Vehicle guiding method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle guiding method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle-road cooperation. According to the specific implementation scheme, the method comprises the steps of obtaining vehicle information of non-control vehicles and to-be-controlled vehicles in an intersection control range; determining the arrival time of the non-control vehicle arriving at a target intersection within the intersection control range according to the information of each vehicle, and constructing an intersection arrival time sequence based on each arrival time; according to the vehicle information of the to-be-controlled vehicle, a target time interval is determined in the intersection arrival time sequence, and the target time interval at least comprises time intervals between arrival times in the intersection arrival time sequence; and generating intersection arrival guide information of the to-be-controlled vehicle according to the target time interval, and transmitting the intersection arrival guide information to the to-be-controlled vehicle. According to the embodiment of the invention, the method is easy to implement and deploy, does not need to depend on complex model training, guarantees the real-time performance of vehicle guidance, improves the timeliness of overall arrangement of vehicles, and solves the problem of low vehicle passing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-road cooperative technology, and in particular to a vehicle guidance method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, with the continuous development of wireless communication technology and the automobile industry, the Internet of Vehicles has become an important part of modern intelligent transportation. Among them, the vehicle-road cooperative technology in intelligent transportation technology provides strong support for vehicle guidance at intersections without traffic lights. In the field of vehicle-road cooperative technology, traditional vehicle guidance methods are often based on artificial intelligence model training methods to achieve planning and guidance for vehicles passing through intersections without traffic lights. However, artificial intelligence model training often requires a large amount of sample data, which increases the complexity of the model. Different training and model updates are also required according to different traffic scenarios and conditions, which makes large-scale deployment difficult. In addition, in actual applications, traditional vehicle guidance methods often have problems such as delayed model updates and insufficient real-time response capabilities, which slows down the efficiency of vehicles passing through intersections without traffic lights. Summary of the invention

[0003] The present invention provides a vehicle guidance method, device, electronic device and storage medium. The embodiments of the present invention are easy to implement and deploy and do not rely on complex model training, thereby ensuring the real-time nature of vehicle guidance, improving the problem of insufficient timeliness of vehicle coordination, and achieving the beneficial effect of improving vehicle traffic efficiency.

[0004] According to one aspect of an embodiment of the present invention, a vehicle guiding method is provided, comprising:

[0005] Obtain vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection;

[0006] Determine the arrival time of the non-controlled vehicle at the target intersection within the control range of the intersection based on the information of each vehicle, and construct an intersection arrival time sequence based on each arrival time;

[0007] Determine a target time interval in the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each arrival time in the intersection arrival time sequence;

[0008] Generate intersection arrival guidance information for the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0009] Another aspect of an embodiment of the present invention provides a vehicle guiding device, comprising:

[0010] An information acquisition module is used to acquire vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection;

[0011] A time series module is used to determine the arrival time of non-controlled vehicles at the target intersection within the control range of the intersection based on the information of each vehicle, and to construct an intersection arrival time series based on each arrival time;

[0012] An interval determination module, used to determine a target time interval within the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each arrival time within the intersection arrival time sequence;

[0013] The guidance execution module is used to generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0014] Another aspect of an embodiment of the present invention provides an electronic device, including:

[0015] at least one processor; and

[0016] a memory communicatively connected to at least one processor; wherein,

[0017] The memory stores a computer program executable by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the vehicle guiding method according to any one of claims 1 to 7.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle guiding method of any embodiment of the present invention when executed.

