Vehicle guiding system and method
By deploying a vehicle guidance system at the intersection of a ramp and a highway, dynamically adjusting the activation status of the guidance module, and guiding vehicles to pass directly across multiple lanes, the problems of low traffic efficiency and low road utilization in the existing technology are solved, and the More efficient traffic flow and improved road utilization.
Patent Information
- Application Number
- CN202411621745.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-11-14
- Filing Date
- 2024-11-13
- Publication Date
- 2025-01-24
AI Technical Summary
In the prior art, the traffic efficiency of vehicles at the intersection of ramps and highways is low, and the road utilization rate is low, and the fixed-mode traffic sign lines cannot adapt to the needs of different traffic scenarios.
A vehicle guidance system is provided, which includes a control module and a first guidance module. By dynamically adjusting the activation state of the guidance module, the vehicle is guided to pass directly across multiple lanes at the intersection of a ramp and a road, thereby reducing the number of lane changes.
It improves vehicle traffic efficiency and road utilization, reduces the number of vehicle lane changes, reduces the risk of traffic accidents, and adapts to the needs of different traffic scenarios.
Smart Images
Figure CN119360641A_ABST
Abstract
Description
[0001] This application claims the priority of the Chinese patent application filed with the State Intellectual Property Office of China on November 14, 2023, with application number CN2023115163265 and invention name "Guiding method, system, equipment and medium for vehicles merging into ramps under dynamic lane allocation and signal control", the entire contents of which are incorporated by reference in this application. Technical Field
[0002] The present application relates to the field of traffic technology, and in particular to a vehicle guidance system and method. Background Art
[0003] A ramp is an auxiliary road used to connect a faster road (such as a highway, expressway or elevated road) with a slower road (such as a city road). A ramp can include an exit ramp and an entrance ramp. Vehicles can enter a lower-speed road from a higher-speed road via an exit ramp, or enter a higher-speed road from a lower-speed road via an entrance ramp.
[0004] In order to avoid affecting the normal traffic on the expressway, the ramp often intersects with the road at the edge of the expressway, for example, it can intersect with the outermost or innermost lane of the expressway. In this way, when a vehicle enters the exit ramp, it can first transfer from other lanes to the lane at the edge of the expressway, and then enter the exit ramp through the lane at the edge. When a vehicle enters from the entrance ramp, it first enters the lane at the edge of the expressway, and then transfers to other lanes through the lane at the edge.
[0005] However, the above-mentioned driving method has the problems of low traffic efficiency and low road utilization. Summary of the invention
[0006] In view of this, the present application provides a vehicle guidance system and method, aiming to optimize the process of vehicles entering or exiting a ramp.
[0007] In a first aspect, the present application provides a vehicle guidance system, the system being deployed at an intersection of a road and a ramp, the road comprising an associated lane and a non-associated lane, the associated lane being a lane connected to the ramp, the system comprising a control module and a first guidance module;
[0008] The control module is used to switch the first guiding module from an inactive state to an active state, or from the active state to an inactive state;
[0009] When the first guiding module is in the activated state, it is used to guide vehicles traveling on the ramp to cross the associated lane and directly enter the non-associated lane of the road, or to guide vehicles traveling on the non-associated lane of the road to cross the associated lane and directly enter the ramp.
[0010] In some possible implementations, the road includes a first non-associated lane and a second non-associated lane, the first non-associated lane is connected to the associated lane, and the second non-associated lane is not connected to the associated lane;
[0011] When the first guidance module is in an activated state, it is also used to guide the vehicle traveling on the ramp to cross the associated lane and the first non-associated lane and directly enter the second non-associated lane, or to guide the vehicle traveling on the second non-associated lane to cross the first non-associated lane and the associated lane and directly enter the ramp.
[0012] In some possible implementations, the first guidance module includes an arrow module;
[0013] When the arrow module is in the activated state, it is used to guide the vehicle traveling on the ramp or the vehicle traveling on the non-associated lane to cross the associated lane.
[0014] In some possible implementations, when the arrow module is used to guide the vehicle traveling on the non-associated lane, the arrow of the arrow module points from the non-associated lane to the ramp; or, when the arrow module is used to guide the vehicle traveling on the ramp, the arrow of the arrow module points from the ramp to the non-associated lane.
[0015] In some possible implementations, the first guidance module includes a lane line module;
[0016] When the lane line module is in an activated state, it is used to mark a temporary lane; the temporary lane is a lane connecting the ramp and the non-associated lane.
[0017] In some possible implementations, the system further includes a second guiding module, and a position of the second guiding module overlaps with a position of the temporary lane;
[0018] When the second guidance module is in an activated state, it is used to mark the boundary line between the associated lane and the ramp, and to mark the boundary line between the associated lane and the non-associated lane;
[0019] The control module is further used to adjust the second guiding module to an inactive state, so that the second guiding module and the first guiding module are not in an active state at the same time.
