Pass control strategy determination method and device, storage medium and electronic device

Abstract

The invention discloses a traffic control strategy determination method and device, a storage medium and an electronic device, and relates to the field of intelligent driving. The method comprises the steps that passing vehicle information in a target gate machine channel is acquired from monitoring information obtained by monitoring the vehicle environment of a target vehicle, the passing vehicle passes through a gate machine from the target gate machine channel, the target gate machine channel is a gate machine channel corresponding to a gate machine which the target vehicle is about to pass through, and the passing vehicle information comprises the vehicle passing direction; the distance between the vehicle and the gate machine; determining a passing control strategy of the target vehicle according to the vehicle passing direction, the vehicle number and the distance between the vehicle and the gate; and controlling the target vehicle to pass through the gate from the target gate channel according to the traffic control strategy. By adopting the technical scheme, the problem of how to quickly and accurately control the vehicle to safely pass through the gate in a complex gate passing scene is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to a method and device for determining a traffic control strategy, a storage medium, and an electronic device. Background Art

[0002] In the traditional driving mode, when facing the scene of passing through the gate during peak hours or in busy areas such as queuing to enter and exit parking lots and parks, the driver needs to rely on the driver's experience and intuition, combined with the limited real-time traffic information observed by the driver to drive the vehicle through the gate. However, due to incomplete traffic information or misjudgment, drivers often find it difficult to make the best choice, which not only wastes time, but also may pose safety risks.

[0003] Regarding related technologies, in complex gate passage scenarios, there is currently no effective solution to the problem of how to quickly and accurately control vehicles to pass through the gate safely.

[0004] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0005] The embodiments of the present application provide a method and device for determining a traffic control strategy, a storage medium, and an electronic device to at least solve the problem of how to quickly and accurately control vehicles to safely pass through a gate in a complex gate passage scenario.

[0006] According to one aspect of an embodiment of the present application, a method for determining a traffic control strategy is provided, comprising: obtaining information on passing vehicles in a target gate channel from monitoring information obtained by monitoring a vehicle environment by a target vehicle, wherein the passing vehicle passes through the gate from the target gate channel, and the target gate channel is the gate channel corresponding to the gate through which the target vehicle is about to pass, and the passing vehicle information includes the direction of vehicle travel, the number of vehicles, and the distance between the vehicle and the gate; determining a traffic control strategy for the target vehicle according to the direction of vehicle travel, the number of vehicles, and the distance between the vehicle and the gate; and controlling the target vehicle to pass through the gate from the target gate channel according to the traffic control strategy.

[0007] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is no passing vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a first traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the first traffic control strategy, including: when the distance from the gate is less than a first preset distance, adjusting the distance between the target vehicle and the right boundary of the gate channel until the distance between the target vehicle and the right boundary of the gate channel is a second preset distance; decelerating and stopping when the distance from the gate is a third preset distance, wherein the third preset distance is less than the first preset distance; when it is determined that the gate is released, accelerating to the limited speed of the gate channel to pass through the gate.

[0008] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is a first passing vehicle traveling in the same direction as the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a second traffic control strategy, wherein the first passing vehicle is a vehicle located in front of the target vehicle and closest to the target vehicle; controlling the target vehicle to pass through the gate from the target gate channel according to the second traffic control strategy, including: following the first passing vehicle, controlling the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance; decelerating and stopping when it is determined that the distance between the first passing vehicle and the gate is less than the third preset distance; and passing through the gate according to the first traffic control strategy when it is determined that the first passing vehicle has passed through the gate.

[0009] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is only one second passing vehicle traveling in the opposite direction of the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a third traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the third traffic control strategy, including: if the distance between the second passing vehicle and the gate is greater than the distance between the target vehicle and the gate, adjusting the lateral distance between the target vehicle and the second passing vehicle when the distance from the gate is less than the first preset distance; decelerating and stopping when the lateral distance between the target vehicle and the second passing vehicle has been adjusted to the second preset distance; when it is determined that the second passing vehicle has passed the gate and the distance from the gate is greater than the first preset distance, accelerating to the limited speed of the gate channel to pass through the gate.