[0019] In an embodiment of the present invention, when a vehicle travels into a control range of an intersection where an electronic device is effectively effective or monitored, the electronic device is triggered to work, the electronic device obtains vehicle information of non-controlled vehicles and controlled vehicles, calculates arrival time of each non-controlled vehicle at a target intersection based on the vehicle information of the non-controlled vehicles, arranges the calculated arrival time of each non-controlled vehicle in chronological order, constructs an intersection arrival time sequence of non-controlled vehicles arriving at the target intersection, calculates time required for the vehicle to be controlled to arrive at the target intersection based on the vehicle information of the vehicle to be controlled, searches for a time interval that meets a time condition for the vehicle to be controlled to cross the target intersection in the intersection arrival time sequence according to the time required for the vehicle to be controlled to arrive at the target intersection, determines the time interval as a target time interval for the vehicle to be controlled, generates intersection arrival guidance information for the vehicle to be controlled according to the determined target time interval for the vehicle to be controlled, transmits the generated intersection arrival guidance information to the vehicle to be controlled, and the vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information. The embodiment of the present invention constructs an intersection arrival time sequence through electronic devices, searches for and determines a target time interval of a vehicle to be controlled in the intersection arrival time sequence, generates intersection arrival guidance information of the vehicle to be controlled based on the target time interval, and guides the vehicle to be controlled by generating the intersection arrival guidance information through the electronic device, so that the vehicle guidance method can guide the vehicle to be controlled without training a large amount of sample data, and the vehicle guidance method is easy to operate, update, implement and deploy, thereby ensuring the real-time nature of vehicle guidance and improving the timeliness of vehicle overall arrangement. The generated intersection arrival guidance information is transmitted to the vehicle to be controlled through the electronic device, and the vehicle to be controlled adjusts its driving strategy in real time based on the intersection arrival guidance information, thereby improving the traffic efficiency of the vehicle.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a vehicle guiding method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of another vehicle guiding method provided according to the second embodiment of the present invention;

[0024] Figure 3 is a flow chart of another vehicle guiding method provided according to Embodiment 3 of the present invention;

[0025] Figure 4 It is a schematic diagram of a situation in which there is a vehicle to be controlled at an intersection without a signal light and the vehicle to be controlled is a vehicle at the current intersection, provided by the fourth embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of a vehicle to be controlled at a non-signalized intersection provided by a fourth embodiment of the present invention, where the vehicle at the current intersection is a vehicle at the current intersection;

[0027] Figure 6 is a flow chart of a vehicle guidance suggestion method provided by Embodiment 4 of the present invention;

[0028] Figure 7 is a flow chart of another vehicle guidance suggestion method provided by Embodiment 4 of the present invention;

[0029] Figure 8 It is a schematic structural diagram of a vehicle guiding device implementing an embodiment of the present invention;

[0030] Fig. 9 The present invention is a block diagram of an electronic device for executing the vehicle guiding method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 A flowchart of a vehicle guidance method is provided for the first embodiment of the present invention. The embodiment of the present invention is applicable to the case where vehicle planning guidance is realized without the need for a training model. The method can be executed by a vehicle device. The vehicle guidance device can be implemented in the form of hardware and / or software. The vehicle guidance device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0035] S101. Obtain vehicle information of non-controlled vehicles and vehicles to be controlled within a control range of an intersection.

[0036] In the embodiment of the present invention, the intersection control range can be understood as the range within which the electronic device effectively functions or monitors. When a vehicle travels into the intersection control range, the electronic device is triggered to work and guide the vehicle within the intersection control range.

[0037] An uncontrolled vehicle refers to a vehicle that cannot exchange data with electronic devices. A uncontrolled vehicle cannot transmit the vehicle's own information to electronic devices, a uncontrolled vehicle cannot receive information from electronic devices, and the behavior of an uncontrolled vehicle is not guided by the planning of electronic devices.

[0038] The vehicle to be controlled can be understood as a vehicle that can exchange data with electronic devices. The vehicle to be controlled can transmit the vehicle's own information to the electronic devices, the vehicle to be controlled can receive information or instructions from the electronic devices, and the behavior of the vehicle to be controlled is planned and guided by the information sent by the electronic devices.