[0020] In some possible implementations, the system further includes a prompt module;
[0021] The control module is further used to adjust the prompt module to an activated state;
[0022] When the prompt module is in an activated state, it is used to prompt the vehicle traveling in the associated lane to avoid collision with the vehicle crossing the associated lane.
[0023] In a second aspect, the present application provides a vehicle guidance method, the method comprising:
[0024] Obtain traffic information;
[0025] Determining a target traffic scene from a plurality of traffic scenes according to the traffic information;
[0026] guiding the vehicle to travel according to the target traffic scenario;
[0027] Wherein, the traffic scene includes a cross-lane traffic scene; when the target traffic scene is the cross-lane traffic scene, guiding the vehicle to travel according to the target traffic scene includes:
[0028] The first guidance module of the vehicle guidance system is adjusted to an activated state through a control module of the vehicle guidance system, and the vehicle guidance system is the vehicle guidance system as described in any one of the first aspects above.
[0029] In some possible implementations, the method is executed by a server, and adjusting the first guidance module of the vehicle guidance system to an activated state by a control module of the vehicle guidance system includes:
[0030] The server sends an activation instruction to the control module of the guidance system, where the activation instruction is used to instruct the control module to adjust the first guidance module to an activated state.
[0031] In some possible implementations, when the target traffic scenario is the cross-lane traffic scenario, the method further includes:
[0032] Sending vehicle guidance information to the target vehicle;
[0033] The target vehicle is a vehicle traveling on the non-associated lane, and the vehicle guidance information is used to guide the target vehicle to cross the associated lane and directly enter the ramp; or, the target vehicle is a vehicle traveling on the ramp, and the vehicle guidance information is used to guide the target vehicle to cross the associated lane and directly enter the non-associated lane.
[0034] In a third aspect, the present application provides a vehicle guiding device, the device comprising:
[0035] An acquisition unit, used for acquiring traffic information;
[0036] A scene determination unit, configured to determine a target traffic scene from a plurality of traffic scenes according to the traffic communication information;
[0037] A guiding unit, used for guiding the vehicle to travel according to the target traffic scene;
[0038] Wherein, the traffic scene includes a cross-lane traffic scene; when the target traffic scene is the cross-lane traffic scene, guiding the vehicle to travel according to the target traffic scene includes:
[0039] The first guidance module of the vehicle guidance system is adjusted to an activated state through the control module of the vehicle guidance system, and the vehicle guidance system is the vehicle guidance system described in any one of the first aspects above.
[0040] In a fourth aspect, the present application provides a device, comprising a memory and a processor, wherein the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the vehicle guidance method described in any one of the aforementioned second aspects.
[0041] In a fifth aspect, the present application provides a computer storage medium, in which codes are stored. When the codes are executed, a device executing the codes implements the method described in any one of the aforementioned second aspects.
[0042] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect.
[0043] The present application provides a vehicle guidance system. The system can be deployed at the intersection of a road and a ramp. The ramp can be an entrance ramp or an exit ramp of a road. The road includes associated lanes and non-associated lanes. An associated lane refers to a lane connected to a ramp. The control system includes a control module and a first guidance module. Among them, the control module is used to switch the first guidance module from an inactive state to an active state, or from an active state to an inactive state. In the active state, the first guidance module is used to guide a vehicle traveling on the ramp to cross the associated lane and enter the non-associated lane of the road, or to guide a vehicle traveling on the non-associated lane of the road to cross the associated lane and directly enter the ramp.
[0044] That is to say, through the guidance of the first guidance module, vehicles that need to enter the ramp do not need to change to the associated lane in advance, but can directly enter the ramp from the non-associated lane. Vehicles that need to exit the ramp do not need to drive a certain distance in the associated lane before entering the non-associated lane, but can directly enter the non-associated lane from the ramp. In this way, through the guidance of the first guidance module, vehicles can directly enter or exit the ramp without multiple lane changes. In this way, the number of lane changes of vehicles is reduced, and the traffic efficiency and road utilization rate are improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0045] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0046] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;
[0047] Figure 2 A schematic diagram of the structure of a vehicle parking guidance device provided in an embodiment of the present application;
[0048] Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application;
[0049] Figure 4 Another structural schematic diagram of the vehicle parking guidance device provided in an embodiment of the present application;
[0050] Figure 5 A schematic diagram of another structure of the vehicle parking guidance device provided in an embodiment of the present application;
[0051] Figure 6 A schematic diagram of another structure of the vehicle parking guidance device provided in the embodiment of the present application;
[0052] Figure 7 A schematic diagram of a process flow of a vehicle guidance method provided in an embodiment of the present application;
[0053] Figure 8 A schematic diagram of the structure of a vehicle guiding device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0054] In order to ensure the safe driving of vehicles, vehicles are often not allowed to make continuous lane changes. That is to say, each time a vehicle changes lanes, it can only enter the connected lane from the current lane. In this way, when a vehicle needs to exit the road through an exit ramp, the vehicle needs to first enter the lane connected to the exit ramp from the current lane, and then enter the exit ramp from the lane; when a vehicle needs to enter the road through an entrance ramp, the vehicle needs to first enter the lane connected to the ramp from the ramp, and then enter other lanes through lane changes.