[0010] In an exemplary embodiment, controlling the target vehicle to pass through the gate from the target gate channel according to the third traffic control strategy also includes: if the distance between the second passing vehicle and the gate is less than the distance between the target vehicle and the gate, decelerating and stopping when it is determined that the distance between the second passing vehicle and the gate is greater than the first preset distance, passing through the gate according to the first traffic control strategy.

[0011] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a fourth traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the fourth traffic control strategy, including: adjusting the distance between the target vehicle and the right boundary of the gate channel when the distance from the gate is less than a first preset distance; slowing down and stopping when the distance between the target vehicle and the right boundary of the gate channel has been adjusted to the second preset distance; slowing down and stopping when it is determined that the distance between a third passing vehicle and the gate is greater than the first preset distance, passing the gate according to the first traffic control strategy, wherein the third passing vehicle is the oppositely traveling vehicle closest to the gate.

[0012] In an exemplary embodiment, the traffic control strategy for the target vehicle is determined according to the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel and there are multiple vehicles traveling in the same direction as the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to the fifth traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the fifth traffic control strategy, including: following the fourth passing vehicle, controlling the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance, wherein the fourth passing vehicle is a vehicle located in front of the target vehicle and traveling in the same direction as the target vehicle; decelerating and stopping when it is determined that the distance between the fourth passing vehicle and the gate is less than the third preset distance; and passing through the gate according to the fourth traffic control strategy when it is determined that the fourth passing vehicle has passed through the gate.

[0013] According to another aspect of an embodiment of the present application, a device for determining a traffic control strategy is also provided, including: an acquisition module, used to acquire the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, and the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate; a determination module, used to determine the traffic control strategy of the target vehicle according to the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate; a control module, used to control the target vehicle to pass through the gate from the target gate channel according to the traffic control strategy.

[0014] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for determining the traffic control strategy when running.

[0015] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for determining the traffic control strategy through the computer program.

[0016] Through this application, the target vehicle can detect the surrounding environment of the vehicle to obtain the passing direction, number of vehicles, distance between the vehicle and the gate and other passing vehicle information in the target gate channel, and then determine the passing strategy of the target vehicle through the gate according to the above passing vehicle information, and then control the vehicle safety according to the above passing strategy, and efficiently pass through the gate from the target gate channel. Through the above scheme, the vehicle can be controlled to quickly determine the corresponding passage scheme in different gate communication scenarios, greatly reducing the driver's driving pressure and safety risks. It solves the problem of how to quickly and accurately control the safe passage of vehicles through the gate in complex gate passage scenarios, and thus can achieve the effect of quickly and accurately controlling the safe passage of vehicles through the gate. . BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 It is a hardware structure block diagram of a computer terminal that executes the method for determining the traffic control strategy of an embodiment of the present application;

[0019] Figure 2 is a flow chart of a method for determining a traffic control strategy according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (I);

[0021] Figure 4 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (II);

[0022] Figure 5 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (III);

[0023] Figure 6 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (IV);

[0024] Figure 7 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (V);

[0025] Figure 8 is a schematic diagram of a gate passage scenario according to an embodiment of the present application (six);

[0026] Fig. 9 It is a structural block diagram of a device for determining a traffic control strategy according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms and "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal that executes the method for determining the traffic control strategy of the embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD) and a memory 104 configured to store data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 configured to have a communication function and an input / output device 108. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0030] The memory 104 may be configured to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the traffic control strategy in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] The transmission device 106 is configured to receive or send data via a network. A specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0032] In this embodiment, a method for determining a traffic control strategy is provided. Figure 2 : is a flow chart of a method for determining a traffic control strategy according to an embodiment of the present application, and the flow includes the following steps:

[0033] Step S202, obtaining the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate;

[0034] Optionally, in the above step S202, the distance between the above vehicle and the gate includes the distance between the target vehicle and the gate and the distance between other vehicles and the gate.

[0035] Step S204, determining a traffic control strategy for the target vehicle according to the vehicle's travel direction, the number of vehicles, and the distance between the vehicle and the gate.