[0039] Vehicle information can be understood as a collection of data containing various attributes or states of the vehicle. For example, vehicle information includes but is not limited to: vehicle location or vehicle speed, etc., wherein the electronic device obtains vehicle information in the following ways: transmitting the vehicle information to the electronic device through the on-board communication unit loaded on the vehicle itself or collecting vehicle information through the access edge computing unit configured at the intersection, and the access edge computing unit transmits the collected vehicle information to the electronic device.

[0040] Specifically, when a vehicle drives into the control range of an intersection where the electronic device is effectively effective or monitored, the electronic device is triggered to work, and the electronic device obtains vehicle information of non-controlled vehicles and vehicle information of controlled vehicles, and the electronic device plans and guides the controlled vehicle based on the received vehicle information. For example, the electronic device obtains the vehicle information of the controlled vehicle by receiving the vehicle information output by the on-board communication unit loaded on the controlled vehicle itself, and the electronic device obtains the vehicle information of the non-controlled vehicle by receiving the vehicle information output by the access edge computing unit, wherein the access edge computing unit is deployed independently of the electronic device.

[0041] S102, determining the arrival time of the non-controlled vehicle at the target intersection within the control range of the intersection according to the information of each vehicle, and constructing an intersection arrival time sequence based on each arrival time.

[0042] In an embodiment of the present invention, the arrival time can be understood as the time required for a non-controlled vehicle to reach a target intersection within the control range of the intersection, which is used to construct an intersection arrival time series, wherein the target intersection can be understood as an intersection that a non-controlled vehicle is about to arrive at within the control range of the intersection.

[0043] The intersection arrival time series can be understood as a time list. The time list formed by arranging the arrival times of all non-controlled vehicles within the intersection control range at the target intersection in chronological order is defined as the intersection arrival time series.

[0044] Specifically, the vehicle information of all non-controlled vehicles within the control range of the intersection is obtained, and the time required for each non-controlled vehicle within the control range of the intersection to reach the target intersection is calculated based on the vehicle information of each non-controlled vehicle, that is, the arrival time of each non-controlled vehicle is calculated, and the calculated arrival time of each non-controlled vehicle is arranged in chronological order to construct a time list for the non-controlled vehicles to arrive at the target intersection, and the time list is used as the intersection arrival time series.

[0045] S103, determining a target time interval in the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each arrival time in the intersection arrival time sequence.

[0046] In an embodiment of the present invention, the target time interval can be understood as a time interval within the intersection arrival time sequence that satisfies the time condition for the vehicle to be controlled to pass through the target intersection. The intersection arrival guidance information is generated based on the target time interval, and the vehicle to be controlled can pass through the intersection safely and efficiently within the target time interval. The time interval can be understood as the time interval formed by the arrival times of each non-controlled vehicle.

[0047] Specifically, vehicle information of the vehicle to be controlled is obtained, and the time required for the vehicle to be controlled to reach the target intersection is calculated based on the vehicle information of the vehicle to be controlled, and the time interval that meets the time condition for the vehicle to be controlled to pass the target intersection is queried in the intersection arrival time sequence according to the time required for the vehicle to be controlled to reach the target intersection, wherein the intersection arrival time sequence is constructed by the arrival times of each non-controlled vehicle at the target intersection, and the time interval in the intersection arrival time sequence that meets the time condition for the vehicle to be controlled to cross the target intersection is determined as the target time interval, and the determined target time interval can avoid overlapping with the arrival time of each non-controlled vehicle, thereby reducing traffic conflicts and delays. It can be understood that the target time interval at least includes the time interval between the arrival times of each non-controlled vehicle at the target intersection in the intersection arrival time sequence.

[0048] S104: Generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0049] In the embodiment of the present invention, the intersection arrival guidance information can be understood as an instruction for guiding the driving behavior of the vehicle to be controlled in the process of arriving at the target intersection. For example, the intersection arrival guidance information may include: suggesting acceleration or suggesting deceleration.