[0055] If the road is a four-lane road, the exit ramp is located on the far right side of the road, and the vehicle is driving in the leftmost lane of the road, then the vehicle needs to make four lane changes to enter the exit ramp. If the road is a four-lane road, the entrance ramp is located on the far right side of the road, and the vehicle needs to enter the fast lane on the far left of the road as soon as possible, then the vehicle also needs to make four lane changes from the exit ramp to the fast lane.
[0056] For example, in Figure 1 In the scenario shown in A in FIG. 1 , ramp 21 is connected to lane 112 of road 11. Vehicles traveling on ramp 21 need to first enter lane 112, and then change lanes from lane 112 to enter lane 111. Figure 1 In the scenario shown in FIG. 1B , the ramp 22 is connected to the lane 122 of the road 12 . A vehicle traveling in the lane 121 needs to change lanes to enter the lane 122 before it can enter the ramp 22 from the lane 122 .
[0057] In this way, a large number of lane changes will not only reduce traffic efficiency and road utilization, but frequent lane changes will also cause safety hazards and may lead to traffic accidents.
[0058] The inventors of the present application have noticed that, in some specific traffic scenarios, allowing vehicles to cross multiple lanes and directly enter an exit ramp or to cross multiple lanes from an entrance ramp and enter a fast lane of a road can effectively improve traffic efficiency and road utilization.
[0059] However, most of the current traffic signs are fixed-mode traffic signs. The above methods to improve traffic efficiency and road utilization can only be used in specific traffic scenarios. Using the above guidance methods in other traffic scenarios will cause confusion. Fixed traffic signs cannot achieve different vehicle guidance methods for different traffic scenarios.
[0060] In view of this, the present application provides a vehicle guidance system and a supporting vehicle guidance method. Through the vehicle guidance system, vehicles can be guided to cross lanes to enter a ramp or cross lanes to exit a ramp under appropriate traffic scenarios, thereby improving traffic efficiency and road utilization.
[0061] In the scenario where a road and a ramp intersect, the lane connected to the ramp can be called an associated lane, and the lane not connected to the ramp can be called an unassociated lane. The vehicle guidance system can be deployed at the intersection of the road and the ramp.
[0062] Specifically, the vehicle guidance system may include a control module and a first guidance module. The control module is used to adjust the first guidance module to an activated state. When the first guidance module is in an activated state, the first guidance module is used to guide vehicles traveling on a ramp (entry ramp) to cross an associated lane and directly enter a non-associated lane of the road. Alternatively, the first guidance module is used to guide vehicles traveling on a non-associated lane of the road to cross an associated lane and directly enter a ramp (exit ramp). Optionally, for a road that includes an emergency lane and the ramp is located at the rightmost side of the road, the associated lane may be an emergency lane.
[0063] Combine the following Figure 2 Provide explanation.
[0064] Figure 2 A in Figure 1 gives the application scenario corresponding to the entrance ramp. Figure 2 In the application scenario shown in Figure A, road 13 includes lane 131 and lane 132. Lane 132 is connected to ramp 23 and is an associated lane. Lane 131 is not connected to ramp 23 and is a non-associated lane. In addition, the application scenario also includes a vehicle guidance system 41 (not shown in the figure). The vehicle guidance system 41 includes a control module 411 and a first guidance module 412. The control module 411 can adjust the first guidance module 412 to an activated state. In the activated state, a vehicle traveling on ramp 23 can cross lane 132 and directly enter lane 131, that is, along Figure 2 Follow the dotted arrow shown in A.
[0065] Figure 2 B in Figure 1 gives the application scenario corresponding to the off-ramp. Figure 2 In the application scenario shown in Figure A, road 14 includes lane 141 and lane 142. Lane 142 is connected to ramp 24 and is an associated lane. Lane 141 is not connected to ramp 24 and is a non-associated lane. In addition, the application scenario also includes a vehicle guidance system 42 (not shown in the figure). Vehicle guidance system 42 includes a control module 421 and a first guidance module 422. Control module 421 can adjust first guidance module 422 to an activated state. In the activated state, a vehicle traveling in lane 141 can cross lane 142 and directly enter ramp 24, that is, along Figure 2 Follow the dotted arrow shown in B.
[0066] It should be noted that the crossing of lanes mentioned above (such as "crossing the associated lane", "crossing lane 131" and "crossing lane 132") means passing through the lane and directly entering another lane without stopping in the lane.
[0067] And, in Figure 1 In the illustrated implementation, road 31 and road 32 are roads with two lanes. In actual scenarios, the road may include three or more lanes. If the road includes three or more lanes, the guidance module may guide the vehicle to cross the associated lanes and the non-associated lanes.