[0036] Step S206, controlling the target vehicle to pass through the gate from the target gate channel according to the traffic control strategy.

[0037] Through the above steps, the target vehicle can detect the surrounding environment of the vehicle to obtain the passing direction, number of vehicles, distance between the vehicle and the gate and other passing vehicle information in the target gate channel, and then determine the target vehicle's passing strategy through the gate according to the above passing vehicle information, and then control the vehicle safety according to the above traffic strategy, and efficiently pass through the gate from the target gate channel. Through the above scheme, the vehicle can be controlled to quickly determine the corresponding traffic scheme in different gate communication scenarios, greatly reducing the driver's driving pressure and safety risks. It solves the problem of how to quickly and accurately control the vehicle to pass the gate safely in complex gate passage scenarios, and thus can achieve the effect of quickly and accurately controlling the vehicle to pass the gate safely.

[0038] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is no passing vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a first traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the first traffic control strategy, including: when the distance from the gate is less than a first preset distance, adjusting the distance between the target vehicle and the right boundary of the gate channel until the distance between the target vehicle and the right boundary of the gate channel is a second preset distance; decelerating and stopping when the distance from the gate is a third preset distance, wherein the third preset distance is less than the first preset distance; when it is determined that the gate is released, accelerating to the limited speed of the gate channel to pass through the gate.

[0039] In an optional embodiment, if Figure 3 As shown, the target vehicle is about to pass through the gate, and there is no vehicle other than the target vehicle passing through the gate channel. In the above scenario, the target vehicle can be controlled to travel according to the following control strategy (equivalent to the first passage control strategy):

[0040] 1. The target vehicle recognizes that it needs to pass through the gate ahead and activates the automatic gate machine's traffic control strategy.

[0041] 2. When the target vehicle is 50 meters away from the gate (equivalent to the first preset distance mentioned above), it enters the dedicated lane on the right side. If there are obstacles such as railings on both sides of the gate channel, it is necessary to maintain a lateral safety distance of more than 20 cm (equivalent to the second preset distance) from obstacles such as the right railing (equivalent to the right boundary of the gate channel).

[0042] It should be noted that if Figure 3 As shown, the target vehicle has two travel directions: entering and exiting. When passing through the gate, the target vehicle enters the dedicated lane on the right side, which refers to the right side relative to the target vehicle.

[0043] 3. When the target vehicle is identified as being 5m away from the gate (equivalent to the third preset distance), it slows down and stops, waiting for the gate camera to recognize the license plate number and release it.

[0044] 4. After waiting for the gate railings and other obstacles to be fully lifted and released, the target vehicle accelerates to the limited speed of the gate channel within 2 seconds to pass through the gate.

[0045] In the above strategy, the target vehicle needs to meet the comfort requirements during acceleration and deceleration. If the target vehicle is driving from the exit direction, such as from a residential area, school, or parking lot, the vehicle speed can be updated according to the road speed after exiting the gate channel. If the target vehicle is driving from the entry direction, such as entering a residential area, school, or parking lot, the vehicle speed can be updated according to the limited speed of the residential area, school, or parking lot after exiting the gate channel.

[0046] It should be noted that the specific distances and times involved in the above embodiments and other embodiments of the present application are only examples and are not intended to limit the present application. The specific values ​​can be adaptively adjusted according to the actual application scenario.

[0047] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is a first passing vehicle traveling in the same direction as the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a second traffic control strategy, wherein the first passing vehicle is a vehicle located in front of the target vehicle and closest to the target vehicle; controlling the target vehicle to pass through the gate from the target gate channel according to the second traffic control strategy, including: following the first passing vehicle, controlling the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance; decelerating and stopping when it is determined that the distance between the first passing vehicle and the gate is less than the third preset distance; and passing through the gate according to the first traffic control strategy when it is determined that the first passing vehicle has passed through the gate.