[0050] Specifically, a target time interval of the vehicle to be controlled is determined within an intersection arrival time sequence based on the vehicle information of the vehicle to be controlled, intersection arrival guidance information is generated according to the determined target time interval to guide the driving behavior of the vehicle to be controlled in crossing the target intersection, the generated intersection arrival guidance information is transmitted to the vehicle to be controlled, and the vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information to avoid causing traffic congestion.

[0051] In an embodiment of the present invention, when a vehicle travels into a control range of an intersection where an electronic device is effectively effective or monitored, the electronic device is triggered to work, the electronic device obtains vehicle information of non-controlled vehicles and controlled vehicles, calculates arrival time of each non-controlled vehicle at a target intersection based on the vehicle information of the non-controlled vehicles, arranges the calculated arrival time of each non-controlled vehicle in chronological order, constructs an intersection arrival time sequence of non-controlled vehicles arriving at the target intersection, calculates time required for the vehicle to be controlled to arrive at the target intersection based on the vehicle information of the vehicle to be controlled, searches for a time interval that meets a time condition for the vehicle to be controlled to cross the target intersection in the intersection arrival time sequence according to the time required for the vehicle to be controlled to arrive at the target intersection, determines the time interval as a target time interval for the vehicle to be controlled, generates intersection arrival guidance information for the vehicle to be controlled according to the determined target time interval for the vehicle to be controlled, transmits the generated intersection arrival guidance information to the vehicle to be controlled, and the vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information. The embodiment of the present invention constructs an intersection arrival time sequence through electronic devices, searches for and determines a target time interval of a vehicle to be controlled in the intersection arrival time sequence, generates intersection arrival guidance information of the vehicle to be controlled based on the target time interval, and guides the vehicle to be controlled by generating the intersection arrival guidance information through the electronic device, so that the vehicle guidance method can guide the vehicle to be controlled without training a large amount of sample data, and the vehicle guidance method is easy to operate, update, implement and deploy, thereby ensuring the real-time nature of vehicle guidance and improving the timeliness of vehicle overall arrangement. The generated intersection arrival guidance information is transmitted to the vehicle to be controlled through the electronic device, and the vehicle to be controlled adjusts its driving strategy in real time based on the intersection arrival guidance information, thereby improving the traffic efficiency of the vehicle.

[0052] Embodiment 2

[0053] Figure 2 This is a flow chart of another vehicle guidance method provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment of the present invention provides another vehicle guidance method. Figure 2 As shown, the method includes:

[0054] S201. Receive the vehicle information uploaded by the vehicle to be controlled when the vehicle reaches the control range of the intersection, wherein the vehicle information includes vehicle speed, vehicle position, vehicle lane information and vehicle intention.

[0055] In the embodiment of the present invention, the vehicle speed refers to the driving speed of the vehicle to be controlled when the electronic device receives the vehicle information. For example, the unit of the vehicle speed may include: kilometer / hour or meter / second.

[0056] The vehicle position refers to the specific geographical location of the vehicle to be controlled when the electronic device receives the vehicle information, wherein the vehicle position can be described by longitude and latitude coordinates. For example, the vehicle position of the vehicle to be controlled is 116°23′26.93″ east longitude and 39°54′26.92″ north latitude.

[0057] The vehicle lane information may be understood as data related to the lane in which the vehicle to be controlled is currently traveling. For example, the vehicle lane information may include: lane type or lane width.

[0058] The vehicle intention may be understood as the driving behavior of the vehicle to be controlled. For example, the vehicle intention may include: the vehicle passes through an intersection or the vehicle stops before reaching an intersection.

[0059] Specifically, when the vehicle to be controlled arrives at the control range of the intersection, the vehicle to be controlled uploads its own vehicle information to the electronic device, and the electronic device is responsible for receiving the vehicle information of the vehicle to be controlled uploaded by the vehicle to be controlled, wherein the vehicle information of the vehicle to be controlled may include: vehicle speed, vehicle position, vehicle lane information and vehicle intention, etc.