[0068] That is to say, the road may include multiple non-associated lanes. Accordingly, the non-associated lanes may include a first non-associated lane and at least one second non-associated lane. The first non-associated lane is connected to the associated lane, and the second non-associated lane is not connected to the associated lane. In this application scenario, the guidance device may guide the vehicle traveling on the second non-associated lane to cross the associated lane and the first non-associated lane and enter the ramp, and may also guide the vehicle traveling on the ramp to cross the associated lane and the first non-associated lane and enter the second non-associated lane, or guide the vehicle traveling on the ramp to cross the associated lane and enter the first non-associated lane. Optionally, the above process may be as follows Figure 3 shown.
[0069] It should be noted that in the above Figure 1-Figure 3 In the implementation shown, the ramp is located on the right side of the road and is connected to the rightmost lane of the road. In some other possible implementations, the ramp may also be connected to the leftmost lane of the road or to the lane in the middle of the road. If the ramp is connected to the lane in the middle of the road, the road may include multiple associated lanes.
[0070] The present application provides a vehicle guidance system. The system can be deployed at the intersection of a road and a ramp. The ramp can be an entrance ramp or an exit ramp of a road. The road includes an associated lane and a non-associated lane. An associated lane refers to a lane connected to a ramp. The control system includes a control module and a first guidance module. Among them, the control module is used to adjust the first guidance module to an activated state. In the activated state, the first guidance module is used to guide a vehicle traveling on the ramp to cross the associated lane and enter the non-associated lane of the road, or to guide a vehicle traveling on the non-associated lane of the road to cross the associated lane and directly enter the ramp.
[0071] That is to say, through the guidance of the first guidance module, vehicles that need to enter the ramp do not need to change to the associated lane in advance, but can directly enter the ramp from the non-associated lane. Vehicles that need to exit the ramp do not need to drive a certain distance in the associated lane before entering the non-associated lane, but can directly enter the non-associated lane from the ramp. In this way, through the guidance of the first guidance module, vehicles can directly enter or exit the ramp without multiple lane changes. In this way, the number of lane changes of vehicles is reduced, and the traffic efficiency and road utilization rate are improved.
[0072] Some specific implementation methods of the first guidance module guiding the vehicle are introduced below.
[0073] In some application scenarios, the first guidance module may include an arrow module. When the arrow module is in an activated state, the arrow module may be used to guide a vehicle traveling on a ramp or a vehicle traveling on a non-associated lane to cross an associated lane. For example, the arrow module may be an arrow that crosses an associated lane. Based on the guidance of the arrow, the vehicle driver may drive the vehicle from the ramp across the associated lane to the non-associated lane, or from the non-associated lane across the associated lane to the ramp.
[0074] Optionally, the arrow module may include a guide arrow luminous body. The guide arrow luminous body may be, for example, a luminous floor tile, a luminous marking line, or a projector. In an activated state, the guide arrow luminous body may display a guide arrow on the road surface or other locations so that the driver can drive the vehicle across the associated lane according to the guide arrow. Optionally, if the arrow module is deployed on the road surface, the arrow module may point from a non-associated lane to a ramp, or from a ramp to a non-associated lane.
[0075] That is, if the arrow module is used to guide vehicles traveling in the non-associated lane, then the arrow of the arrow module (such as the above-mentioned guide arrow) can point from the non-associated lane to the ramp. If the arrow module is used to guide vehicles traveling in the non-associated lane, then the arrow of the arrow module (such as the above-mentioned guide arrow) can point from the ramp to the non-associated lane. Optionally, the arrow module can be as follows Figure 4 shown.
[0076] In addition to the guide arrows, in the field of traffic, the vehicle can also be guided to cross the target lane by lane lines. Specifically, the first guidance module may include a lane line module. The lane line module marks a temporary lane when activated. The temporary lane is a lane connecting a non-associated lane and a ramp. A vehicle can enter a ramp from a non-associated lane through a temporary lane, or enter a non-associated lane from a ramp through a temporary lane.
[0077] Optionally, the lane line module may include a lane line luminous body. The lane line luminous body may be, for example, a luminous floor tile, a luminous marking line, or a projector. When activated, the lane line luminous body may display the lane line of the temporary lane on the road surface or other locations so that the driver can cross the associated lane along the temporary lane marked by the lane line. Optionally, the lane line module may be as follows Figure 5 shown.
[0078] It is understandable that, in order to avoid other traffic chaos, the arrow module and lane module are not used to guide the vehicle when in an inactive state. For example, if the arrow module includes a guide arrow light, the guide arrow light may not emit light when in an inactive state.
[0079] Accordingly, in order to avoid confusing the temporary lane with the non-temporary lane being crossed, it is also possible to stop guiding the driver to drive into the non-temporary lane being crossed (eg, the associated lane).
[0080] Specifically, the vehicle guidance system may further include a second guidance module. When the second guidance module is turned on, it is used to mark the boundary between the associated lane and the ramp, as well as the boundary between the associated lane and the non-associated lane. The position of the second guidance module overlaps with the position of the temporary lane. That is to say, when the second guidance module is in an activated state, the vehicle will travel according to the planning of the ramp, associated lane, and non-associated lane. The behaviors of crossing the associated lane and entering the ramp from the non-associated lane and crossing the associated lane and entering the non-associated lane from the ramp are not allowed. Optionally, the second guidance module can be as follows Figure 6 shown.