[0048] In an optional embodiment, the target vehicle is about to pass through the gate, and there is only one vehicle traveling in the same direction in front of the target vehicle on the gate passage, such as Figure 4 As shown, the number of vehicles traveling in the same direction can be one, and the vehicles traveling in the same direction include not only cars but also two-wheeled vehicles such as motorcycles, such as Figure 5 As shown, there may be multiple vehicles traveling in the same direction, including tricycles. In the above scenario, the target vehicle may be controlled to travel according to the following control strategy (equivalent to the second traffic control strategy):

[0049] 1. The target vehicle follows the front vehicle (equivalent to the first passing vehicle) and maintains a reasonable longitudinal distance (equivalent to the fourth preset distance) with the front vehicle. For example, it can be set to THW=2 seconds, where THW represents the ratio of the distance between the two vehicles to the speed of the vehicle.

[0050] 2. When the target vehicle detects that the vehicle ahead is 5m away from the gate, it slows down and stops, waiting for the vehicle ahead to pass through the gate.

[0051] 3. After the vehicle in front passes the gate, the target vehicle can be controlled according to the first traffic control strategy, slowly drive to the right and approach the gate, slow down and stop 5m in front of the gate, wait for the gate to recognize the license plate and lift the barrier to let it pass, and then accelerate to pass through the gate.

[0052] Optionally, in the above strategy, the target vehicle needs to meet comfort requirements during acceleration and deceleration, and the safe distance maintained from the vehicle in front can be adjusted according to the size of the vehicle.

[0053] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there is only one second passing vehicle traveling in the opposite direction of the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a third traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the third traffic control strategy, including: if the distance between the second passing vehicle and the gate is greater than the distance between the target vehicle and the gate, adjusting the lateral distance between the target vehicle and the second passing vehicle when the distance from the gate is less than the first preset distance; decelerating and stopping when the lateral distance between the target vehicle and the second passing vehicle has been adjusted to the second preset distance; when it is determined that the second passing vehicle has passed the gate and the distance from the gate is greater than the first preset distance, accelerating to the limited speed of the gate channel to pass through the gate.

[0054] In an exemplary embodiment, controlling the target vehicle to pass through the gate from the target gate channel according to the third traffic control strategy also includes: if the distance between the second passing vehicle and the gate is less than the distance between the target vehicle and the gate, decelerating and stopping when it is determined that the distance between the second passing vehicle and the gate is greater than the first preset distance, passing through the gate according to the first traffic control strategy.

[0055] In an optional embodiment, if Figure 6As shown in the figure, the target vehicle is about to pass through the gate, and there is only one vehicle traveling in the opposite direction of the target vehicle on the gate channel (equivalent to the second passing vehicle). In the above scenario, the target vehicle can be controlled to travel according to the following control strategy (equivalent to the third passing control strategy):

[0056] 1. The distance between the oncoming vehicle and the gate is smaller than the distance between the target vehicle and the gate. The target vehicle must give way to the oncoming vehicle;

[0057] 1.1 When the distance to the gate is less than 50 meters, prepare to adjust the lateral distance from the oncoming vehicle to ensure that the lateral distance between your vehicle and the oncoming vehicle is greater than or equal to 20 cm. At the same time, if there are obstacles such as railings on the right side of the gate channel, you also need to pay attention to maintaining a safe distance of 20 cm from the right boundary of the gate channel. If it is impossible to maintain the distance from the oncoming vehicle and the right boundary at the same time, you can appropriately reduce the distance between the vehicle and the right boundary, for example, adjust it to maintain a distance of 10 cm from the right boundary of the gate channel. After adjusting the distance, slow down and stop.

[0058] 1.2 Wait for the oncoming vehicles to pass through the gate.

[0059] 1.3 After the oncoming vehicle passes through the gate and has a certain distance from the gate, or after it has a certain distance from the rear of the target vehicle, it is controlled to accelerate to the limited speed of the gate channel to pass through the gate.

[0060] 2. If the distance between the oncoming vehicle and the gate is greater than the distance between the target vehicle and the gate, and the oncoming vehicle slows down and pulls over, the target vehicle can pass through the gate first. For details, refer to the first traffic control strategy. If the oncoming vehicle does not slow down and pull over, refer to steps 1.1-1.3 above to control the vehicle to pass through the gate.