[0060] S202. Receive vehicle information collected by an access edge computing unit for non-controlled vehicles, wherein the access edge computing unit is configured in a control range of an intersection.

[0061] In an embodiment of the present invention, the access edge computing unit may be understood as a device for collecting information. By way of example, the purpose of the access edge computing unit at least includes: collecting vehicle information of non-controlled vehicles.

[0062] Specifically, the access edge computing unit is configured within the control range of the intersection. The access edge computing unit located within the control range of the intersection identifies non-controlled vehicles and collects vehicle information of the non-controlled vehicles. The access edge computing unit uploads the collected vehicle information of the non-controlled vehicles to the electronic device, and the electronic device receives the vehicle information of the non-controlled vehicles output by the access edge computing unit.

[0063] S203: For non-controlled vehicles, extract the vehicle position and vehicle speed of the vehicle information.

[0064] Specifically, the access edge computing unit is used to collect vehicle information of the non-controlled vehicle, wherein the collected vehicle information of the non-controlled vehicle includes at least the vehicle position and vehicle speed of the non-controlled vehicle, and the vehicle position and vehicle speed of the non-controlled vehicle are extracted from the vehicle information of the non-controlled vehicle. The extracted vehicle position and vehicle speed of the non-controlled vehicle are used for subsequent calculation of the arrival time of the non-controlled vehicle.

[0065] S204: Determine the distance to be moved between the vehicle position and the target intersection, and use the ratio of the distance to be moved to the vehicle speed as the arrival time of the non-controlled vehicle.

[0066] In the embodiment of the present invention, the distance to be moved can be understood as the distance that the non-controlled vehicle travels from the vehicle position to the target intersection, which is used to calculate the arrival time of the non-controlled vehicle.

[0067] Specifically, the vehicle position and vehicle speed of the non-controlled vehicle are extracted from the vehicle information of the non-controlled vehicle, and the distance to be moved for the non-controlled vehicle to travel to the target intersection is obtained based on the extracted vehicle position. The obtained distance to be moved and the vehicle speed extracted from the vehicle information of the non-controlled vehicle are compared to obtain a specific ratio, and the ratio is used as the arrival time of the non-controlled vehicle.

[0068] S205: Determine a minimum time interval range including each arrival time, map each arrival time to the minimum time interval range, and obtain an intersection arrival time sequence.

[0069] In an embodiment of the present invention, the minimum time interval range can be understood as the shortest time range for all non-controlled vehicles to reach the target intersection within the control range of the intersection, wherein the minimum time interval range includes the arrival time of all non-controlled vehicles at the target intersection. For example, the minimum time interval range can be determined by the earliest time for the first non-controlled vehicle within the control range of the intersection to arrive at the target intersection and the latest time for the last non-controlled vehicle to arrive at the target intersection.

[0070] Specifically, the arrival time of each non-controlled vehicle within the intersection range at the target intersection is obtained, the minimum time interval range is determined based on the obtained arrival time of each non-controlled vehicle, and the obtained arrival time of each non-controlled vehicle is mapped into the minimum time interval range to form an intersection arrival time sequence.

[0071] S206. Determine whether the vehicle to be controlled is the vehicle at the current intersection according to the vehicle information. If so, find a valid time interval in the intersection arrival time sequence as the target time interval. If not, determine the preceding vehicle of the vehicle to be controlled, and find a valid time interval after the target time interval of the preceding vehicle in the intersection arrival time sequence as the target time interval, wherein the target time interval at least includes the time interval between each arrival time in the intersection arrival time sequence.

[0072] In the embodiment of the present invention, the current vehicle at the intersection can be understood as the frontmost vehicle within the control range of the intersection, and there is no other vehicle in front of the current vehicle at the intersection.

[0073] The effective time interval can be understood as the time interval in the intersection arrival time sequence that can guide the vehicle to be controlled to pass through the intersection safely.