[0081] Since the first guidance module and the second guidance module correspond to different guidance modes, the control module can control the first guidance module and the second guidance module to be in different activation states at the same time. For example, when it is necessary to guide the vehicle to drive along the originally planned lane, the second guidance module can be adjusted to an activation state, the first guidance module can be adjusted to an inactivation state, and the vehicle can be guided by the second module. When it is necessary to guide the vehicle to drive along a temporary lane, the first guidance module can be adjusted to an activation state, the second guidance module can be adjusted to an inactivation state, and the vehicle can be guided to drive along the temporary lane.
[0082] In the above embodiment, in order to improve communication efficiency, the vehicle can cross the associated lane. If there are still vehicles traveling on the crossed lane (such as the associated lane and the first non-associated lane), an accident may occur, posing a safety hazard. To this end, in some implementations, the vehicle can be prompted.
[0083] Specifically, the vehicle computer system may further include a prompt module. The control module may adjust the prompt module to an activated state, for example, the prompt module and the first guidance module may be turned on synchronously. When the prompt module is in an activated state, it may be used to prompt vehicles traveling in the crossed lane, such as the associated lane and the first non-associated lane, to avoid collision with the vehicle crossing the associated lane. Specifically, the prompt module may include devices such as traffic lights and luminous stop lines. Through the prompt module, vehicles traveling in the crossed lane may be prompted to slow down or stop to avoid collision.
[0084] In addition, an embodiment of the present application further provides a vehicle guidance method. The vehicle guidance method is used to determine the activation state of the guidance module. The vehicle guidance method can be executed by a vehicle guidance device. The vehicle guidance device can, for example, run on a control module of a vehicle guidance system, or can also run on a server. The server can, for example, be a server of a vehicle-cloud collaborative system.
[0085] The vehicle guidance method provided by the embodiment of the present application is described below from the perspective of the vehicle guidance device. Obviously, the described embodiment is only a part of the embodiment 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 are within the scope of protection of the present application.
[0086] See also Figure 7 , Figure 7 A method flow chart of a vehicle guidance method provided in an embodiment of the present application includes:
[0087] S701: Obtain traffic information.
[0088] In order to properly guide vehicle communication, the vehicle guidance device may first obtain traffic information. Traffic information may include, for example, information about the amount of traffic traveling on the road and the ramp. Based on the traffic information, the driving conditions of the vehicle at the ramp may be determined, and then it may be determined whether it is necessary to guide the vehicle to cross the associated lane and enter the ramp or to cross the associated lane from the ramp and exit.
[0089] S702: Determine a target traffic scene from multiple traffic scenes according to traffic information.
[0090] After the traffic information is obtained, a target traffic scene can be determined from multiple traffic scenes based on the traffic information, wherein the multiple traffic scenes are preset traffic scenes, and the target traffic scene is a traffic scene that matches the current traffic information.
[0091] In the embodiment of the present application, the multiple traffic scenarios include at least a lane-crossing traffic scenario and a non-lane-crossing traffic scenario. In the lane-crossing traffic scenario, the vehicle can be guided to cross the associated road to enter the ramp or exit the ramp. In the non-lane-crossing traffic scenario, the vehicle can be guided to refuse to cross multiple lanes continuously.
[0092] Optionally, in some possible implementations, the lane-crossing traffic scenario may be further divided, for example, including a lane-crossing traffic scenario, a lane-crossing traffic scenario, and a left-hand driving traffic scenario.
[0093] Take the entrance ramp as an example. In the scenario of crossing a single lane, the vehicle can be guided to cross the associated lane from the ramp to the first non-associated lane, and the vehicle can be guided to refuse to directly enter the second non-associated lane from the ramp. In the scenario of crossing multiple lanes, the vehicle can be guided to cross the associated lane and the first non-associated lane from the ramp to the second non-associated lane. In the scenario of directly entering the left side, the vehicle can be guided to cross multiple lanes and directly enter the leftmost lane of the road.
[0094] This application does not limit the traffic scene and can be freely set according to the actual road planning and the actual situation of crossing lanes.
[0095] S703: Guiding the vehicle to travel according to the target traffic scenario.
[0096] After the target traffic scene is determined, the vehicle can be guided to travel based on the target traffic scene. Specifically, if the target traffic scene is a cross-lane traffic scene, the first guidance module of the vehicle guidance system can be adjusted to an activated state through the control module of the vehicle guidance system, so that the vehicle traveling on the ramp is guided by the first guidance module to cross the associated lane and directly enter the non-associated lane of the road, or the vehicle traveling on the non-associated lane of the road is guided to cross the associated lane and directly enter the ramp.