[0061] In an exemplary embodiment, a traffic control strategy for the target vehicle is determined based on the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a fourth traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the fourth traffic control strategy, including: adjusting the distance between the target vehicle and the right boundary of the gate channel when the distance from the gate is less than a first preset distance; slowing down and stopping when the distance between the target vehicle and the right boundary of the gate channel has been adjusted to the second preset distance; slowing down and stopping when it is determined that the distance between a third passing vehicle and the gate is greater than the first preset distance, passing the gate according to the first traffic control strategy, wherein the third passing vehicle is the oppositely traveling vehicle closest to the gate.

[0062] In an optional embodiment, if Figure 7 As shown, the target vehicle is about to pass through the gate. There are multiple vehicles traveling in the opposite direction of the target vehicle on the gate channel, and there are no vehicles traveling in the same direction as the target vehicle. In the above scenario, the target vehicle can be controlled according to the following control strategy (equivalent to the fourth traffic control strategy):

[0063] 1. When the target vehicle is less than 50 meters away from the gate, it starts to move to the right, maintains a safe distance of 20 centimeters from the right edge of the gate channel, and then slows down and stops.

[0064] 2. Detect whether the oncoming vehicle (third-passing vehicle) closest to the gate slows down and stops when it is more than 50 meters away from the gate.

[0065] 3. If the oncoming vehicle closest to the gate slows down and pulls over, the target vehicle can be controlled to pass through the gate according to the first traffic control strategy, otherwise repeat the above steps 2-3.

[0066] It should be noted that if all oncoming vehicles have passed through the gate, the target vehicle can be controlled to pass through the gate by referring to the first traffic control strategy.

[0067] In an exemplary embodiment, the traffic control strategy for the target vehicle is determined according to the vehicle travel direction, the number of vehicles, and the distance between the vehicle and the gate, including: when it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel and there are multiple vehicles traveling in the same direction as the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to the fifth traffic control strategy; controlling the target vehicle to pass through the gate from the target gate channel according to the fifth traffic control strategy, including: following the fourth passing vehicle, controlling the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance, wherein the fourth passing vehicle is a vehicle located in front of the target vehicle and traveling in the same direction as the target vehicle; decelerating and stopping when it is determined that the distance between the fourth passing vehicle and the gate is less than the third preset distance; and passing through the gate according to the fourth traffic control strategy when it is determined that the fourth passing vehicle has passed through the gate.

[0068] In an optional embodiment, if Figure 8 As shown, the target vehicle is about to pass through the gate. There are multiple vehicles on the gate channel traveling in the opposite direction of the target vehicle, and there are multiple vehicles traveling in the same direction as the target vehicle. In the above scenario, the target vehicle can be controlled according to the following control strategy (equivalent to the fifth traffic control strategy):

[0069] 1. The target vehicle follows the preceding vehicle (equivalent to the first passing vehicle) and maintains a reasonable longitudinal distance (equivalent to the fourth preset distance) with the preceding vehicle.

[0070] 2. When the distance between the front vehicle and the gate is detected to be less than 5 meters, the vehicle will stop and slow down;

[0071] 3. Wait for the vehicle ahead to pass through the gate;

[0072] 4. Refer to the fourth traffic control strategy to control the target vehicle to pass through the gate.

[0073] Optionally, the solution of the present application can be applied to scenarios such as schools, companies, factories, and toll stations that require gates to pass. Through the above embodiments, the vehicle passing gate can be automatically controlled to ensure that the vehicle can pass the gate correctly and efficiently, while improving the recognition accuracy and passage efficiency of the gate. The solution of the present application takes into account a variety of different gate passage scenarios, including no vehicle ahead, one-way vehicles, two-way vehicles, multiple vehicles, etc. For each scenario, corresponding passage strategies and rules are designed, so that vehicles can pass through the gate safely and efficiently in various complex situations. This multi-scenario adaptability enhances the practicality and versatility of the solution.

