area range where the unmanned vehicle is located; the sub-area range is a continuous distance interval into which the preset area range is pre-divided;

[0176] The indicator control module 1203 is used to determine the target sub-area range where there are unmanned vehicles in each driving direction; for each target sub-area range, determine the traffic strategy for the unmanned vehicles within the target sub-area range at the intersection; based on the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range, control the first traffic indicator of the first road at the intersection and the second traffic indicator of the second road at the intersection; the driving information includes: current location information and driving direction information.

[0177] In another embodiment provided by the present disclosure, for each driving direction, the sub-area range of the preset area range includes: starting from the first stop line corresponding to the driving direction, in the direction away from the intersection, from near to far, the first sub-area range, the second sub-area range and the third sub-area range, as well as the fourth sub-area range corresponding to the intersection, and the fifth sub-area range adjacent to the fourth sub-area range after passing the intersection in the driving direction; the first stop line is the stop line set for the two driving directions at the intersection on the first road.

[0178] In another embodiment provided by the present disclosure, the indicator control module 1203 is used to set the first traffic indicator of each driving direction to indicate that the traffic is passable; and set the second traffic indicator of each driving direction to indicate that the vehicle is prohibited from entering the intersection when the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the first sub-area range; or,

[0179] When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second sub-area range, the first traffic indication mark for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication mark for each driving direction is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; the second stop line is a stop line set on the second road at the intersection for the two driving directions respectively; or,

[0180] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the third sub-area range, the first traffic indication mark of each driving direction is set to indicate that the unmanned vehicle is prohibited from entering the intersection; and the second traffic indication mark of each driving direction is set to indicate that the intersection is passable; or,

[0181] When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the fourth sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or,

[0182] When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the fifth sub-area range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication sign for each driving direction is set to indicate that it is passable.

[0183] In another embodiment provided in the present disclosure, the traffic strategy priorities from high to low include: setting the second traffic indicator sign to a first traffic strategy corresponding to prohibiting vehicles from entering the intersection; setting the second traffic indicator sign to a second traffic strategy corresponding to prohibiting vehicles from entering the intersection, but allowing vehicles that have passed the second stop line to pass through the intersection normally; and setting the second traffic indicator sign to a third traffic strategy corresponding to allowing traffic to pass.

[0184] In another embodiment provided by the present disclosure, the indicator control module 1203 is used to set the first traffic indicator for each driving direction to indicate that the road is passable when the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the first intersection range; and set the second traffic indicator for each driving direction to indicate that vehicles are prohibited from entering the intersection; when the traffic strategy with the highest priority among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second intersection range, set the first traffic indicator for each driving direction to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction can pass through the intersection normally; and set the second traffic indicator for each driving direction to indicate that vehicles are prohibited from entering the intersection; for each driving direction, the fourth sub-area range includes the first intersection range and the second intersection range adjacent to each other in the intersection according to the driving direction.

[0185] In another embodiment provided by the present disclosure, the priority of the traffic strategies from high to low includes: setting the second traffic indication mark to a first traffic strategy corresponding to the prohibition of vehicles from entering the intersection; setting the second traffic indication mark to a second traffic strategy corresponding to the prohibition of vehicles from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; setting the second traffic indication mark to a third traffic strategy corresponding to the passable traffic;

[0186] When the first traffic strategies corresponding to multiple area ranges all meet the highest priority, the first traffic strategy that meets the following conditions will be given priority: the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction can pass through the intersection normally.

[0187] In yet another embodiment provided by the present disclosure, the percentage of the second intersection range to the fourth sub-area range is no more than 50%.

[0188] In another embodiment provided by the present disclosure, the driving information acquisition module 1201 is further configured to acquire driving speed information of the unmanned vehicle traveling toward the intersection on the first road and at a preset distance from the intersection before the unmanned vehicle travels to the preset area;

[0189] For each unmanned vehicle, according to the corresponding driving speed information, determine a corresponding preset area range at the intersection for the unmanned vehicle;

[0190] The driving information acquisition module 1201 is used to determine, for each unmanned vehicle, the first sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle, the speed limit of the intersection, and the first preset duration for which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but the second preset duration for which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection but vehicles that have passed the second stop line pass through the intersection normally, to determine the second sub-area range corresponding to the unmanned vehicle; determine the third sub-area range corresponding to the unmanned vehicle according to the first sub-area range and the second sub-area range; and determine the preset area range corresponding to the unmanned vehicle according to the first sub-area range, the second sub-area range, and the third sub-area range.