[0097] Optionally, if the vehicle guidance device is a software module running on a control module, the vehicle guidance device can send an opening instruction to the first guidance module through the control module, thereby adjusting the first guidance module to an activated state. If the vehicle guidance device runs on software on a server, the vehicle guidance device can send an instruction to the control module through a network. The control module can receive the instruction and adjust the first guidance module to an activated state based on the instruction.
[0098] In addition to guidance through the first guidance module deployed on the road, guidance can also be performed based on the vehicle side.
[0099] Specifically, when it is determined that the target traffic scenario is a cross-lane traffic scenario, the vehicle guidance device may also determine the target vehicle and send vehicle guidance information to the target vehicle. The target vehicle may be a vehicle traveling in a non-associated lane or a vehicle traveling on a ramp. If the target vehicle is a vehicle traveling in a non-associated lane, the vehicle guidance information may be used to guide the target vehicle to cross the associated lane and directly enter the ramp. If the target vehicle is a vehicle traveling on a ramp, the vehicle guidance information may be used to guide the target vehicle to cross the associated lane and directly enter the non-associated lane.
[0100] In this way, through joint guidance from the vehicle side and the road side, the vehicle can be guided to cross lanes to enter the ramp or exit the ramp.
[0101] The embodiment of the present application also provides a method for guiding vehicles merging into a ramp under dynamic lane allocation and signal control, comprising the following steps:
[0102] Based on the principle of low traffic conflict and low lane change frequency, each lane scenario is divided according to dynamic lane allocation information and signal control scheme, and visual guidance schemes are preset for different lane scenarios;
[0103] Collect current lane assignment information and lane signal control information, determine the current traffic scene and switch to the visual guidance plan corresponding to the corresponding traffic scene.
[0104] Furthermore, the lane scenarios in the lane division scenarios based on dynamic lane allocation information and signal control schemes include: scenarios for guiding vehicles entering a one-way two-lane ring road expressway and scenarios for guiding vehicles entering a one-way three-lane or more ring road expressway.
[0105] Furthermore, the scenarios for guiding vehicles on the one-way two-lane ring road include:
[0106] Scenario 1: No stop signal lights are on. Vehicles on the main line and entrance ramps are passing normally, and the emergency lane is not activated.
[0107] Scenario 2: The entry ramp stop light is on, and the main line stop light is off. At this time, vehicles on the main line pass normally, vehicles on the entry ramp stop and wait, and the emergency lane is not enabled.
[0108] Scenario 3: The stop light in the outer lane of the main line is on, and the other stop lights are off. At this time, vehicles in the outer lane of the main line stop and wait, and vehicles in other main lanes and entrance ramps pass normally. The emergency lane is not activated.
[0109] Scenario 4: The no-entry lights in the mainline emergency lane and outer lane are on, and the other no-entry lights are off. At this time, vehicles in the mainline outer lane and emergency lane stop and wait, while vehicles in other mainline lanes and entrance ramps pass normally.
[0110] Furthermore, in addition to the scenario of guiding vehicles on a one-way two-lane ring road, the scenario of guiding vehicles on a one-way three-lane or more ring road also includes:
[0111] Scenario 5: The no-entry signal lights on the entrance ramp are off, while the no-entry signal lights on the outer lane, the middle lane connected to the outer lane, and the emergency lane are on. At this time, vehicles in the main line emergency lane, the outer lane, and the middle lane connected to the outer lane stop and wait, while vehicles in other main line lanes and the entrance ramp pass normally.
[0112] Furthermore, based on the principle of minimum traffic conflict and low number of lane changes, a previously preset lane guidance device for guiding vehicles in each lane by integrating each lane scene is used to guide the vehicle according to the guidance method;
[0113] The lane guiding device comprises: a stop line luminous body, a first guide arrow luminous body, a second guide arrow luminous body, a third guide arrow luminous body, a fourth guide arrow luminous body, a virtual lane luminous body and a lane dividing line luminous body;
[0114] The stop line luminous body is arranged upstream of the no-entry signal light and is at a preset threshold distance from the no-entry signal light;
[0115] The first guide arrow luminous body is a straight guide arrow, which is set in the acceleration lane with the starting point of the acceleration lane as the reference point, and is used to guide vehicles on the highway to enter the acceleration lane;
[0116] The second guide arrow luminous body is a turn guide arrow and is arranged in the acceleration lane to guide the vehicles in the acceleration lane to merge into the outer lane;
[0117] The third guide arrow luminous body is a turning guide arrow, which is arranged at the merging point and points to the outer lane of the main line, and is used to guide the vehicle to directly merge into the outer lane of the main line at the merging point;
[0118] The fourth guide arrow luminous body is a turning guide arrow, which is arranged at the merging point and points to the middle lane connecting the main line and the outer lane, and is used to guide the vehicle to directly merge into the middle lane connecting the main line and the outer lane at the merging point;
[0119] The virtual lane luminous body is two curved light strips, which are arranged at the merging point, with the starting point at the end of the entrance ramp and the end point at the innermost signal-controlled main lane. The two light strips are respectively located on both sides of the third guide arrow luminous body, and the downstream side is located at the outer lane part of the light strip composed of a number of rectangular luminous bodies, each of which is spaced a certain distance apart, and the rest is a solid line, which is used to assist the third guide arrow luminous body in guiding the vehicle to directly merge into the corresponding lane at the merging point;
[0120] The length of the lane dividing line luminous body is the spacing between the two virtual lane luminous body strips, and the width is the width of the original lane dividing line. It is set at the original lane dividing line position between the two virtual lane luminous bodies.