[0074] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0075] In this embodiment, a device for determining a traffic control strategy is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0076] Fig. 9 : is a structural block diagram of a device for determining a traffic control strategy according to an embodiment of the present application, the device comprising:

[0077] The acquisition module 92 is used to acquire the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, and the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass through, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate;

[0078] A determination module 94, configured to determine a traffic control strategy for the target vehicle according to the vehicle's travel direction, the number of vehicles, and the distance between the vehicle and the gate;

[0079] The control module 96 is used to control the target vehicle to pass through the gate from the target gate channel according to the passage control strategy.

[0080] Through the device for determining the traffic control strategy of the embodiment of the present application, the target vehicle can detect the surrounding environment of the vehicle to obtain the traffic direction, number of vehicles, distance between the vehicle and the gate and other traffic vehicle information of the target gate channel, and then determine the traffic strategy of the target vehicle through the gate according to the above traffic vehicle information, and then control the vehicle safety according to the above traffic strategy, and efficiently pass through the gate from the target gate channel. Through the above scheme, the vehicle can be controlled to quickly determine the corresponding traffic plan in different gate communication scenarios, greatly reducing the driver's driving pressure and safety risks. It solves the problem of how to quickly and accurately control the vehicle to pass the gate safely in complex gate passage scenarios, and thus can achieve the effect of quickly and accurately controlling the vehicle to pass the gate safely.

[0081] In an exemplary embodiment, the determination module 94 is also used to: when it is determined that there is no passing vehicle in the gate channel, control the target vehicle to pass through the gate from the target gate channel according to the first passage control strategy; the control module 96 is also used to: when the distance from the gate is less than a first preset distance, adjust the distance between the target vehicle and the right boundary of the gate channel until the distance between the target vehicle and the right boundary of the gate channel is a second preset distance; decelerate and stop when the distance from the gate is a third preset distance, wherein the third preset distance is less than the first preset distance; when it is determined that the gate is released, accelerate to the limited speed of the gate channel to pass through the gate.

[0082] In an exemplary embodiment, the determination module 94 is also used to: when it is determined that there is a first passing vehicle traveling in the same direction as the target vehicle in the gate channel, control the target vehicle to pass through the gate from the target gate channel according to a second traffic control strategy, wherein the first passing vehicle is a vehicle located in front of the target vehicle and closest to the target vehicle; the control module 96 is also used to: follow the first passing vehicle and control the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance; decelerate and stop when it is determined that the distance between the first passing vehicle and the gate is less than the third preset distance; and pass through the gate according to the first traffic control strategy when it is determined that the first passing vehicle has passed through the gate.

[0083] In an exemplary embodiment, the determination module 94 is also used to: when it is determined that there is only one second passing vehicle traveling in the opposite direction of the target vehicle in the gate channel, control the target vehicle to pass through the gate from the target gate channel according to a third passage control strategy; the control module 96 is also used to: if the distance between the second passing vehicle and the gate is greater than the distance between the target vehicle and the gate, adjust the lateral distance between the target vehicle and the second passing vehicle when the distance from the gate is less than the first preset distance; decelerate and stop when the lateral distance between the target vehicle and the second passing vehicle has been adjusted to the second preset distance; when it is determined that the second passing vehicle has passed the gate and the distance from the gate is greater than the first preset distance, accelerate to the limited speed of the gate channel to pass through the gate.

[0084] In an exemplary embodiment, the control module 96 is also used for: if the distance between the second passing vehicle and the gate is less than the distance between the target vehicle and the gate, when it is determined that the distance between the second passing vehicle and the gate is greater than the first preset distance and the vehicle decelerates and stops, the vehicle passes through the gate according to the first traffic control strategy.

[0085] In an exemplary embodiment, the determination module 94 is also used to: when it is determined that there are multiple vehicles in the gate channel traveling in the opposite direction of the target vehicle, control the target vehicle to pass through the gate from the target gate channel according to the fourth traffic control strategy; the control module 96 is also used to: adjust the distance between the target vehicle and the right boundary of the gate channel when the distance from the gate is less than the first preset distance; slow down and stop when the distance between the target vehicle and the right boundary of the gate channel has been adjusted to the second preset distance; when it is determined that the distance between a third passing vehicle and the gate is greater than the first preset distance, slow down and stop, and pass through the gate according to the first traffic control strategy, wherein the third passing vehicle is the oppositely traveling vehicle closest to the gate.