[0191] In another embodiment provided by the present disclosure, when there are unmanned vehicles in both the second sub-area range and the fifth sub-area range, the following traffic strategy is implemented: the first traffic indication sign for each driving direction is set to indicate that the vehicle is passable; and the second traffic indication sign for each driving direction is set to indicate that the vehicle is prohibited from entering the intersection.

[0192] In another embodiment provided by the present disclosure, the indicator control module 1203 is further used to receive a compulsory control instruction for compulsory control of the traffic indicator; and control the first traffic indicator and the second traffic indicator according to the compulsory control instruction.

[0193] In another embodiment provided by the present disclosure, the indicator control module 1203 is used to set the second traffic indicator to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally, and set the first traffic indicator to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally; after maintaining the first preset time, set the second traffic indicator to indicate that traffic is allowed, and set the first traffic indicator to indicate that vehicles are prohibited from entering the intersection, and maintain the second preset time; when the first traffic indicator currently indicates that unmanned vehicles are prohibited from entering the intersection, the second traffic indicator is switched to indicate that traffic is allowed, and the first traffic indicator is maintained to indicate that unmanned vehicles are prohibited from entering the intersection, and maintain the second preset time.

[0194] In another embodiment provided by the present disclosure, the indicator control module 1203 is used to, when the first traffic indicator currently indicates that the intersection is passable, maintain the second traffic indicator to indicate that vehicles are prohibited from entering the intersection, maintain the first traffic indicator to indicate that the intersection is passable, and maintain the second preset time; when the first traffic indicator currently indicates that unmanned vehicles are prohibited from entering the intersection, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally, switch the second traffic indicator to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally, and set the first traffic indicator to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally; after maintaining the first preset time, switch the second traffic indicator to indicate that vehicles are prohibited from entering the intersection, set the first traffic indicator to indicate that vehicles are passable, and maintain the second preset time.

[0195] In another embodiment provided by the present disclosure, the indicator sign control module 1203 is also used to, after maintaining the second preset time, set the second traffic indicator sign to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and set the first traffic indicator sign to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally; after maintaining the first preset time, continue to execute the steps of controlling the first traffic indicator sign of the first road at the intersection and the second traffic indicator sign of the second road at the intersection according to the position relationship.

[0196] An embodiment of the present disclosure provides a roadside device, including: a vehicle passage device at an intersection as described in any of the above embodiments.

[0197] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0198] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0199] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the present embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0200] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0201] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for passing vehicles at an intersection, characterized in that: include: Acquire driving information of an unmanned vehicle traveling on a first road to a preset area at an intersection of the first road and a second road; Determining a positional relationship between the unmanned vehicle and the intersection according to the driving information; According to the positional relationship, the first traffic indication sign of the first road at the intersection and the second traffic indication sign of the second road at the intersection are controlled, and the following conditions are satisfied: the traffic strategy indicated by the first traffic indication sign for the unmanned vehicle on the first road and the traffic strategy indicated by the second traffic indication sign for the vehicle on the second road are mutually exclusive.

2. The method according to claim 1, characterized in that The driving information includes: current location information and driving direction information; The determining, based on the driving information, a positional relationship between the unmanned vehicle and the intersection includes: Determining a preset area range of the unmanned vehicle on the first road corresponding to the driving direction according to the driving direction information; Determine, according to the current location information, a sub-region range within the preset region range where the unmanned vehicle is located; the sub-region range is a continuous distance interval into which the preset region range is pre-divided; The controlling, according to the positional relationship, a first traffic indication mark of the first road at the intersection and a second traffic indication mark of the second road at the intersection comprises: Determine the target sub-area range where unmanned vehicles exist in each driving direction; For each target sub-area range, determining a traffic strategy for the unmanned vehicle within the target sub-area range at the intersection; Based on the traffic strategy with the highest priority among the traffic strategies corresponding to the target sub-area ranges, a first traffic indication mark of the first road at the intersection and a second traffic indication mark of the second road at the intersection are controlled.