[0121] Furthermore, based on the principle of minimum traffic conflict and low number of lane changes, the process of integrating the scenes of each lane and guiding the vehicles in each lane is as follows:
[0122] When guiding vehicles on a one-way two-lane ring road:
[0123] If it is scene 1, only the first guide arrow light, the second guide arrow light and the lane dividing line light are turned on to guide vehicles on the highway into the acceleration lane, and then merge into the outer lane from the acceleration lane when the opportunity arises;
[0124] If it is scenario 2, only the line luminous body and the lane dividing line luminous body at the front end of the entrance ramp are turned on to cooperate with the no-entry signal light at the front end of the entrance ramp to guide the driver to stop and wait;
[0125] If it is scenario three, only the stop line luminous body, the third guide arrow luminous body and the virtual lane luminous body leading to the outer lane of the main line are turned on to guide the drivers on the highway to drive directly into the outer lane without passing through the acceleration lane;
[0126] If it is scene four, only the stop line lights located in the outer lane of the main line and the emergency lane, the third guide arrow lights and the virtual lane lights leading to the outer lane will be turned on to guide vehicles on the highway to drive directly into the outer lane.
[0127] Furthermore, when guiding vehicles on a one-way three-lane or more ring road expressway:
[0128] If it is scene 1, only the first guide arrow light, the second guide arrow light and the lane dividing line light are turned on to guide vehicles on the highway into the acceleration lane, and then merge into the outer lane from the acceleration lane when the opportunity arises;
[0129] If it is scenario 2, only the line luminous body and the lane dividing line luminous body at the front end of the entrance ramp are turned on to cooperate with the no-entry signal light at the front end of the entrance ramp to guide the driver to stop and wait;
[0130] If it is scenario three, the stop line luminous body of the outer lane of the main line, the third guide arrow luminous body, the virtual lane luminous body leading to the outer lane, and the lane dividing line luminous body between the middle lane connected to the outer lane and the outer lane are turned on to guide the drivers on the highway to drive directly into the outer lane without passing through the acceleration lane;
[0131] If it is scene 4, only the stop line luminaires located in the outer lane of the main line and the emergency lane, the third guide arrow luminaires, the virtual lane luminaires leading to the outer lanes, and the lane dividing line luminaires between the middle lane connected to the outer lanes and the outer lanes are turned on to guide vehicles on the highway to drive directly into the outer lanes;
[0132] If it is scene five, the stop line lights, the third guide arrow lights, the fourth guide arrow lights and the virtual lane lights leading to the middle lane connected to the outer lanes are turned on in the outer lanes of the main line, the middle lane connected to the outer lanes and the emergency lane to guide vehicles on the highway to drive directly into the outer lanes and the middle lane connected to the outer lanes.
[0133] The embodiment of the present application also provides a guidance system for dynamic lane allocation and signal control, including:
[0134] A preprocessing module is configured to divide each lane scenario based on the principle of low traffic conflict and low lane change frequency according to dynamic lane allocation information and signal control scheme, and preset visual guidance schemes for different lane scenarios;
[0135] The collection and guidance module is configured to collect current lane allocation information and lane signal control information, determine the current traffic scene and switch the visual guidance plan corresponding to the corresponding traffic scene.
[0136] An embodiment of the present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a method for guiding vehicles merging into a ramp under dynamic lane allocation and signal control are implemented.
[0137] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of a method for guiding vehicles merging into a ramp under dynamic lane allocation and signal control are implemented.
[0138] Compared with the prior art, the above solution has the following beneficial technical effects:
[0139] The present application can be dynamically adjusted according to dynamic lane allocation information and signal control schemes to better convey no-entry instructions and lane-changing induction information to drivers, avoid confusion caused by fixed traffic markings to drivers, and improve traffic operation efficiency; at the same time, the present application can guide drivers to complete lane changing operations at merging points, greatly reducing the number of lane changes, and avoiding traffic congestion and traffic accidents caused by blind and concentrated lane changing behaviors; finally, the guidance method of the present application can adapt to various adverse driving environments such as night, heavy fog, cloudy days, heavy rain, etc., avoid traffic accidents caused by reduced visibility and invisible ground markings, and ensure traffic safety.
[0140] The above are some specific implementations of the vehicle guidance method provided in the embodiment of the present application. Based on this, the present application also provides a corresponding vehicle guidance device. The vehicle guidance device provided in the embodiment of the present application will be introduced from the perspective of functional modularization.