[0074] The controlled leading vehicle refers to a vehicle that is ahead of the vehicle to be controlled and can also exchange data with the electronic device. The behavior of the controlled leading vehicle is guided by the planning of the intersection arrival guidance information. The behavior of the controlled leading vehicle affects the travel and arrival time of the vehicle to be controlled.

[0075] Specifically, the vehicle information of the vehicle to be controlled is transmitted to the electronic device, which is responsible for receiving the vehicle information of the vehicle to be controlled, and judging whether the vehicle to be controlled is a vehicle at the current intersection within the control range of the intersection based on the received vehicle information of the vehicle to be controlled. If the vehicle to be controlled is judged to be a vehicle at the current intersection, the effective time interval that can guide the vehicle to be controlled to pass through the intersection safely is directly found in the intersection arrival time sequence, and the effective time interval is used as the target time interval; if the vehicle to be controlled is judged to be a vehicle at a non-current intersection, the target time interval for controlling the preceding vehicle is determined in the intersection arrival time sequence, and the effective time interval that can guide the vehicle to be controlled to pass through the intersection safely is found after the determined target time interval for controlling the preceding vehicle, and the effective time interval is used as the target time interval for the vehicle to be controlled.

[0076] S207: Generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0077] In an embodiment of the present invention, when a vehicle to be controlled arrives at a control range of an intersection, the vehicle to be controlled uploads its own vehicle information to an electronic device, and the electronic device is responsible for receiving the vehicle information of the vehicle to be controlled uploaded by the vehicle to be controlled, and an access edge computing unit is configured within the control range of the intersection, and the access edge computing unit uploads the collected vehicle information of a non-controlled vehicle to the electronic device, and the electronic device receives the vehicle information of the non-controlled vehicle output by the access edge computing unit, extracts the vehicle position and vehicle speed of the non-controlled vehicle from the vehicle information of the non-controlled vehicle, and obtains a distance to be moved for the non-controlled vehicle to travel to a target intersection based on the extracted vehicle position, and compares the obtained distance to be moved with the vehicle speed extracted from the vehicle information of the non-controlled vehicle to obtain the arrival time of the non-controlled vehicle, and determines the minimum time interval range based on the obtained arrival time of each non-controlled vehicle, and maps the obtained arrival time of each non-controlled vehicle to the minimum time interval range. Within the interval range, an intersection arrival time sequence is formed. The electronic device determines whether the vehicle to be controlled is the current intersection stop vehicle within the intersection control range based on the received vehicle information of the vehicle to be controlled. If the vehicle to be controlled is the current intersection stop vehicle, the electronic device directly searches for an effective time interval that can guide the vehicle to be controlled to pass through the intersection safely within the intersection arrival time sequence, and uses the effective time interval as the target time interval; if the vehicle to be controlled is not the current intersection stop vehicle, the target time interval for controlling the preceding vehicle is determined within the intersection arrival time sequence, and searches for an effective time interval that can guide the vehicle to be controlled to pass through the intersection safely after the determined target time interval for controlling the preceding vehicle, and uses the effective time interval as the target time interval for the vehicle to be controlled. The electronic device generates intersection arrival guidance information of the vehicle to be controlled based on the determined target time interval, and transmits the intersection arrival guidance information to the vehicle to be controlled. The vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information. The embodiment of the present invention utilizes an access edge computing unit to collect vehicle information collected by non-controlled vehicles and transmits the vehicle information of the non-controlled vehicles to electronic devices, thereby reducing the load of electronic devices, accelerating the efficiency of the electronic devices in generating intersection arrival guidance information, ensuring the real-time nature of generating intersection arrival guidance information, and further ensuring the real-time nature of vehicle guidance; determining a minimum time interval range based on the arrival time of the non-controlled vehicles, determining the arrival time of each non-controlled vehicle by the position of the vehicle and the distance to be moved, and obtaining an intersection arrival time sequence based on each arrival time of each non-controlled vehicle; determining a target time interval for the vehicle to be controlled within the intersection arrival time sequence, thereby reducing the waiting time for the vehicle to be controlled to pass through the intersection, and improving the timeliness of vehicle overall arrangement; generating different intersection arrival guidance information based on whether the preceding vehicle to be controlled is the lead vehicle, thereby improving the utilization rate of the intersection and ensuring traffic safety.