3. The method according to claim 2, characterized in that For each driving direction, the sub-area range of the preset area range includes: starting from the first stop line corresponding to the driving direction, in the direction away from the intersection, from near to far, the first sub-area range, the second sub-area range and the third sub-area range, and the fourth sub-area range corresponding to the intersection, and the fifth sub-area range adjacent to the fourth sub-area range after passing the intersection according to the driving direction; The first stop lines are stop lines respectively set at the intersection on the first road for two driving directions.

4. The method according to claim 3, characterized in that Based on the traffic strategy with the highest priority among the traffic strategies corresponding to the target sub-area ranges, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection, including: When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the first sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or, When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second sub-area range, the first traffic indication mark for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication mark for each driving direction is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally; the second stop line is a stop line set on the second road at the intersection for the two driving directions respectively; or, When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the third sub-area range, the first traffic indication mark of each driving direction is set to indicate that the unmanned vehicle is prohibited from entering the intersection; and the second traffic indication mark of each driving direction is set to indicate that the intersection is passable; or, When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the fourth sub-area range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; or, When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the fifth sub-area range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection; and the second traffic indication sign for each driving direction is set to indicate that it is passable.

5. The method according to claim 2 or 4, characterized in that The traffic strategy priorities from high to low include: setting the second traffic indicator to a first traffic strategy corresponding to prohibiting vehicles from entering the intersection; setting the second traffic indicator to a second traffic strategy corresponding to prohibiting vehicles from entering the intersection, but allowing vehicles that have passed the second stop line to pass through the intersection normally; and setting the second traffic indicator to a third traffic strategy corresponding to allowing traffic to pass.

6. The method according to claim 3 or 4, characterized in that For each driving direction, the fourth sub-area range includes a first intersection range and a second intersection range adjacent to each other in the intersection according to the driving direction; Based on the traffic strategy with the highest priority among the traffic strategies corresponding to the target sub-area ranges, controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection, including: When the highest priority traffic strategy among the traffic strategies corresponding to the target sub-area ranges is the traffic strategy corresponding to the first intersection range, the first traffic indication mark of each driving direction is set to indicate that the traffic is allowed; and the second traffic indication mark of each driving direction is set to indicate that the vehicle is prohibited from entering the intersection; When the highest priority traffic strategy among the traffic strategies corresponding to each target sub-area range is the traffic strategy corresponding to the second intersection range, the first traffic indication sign for each driving direction is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line corresponding to the driving direction can pass through the intersection normally; and the second traffic indication sign for each driving direction is set to indicate that vehicles are prohibited from entering the intersection.

7. The method according to claim 6, characterized in that The priority of the traffic strategies from high to low includes: setting the second traffic indicator to a first traffic strategy corresponding to prohibiting vehicles from entering the intersection; setting the second traffic indicator to a second traffic strategy corresponding to prohibiting vehicles from entering the intersection, but allowing vehicles that have passed the second stop line to pass through the intersection normally; setting the second traffic indicator to a third traffic strategy corresponding to allowing traffic to pass; In the case where the first access strategies corresponding to multiple area ranges all meet the highest priority, the first access strategy that meets the following conditions will be given priority: the first access indication mark is set to indicate that the access is possible.

8. The method according to claim 6, characterized in that The percentage of the second intersection range to the fourth sub-area range is no more than 50%.

9. The method according to any one of claims 3 to 5, characterized in that: Before the unmanned vehicle drives to the preset area, the method further includes: Acquire the driving speed information of the unmanned vehicle traveling on the first road toward the intersection and at a preset distance from the intersection; For each unmanned vehicle, according to the corresponding driving speed information, a corresponding preset area range at the intersection is determined for the unmanned vehicle, including: For each unmanned vehicle, determine the first sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle, the speed limit of the intersection, and the first preset duration for setting the second traffic indication sign to indicate that manned vehicles are prohibited from entering the intersection; Determine the second sub-area range corresponding to the unmanned vehicle according to the driving speed of the unmanned vehicle and the second preset duration during which the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally; Determine a third sub-area range corresponding to the unmanned vehicle according to the first sub-area range and the second sub-area range; A preset area range corresponding to the unmanned vehicle is determined according to the first sub-area range, the second sub-area range, and the third sub-area range.