[0141] See also Figure 8 , Figure 8 A schematic diagram of the structure of a vehicle guiding device provided in an embodiment of the present application. Specifically, Figure 8 The vehicle guiding device 800 shown includes:
[0142] An acquisition unit 810 is used to acquire traffic information;
[0143] A scene determination unit 820, configured to determine a target traffic scene from a plurality of traffic scenes according to the traffic communication information;
[0144] The guidance module 830 is used to guide the vehicle to travel according to the target traffic scene.
[0145] Wherein, the traffic scene includes a cross-lane traffic scene; when the target traffic scene is the cross-lane traffic scene, guiding the vehicle to travel according to the target traffic scene includes:
[0146] The first guidance module of the vehicle guidance system is adjusted to an active state by a control module of the vehicle guidance system.
[0147] The embodiments of the present application also provide corresponding devices, computer storage media and computer program products for implementing the technical solutions provided by the embodiments of the present application.
[0148] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the vehicle guidance method described in any embodiment of the present application.
[0149] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the vehicle guiding method described in any embodiment of the present application.
[0150] The computer program product includes instructions. When the instructions are executed on a computer, the computer is enabled to execute the vehicle guiding method described in any embodiment of the present application.
[0151] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.
[0152] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.
[0153] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.
[0154] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.
Claims
1. A vehicle guidance system, characterized in that: The system is deployed at an intersection of a road and a ramp, the road includes an associated lane and a non-associated lane, the associated lane is a lane connected to the ramp, and the system includes a control module and a first guiding module; The control module is used to switch the first guiding module from an inactive state to an active state, or from the active state to an inactive state; When the first guiding module is in the activated state, it is used to guide vehicles traveling on the ramp to cross the associated lane and directly enter the non-associated lane of the road, or to guide vehicles traveling on the non-associated lane of the road to cross the associated lane and directly enter the ramp.
2. The system according to claim 1, characterized in that The road comprises a first non-associated lane and a second non-associated lane, the first non-associated lane is connected to the associated lane, and the second non-associated lane is not connected to the associated lane; When the first guidance module is in an activated state, it is also used to guide the vehicle traveling on the ramp to cross the associated lane and the first non-associated lane and directly enter the second non-associated lane, or to guide the vehicle traveling on the second non-associated lane to cross the first non-associated lane and the associated lane and directly enter the ramp.
3. The system according to claim 1, characterized in that The first guidance module includes an arrow module; When the arrow module is in the activated state, it is used to guide the vehicle traveling on the ramp or the vehicle traveling on the non-associated lane to cross the associated lane.
4. The system according to claim 3, characterized in that When the arrow module is used to guide the vehicle traveling on the non-associated lane, the arrow of the arrow module points from the non-associated lane to the ramp; or, when the arrow module is used to guide the vehicle traveling on the ramp, the arrow of the arrow module points from the ramp to the non-associated lane.
5. The system according to claim 1, characterized in that The first guidance module includes a lane line module; When the lane line module is in an activated state, it is used to mark a temporary lane; the temporary lane is a lane connecting the ramp and the non-associated lane.
6. The system according to claim 5, characterized in that The system further includes a second guiding module, wherein a position of the second guiding module overlaps with a position of the temporary lane; When the second guidance module is in an activated state, it is used to mark the boundary line between the associated lane and the ramp, and to mark the boundary line between the associated lane and the non-associated lane; The control module is further used to adjust the second guiding module to an inactive state, so that the second guiding module and the first guiding module are not in an active state at the same time.
7. The system according to any one of claims 1 to 6, characterized in that: The system also includes a prompt module; The control module is further used to adjust the prompt module to an activated state; When the prompt module is in an activated state, it is used to prompt the vehicle traveling in the associated lane to avoid collision with the vehicle crossing the associated lane.
8. A vehicle guiding method, characterized in that: The method comprises: Obtain traffic information; Determining a target traffic scene from a plurality of traffic scenes according to the traffic information; guiding the vehicle to travel according to the target traffic scenario; Wherein, the traffic scene includes a cross-lane traffic scene; when the target traffic scene is the cross-lane traffic scene, guiding the vehicle to travel according to the target traffic scene includes: The first guidance module of the vehicle guidance system is adjusted to an activated state through a control module of the vehicle guidance system, and the vehicle guidance system is the vehicle guidance system according to any one of claims 1 to 7.
9. The method according to claim 8, characterized in that The method is executed by a server, and adjusting the first guidance module of the vehicle guidance system to an activated state through a control module of the vehicle guidance system includes: The server sends an activation instruction to the control module of the guidance system, where the activation instruction is used to instruct the control module to adjust the first guidance module to an activated state.
10. The method according to claim 8 or 9, characterized in that: When the target traffic scene is the cross-lane traffic scene, the method further includes: Sending vehicle guidance information to the target vehicle; The target vehicle is a vehicle traveling on the non-associated lane, and the vehicle guidance information is used to guide the target vehicle to cross the associated lane and directly enter the ramp; or, the target vehicle is a vehicle traveling on the ramp, and the vehicle guidance information is used to guide the target vehicle to cross the associated lane and directly enter the non-associated lane.