[0078] Based on the above embodiments, the embodiments of the present invention further include:

[0079] When there is no controlled preceding vehicle of the vehicle to be controlled, a vehicle following suggestion is generated according to vehicle information of a non-controlled preceding vehicle of the vehicle to be controlled.

[0080] In an embodiment of the present invention, the uncontrolled preceding vehicle can be understood as a vehicle before the vehicle to be controlled and cannot exchange data with the electronic device. The behavior of the uncontrolled preceding vehicle is not guided by the planning of the intersection arrival guidance information, and the behavior of the uncontrolled preceding vehicle affects the driving and arrival time of the vehicle to be controlled.

[0081] Specifically, when the electronic device determines based on the received vehicle information that there is no controlled preceding vehicle before the vehicle to be controlled, but there is an uncontrolled preceding vehicle that cannot exchange data with the electronic device, the access edge computing unit transmits the collected vehicle information of the uncontrolled preceding vehicle to the electronic device, and the electronic device generates a following suggestion for the vehicle to be controlled based on the received vehicle information of the uncontrolled preceding vehicle, that is, the intersection arrival guidance information generated by the electronic device based on the received vehicle information of the uncontrolled preceding vehicle is a following suggestion, and the vehicle to be controlled will not overtake according to the following suggestion.

[0082] Based on the above embodiment, the selection condition of the effective time interval in the embodiment of the present invention includes at least one of the following:

[0083] When the vehicle to be controlled meets the vehicle acceleration restriction condition and the road speed limit restriction condition, it arrives at the target intersection by the third threshold value earlier than the first arrival time in the intersection arrival time sequence, and the first time slot in the intersection arrival time sequence is selected as the effective time interval; if there are no other vehicles within the first threshold distance after the non-controlled vehicle corresponding to the last arrival time in the intersection arrival time sequence, the last time slot in the intersection arrival time sequence is selected as the effective time interval; if the time interval of the time slots in the intersection arrival time sequence is greater than the fourth threshold value, and the vehicle to be controlled meets the vehicle acceleration restriction condition and the road speed limit restriction condition and arrives at the target intersection within the time range corresponding to the time slot, the time slot is selected as the effective time interval, wherein the time slot does not belong to the first time slot and the last time slot in the intersection arrival time sequence.

[0084] In an embodiment of the present invention, the vehicle acceleration restriction condition can be understood as the maximum acceleration limited by the vehicle's own performance when accelerating, and the road speed limit restriction condition can be understood as the upper limit of the vehicle's driving speed set by current road conditions and traffic regulations. The vehicle to be controlled must meet the vehicle acceleration restriction condition and the road speed limit restriction condition when it travels to the target intersection according to the intersection arrival guidance information.

[0085] The first arrival time can be understood as the earliest time when the non-controlled vehicle arrives at the target intersection recorded in the intersection arrival time sequence. For example, if the earliest time when the non-controlled vehicle arrives at the target intersection recorded in the intersection arrival time sequence is 10:05, then 10:05 is taken as the first arrival time.

[0086] The third threshold value may be understood as a preset time value, which is used to determine whether the vehicle to be controlled can reach the target intersection in advance. For example, the third threshold value may include 2 seconds or 4 seconds.

[0087] The first time gap can be understood as the time interval formed by the first arrival time and the time of the third threshold before the first arrival time within the intersection arrival time sequence. For example, if the first arrival time is 10:05 and the third threshold is 2 seconds, then the first time gap is the time interval formed by 10:05 and 10:04:58. It can be understood that the length of the first time gap is equal to the length of the third threshold.