[0086] In an exemplary embodiment, the determination module 94 is also used to: when it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel, and there are multiple vehicles traveling in the same direction as the target vehicle in the gate channel, control the target vehicle to pass through the gate from the target gate channel according to the fifth traffic control strategy; the control module 96 is also used to: follow the fourth passing vehicle, control the distance between the target vehicle and the first passing vehicle to be greater than a fourth preset distance, wherein the fourth passing vehicle is a vehicle located in front of the target vehicle and traveling in the same direction closest to the target vehicle; decelerate and stop when it is determined that the distance between the fourth passing vehicle and the gate is less than the third preset distance; and pass through the gate according to the fourth traffic control strategy when it is determined that the fourth passing vehicle has passed the gate.

[0087] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein any of the above embodiments is executed when the program is run.

[0088] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0089] S1, obtaining the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate;

[0090] S2, determining a traffic control strategy for the target vehicle according to the traffic direction of the vehicle, the number of vehicles, and the distance between the vehicle and the gate;

[0091] S3, controlling the target vehicle to pass through the gate from the target gate channel according to the passage control strategy.

[0092] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0093] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0094] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0095] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0096] S1, obtaining the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate;

[0097] S2, determining a traffic control strategy for the target vehicle according to the traffic direction of the vehicle, the number of vehicles, and the distance between the vehicle and the gate;

[0098] S3, controlling the target vehicle to pass through the gate from the target gate channel according to the passage control strategy.

[0099] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0100] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0101] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0102] S1, obtaining the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate;

[0103] S2, determining a traffic control strategy for the target vehicle according to the traffic direction of the vehicle, the number of vehicles, and the distance between the vehicle and the gate;

[0104] S3, controlling the target vehicle to pass through the gate from the target gate channel according to the passage control strategy.

[0105] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0106] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0107] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a traffic control strategy, characterized in that: include: Obtaining the passing vehicle information in the target gate channel from the monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the vehicle passing direction, the number of vehicles, and the distance between the vehicle and the gate; Determine the passage control strategy of the target vehicle according to the passage direction of the vehicle, the number of vehicles, and the distance between the vehicle and the gate; The target vehicle is controlled to pass through the gate from the target gate channel according to the passage control strategy.

2. The method according to claim 1, characterized in that: Determining a traffic control strategy for the target vehicle according to the vehicle's traffic direction, the number of vehicles, and the distance between the vehicle and the gate includes: When it is determined that there is no vehicle passing through the gate passage, controlling the target vehicle to pass through the gate from the target gate passage according to a first passage control strategy; Controlling the target vehicle to pass through the gate from the target gate channel according to the first passage control strategy includes: When the distance from the gate is less than the first preset distance, adjusting the distance between the target vehicle and the right edge of the gate channel until the distance between the target vehicle and the right edge of the gate channel is a second preset distance; decelerating and stopping the vehicle when the vehicle is at a third preset distance from the gate, wherein the third preset distance is smaller than the first preset distance; When it is determined that the gate is released, the vehicle accelerates to a limited speed of the gate channel to pass through the gate.

3. The method according to claim 2, characterized in that Determining a traffic control strategy for the target vehicle according to the vehicle's traffic direction, the number of vehicles, and the distance between the vehicle and the gate includes: When it is determined that there is a first passing vehicle traveling in the same direction as the target vehicle in the gate channel, the target vehicle is controlled to pass through the gate from the target gate channel according to a second passage control strategy, wherein the first passing vehicle is a vehicle located in front of the target vehicle and closest to the target vehicle; Controlling the target vehicle to pass through the gate from the target gate channel according to the second passage control strategy includes: Following the first passing vehicle, the target vehicle is controlled to travel at a distance greater than a fourth preset distance from the first passing vehicle; decelerating and stopping the vehicle when it is determined that the distance between the first passing vehicle and the gate is less than the third preset distance; When it is determined that the first passing vehicle has passed through the gate, the first passing vehicle passes through the gate according to the first passage control strategy.