10. The method according to claim 5 or 7, characterized in that: When there are unmanned vehicles within the second sub-area and the fifth sub-area, the following traffic strategy is implemented: the first traffic indication sign for each driving direction is set to indicate that the vehicle is passable; and the second traffic indication sign for each driving direction is set to indicate that the vehicle is prohibited from entering the intersection.

11. The method according to claim 1, characterized in that Also includes: Receiving a mandatory control instruction for mandatory control of a traffic indication sign; The first passage indication mark and the second passage indication mark are controlled according to the mandatory control instruction.

12. The method according to claim 11, characterized in that The mandatory control instruction is used to instruct that the first traffic indication sign is set to indicate that the unmanned vehicle is prohibited from entering the intersection; Controlling the first passage indication mark and the second passage indication mark according to the mandatory control instruction includes: In the case where the first traffic indication sign currently indicates that the intersection is passable, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally, the second traffic indication sign is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line pass through the intersection normally, and the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line pass through the intersection normally; After maintaining the first preset time, setting the second traffic indication mark to indicate that the intersection is passable, and setting the first traffic indication mark to indicate that vehicles are prohibited from entering the intersection, and maintaining the second preset time; When the first traffic indication sign currently indicates that unmanned vehicles are prohibited from entering the intersection, the second traffic indication sign is switched to indicate that the intersection is passable, and the first traffic indication sign is maintained to indicate that unmanned vehicles are prohibited from entering the intersection, and is maintained for a second preset time.

13. The method according to claim 11, characterized in that The mandatory control instruction is used to instruct to set the first pass indication mark to indicate that the vehicle is passable; Controlling the first passage indication mark and the second passage indication mark according to the mandatory control instruction includes: When the first traffic indication sign indicates that the intersection is passable, the second traffic indication sign is maintained to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is maintained to indicate that the intersection is passable, and the second preset time is maintained; In the case where the first traffic indication sign currently indicates that unmanned vehicles are prohibited from entering the intersection, or indicates that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and the first traffic indication sign is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally; After maintaining the first preset time, the second traffic indication sign is switched to indicate that vehicles are prohibited from entering the intersection, and the first traffic indication sign is set to indicate that vehicles are allowed to pass, and maintained for the second preset time.

14. The method according to claim 12 or 13, characterized in that After maintaining the second preset time, the method further comprises: The second traffic indication mark is set to indicate that vehicles are prohibited from entering the intersection, but vehicles that have passed the second stop line can pass through the intersection normally, and the first traffic indication mark is set to indicate that unmanned vehicles are prohibited from entering the intersection, but unmanned vehicles that have passed the first stop line can pass through the intersection normally; After maintaining the first preset time, continue to execute the step of controlling the first traffic indication mark of the first road at the intersection and the second traffic indication mark of the second road at the intersection according to the position relationship.

15. The method according to claim 1, wherein: Also includes: After the first passage indication mark and the second passage indication mark are determined for the first time according to the position relationship and controlled to be displayed, the first passage indication mark and the second passage indication mark are displayed in a preset display order accordingly.

16. A vehicle passage device at an intersection, characterized in that: include: A driving information acquisition module, used to acquire driving information of an unmanned vehicle traveling on a first road to a preset area at an intersection of the first road and a second road; A position relationship determination module, used to determine the position relationship between the unmanned vehicle and the intersection according to the driving information; An indicator control module is used to control a first traffic indicator of the first road at the intersection and a second traffic indicator of the second road at the intersection according to the position relationship, and satisfies: the traffic strategy indicated by the first traffic indicator for the unmanned vehicle on the first road is mutually exclusive with the traffic strategy indicated by the second traffic indicator for the vehicle on the second road.

17. A roadside equipment, characterized in that: include: The vehicle passage device at an intersection as claimed in claim 16.

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