4. The method according to claim 2, characterized in that: Determining a traffic control strategy for the target vehicle according to the vehicle's traffic direction, the number of vehicles, and the distance between the vehicle and the gate includes: When it is determined that there is only one second vehicle passing through the gate passage and traveling in the opposite direction of the target vehicle, controlling the target vehicle to pass through the gate from the target gate passage according to a third passage control strategy; Controlling the target vehicle to pass through the gate from the target gate channel according to the third passage control strategy includes: If the distance between the second passing vehicle and the gate is greater than the distance between the target vehicle and the gate, adjusting the lateral distance between the target vehicle and the second passing vehicle when the distance between the target vehicle and the gate is less than the first preset distance; decelerating and stopping the target vehicle when the lateral distance between the target vehicle and the second passing vehicle has been adjusted to the second preset distance; When it is determined that the second passing vehicle has passed through the gate and the distance from the gate is greater than the first preset distance, the second passing vehicle is accelerated to a limited speed of the gate channel to pass through the gate.

5. The method according to claim 4, characterized in that Controlling the target vehicle to pass through the gate from the target gate channel according to the third passage control strategy also includes: If the distance between the second passing vehicle and the gate is less than the distance between the target vehicle and the gate, and the second passing vehicle decelerates and stops when it is determined that the distance between the second passing vehicle and the gate is greater than the first preset distance, the second passing vehicle passes through the gate according to the first traffic control strategy.

6. The method according to claim 2, characterized in that Determining a traffic control strategy for the target vehicle according to the vehicle's traffic direction, the number of vehicles, and the distance between the vehicle and the gate includes: When it is determined that there are multiple vehicles traveling in the opposite direction of the target vehicle in the gate channel, controlling the target vehicle to pass through the gate from the target gate channel according to a fourth passage control strategy; Controlling the target vehicle to pass through the gate from the target gate channel according to the fourth passage control strategy includes: When the distance from the gate is less than a first preset distance, adjusting the distance between the target vehicle and the right boundary of the gate channel; When the distance between the target vehicle and the right edge of the gate channel is adjusted to the second preset distance, the target vehicle slows down and stops; When it is determined that the distance between the third passing vehicle and the gate is greater than the first preset distance, the third passing vehicle decelerates and stops, and passes through the gate according to the first traffic control strategy, wherein the third passing vehicle is the oncoming vehicle closest to the gate.

7. The method according to claim 6, characterized in that Determining a traffic control strategy for the target vehicle according to the vehicle's traffic direction, the number of vehicles, and the distance between the vehicle and the gate includes: When it is determined that there are multiple vehicles in the gate channel traveling in the opposite direction of the target vehicle, and there are multiple vehicles in the gate channel traveling in the same direction as the target vehicle, controlling the target vehicle to pass through the gate from the target gate channel according to the fifth passage control strategy; Controlling the target vehicle to pass through the gate from the target gate channel according to the fifth passage control strategy includes: Following the fourth passing vehicle, the distance between the target vehicle and the first passing vehicle is controlled to be greater than a fourth preset distance, wherein the fourth passing vehicle is a vehicle located in front of the target vehicle and closest to the target vehicle and traveling in the same direction; decelerating and stopping the vehicle when it is determined that the distance between the fourth passing vehicle and the gate is less than the third preset distance; When it is determined that the fourth passing vehicle has passed through the gate, the fourth passing vehicle passes through the gate according to the fourth passage control strategy.

8. A device for determining a traffic control strategy, characterized in that: include: An acquisition module is used to acquire information about passing vehicles in a target gate channel from monitoring information obtained by the target vehicle monitoring the vehicle environment, wherein the passing vehicle passes through the gate from the target gate channel, the target gate channel is the gate channel corresponding to the gate that the target vehicle is about to pass, and the passing vehicle information includes the direction of vehicle travel, the number of vehicles, and the distance between the vehicle and the gate; A determination module, used to determine a passage control strategy for the target vehicle according to the passage direction of the vehicle, the number of vehicles, and the distance between the vehicle and the gate; A control module is used to control the target vehicle to pass through the gate from the target gate channel according to the passage control strategy.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.

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