[0088] The last arrival time can be understood as the latest arrival time of the non-controlled vehicle at the target intersection recorded in the intersection arrival time sequence. For example, if the latest arrival time of the non-controlled vehicle at the target intersection recorded in the intersection arrival time sequence is 10:08, then 10:08 is taken as the last arrival time.

[0089] The first threshold distance can be understood as a pre-set distance value, which is used to determine whether there is enough distance behind the vehicle corresponding to the last arrival time in the intersection arrival time sequence so that the vehicle to be controlled can safely pass through the intersection. For example, the first threshold distance may include: 5 meters or 6 meters.

[0090] The last time slot can be understood as the time interval formed by the last arrival time and the time corresponding to the first threshold distance after the last arrival time in the intersection arrival time sequence. For example, if the first arrival time is 10:08, the first threshold distance is 5 meters, and the time corresponding to 5 meters after 10:08 is 10:10, then the last time slot is the time interval formed by 10:08 and 10:10.

[0091] The fourth threshold value can be understood as a pre-set time value used to measure the length of the time interval between the arrival times of each non-controlled vehicle in the intersection arrival time sequence. It can be understood that the set length of the third threshold value can be the same or different from the set length of the fourth threshold value.

[0092] The time gap can be understood as the time interval formed between the arrival times of non-controlled vehicles in the intersection arrival time sequence.

[0093] Specifically, the arrival time of the first non-controlled vehicle arriving at the target intersection within the control range of the intersection is taken as the first arrival time, and a third threshold is preset to determine whether the vehicle to be controlled can arrive at the target intersection in advance. If the vehicle to be controlled can arrive at the target intersection by the third threshold earlier than the first arrival time under the condition that the vehicle acceleration restriction condition and the road speed restriction condition are met, then the first time gap formed by the first arrival time and the time of the third threshold before the first arrival time is taken as the effective time interval, and the intersection arrival guidance information generated by the electronic device will guide the vehicle to be controlled to pass through the intersection within the first time gap; the arrival time of the last non-controlled vehicle arriving at the target intersection within the control range of the intersection is taken as the last arrival time, and a first threshold distance is preset to determine whether there is enough distance behind the vehicle corresponding to the last arrival time in the intersection arrival time sequence so that the vehicle to be controlled can safely pass through the intersection. If the vehicle to be controlled meets the vehicle acceleration restriction condition and the road speed restriction condition, then the first time gap formed by the first arrival time and the time of the third threshold before the first arrival time is taken as the effective time interval, and the intersection arrival guidance information generated by the electronic device will guide the vehicle to be controlled to pass through the intersection within the first time gap; Under the restriction condition, if there is no other vehicle within the first threshold distance after the non-controlled vehicle corresponding to the last arrival time is queried in the intersection arrival time sequence, then the last time slot formed by the time corresponding to the last arrival time and the first threshold distance will be used as the effective time interval, and the intersection arrival guidance information generated by the electronic device will guide the vehicle to be controlled to pass through the intersection from the last time slot; a fourth threshold value is preset to measure the length of the time interval between the arrival times of each non-controlled vehicle in the intersection arrival time sequence. If the time interval of the time slot queried in the intersection arrival time sequence is greater than the fourth threshold value, it indicates that the vehicle to be controlled can reach the target intersection within the time range corresponding to the time slot under the condition of satisfying the vehicle acceleration restriction condition and the road speed limit restriction condition. At this time, the time slot is used as the effective time interval of the vehicle to be controlled. It can be understood that the time slot, the first time slot in the intersection arrival time sequence and the last time slot in the intersection arrival time sequence are independent of each other.

[0094] Embodiment 3

[0095] Figure 3 This is a flow chart of another vehicle guiding method provided by Embodiment 3 of the present invention. Based on the above embodiments, this embodiment of the present invention provides another vehicle guiding method. Figure 3 As shown, the method includes:

[0096] S301. Receive the vehicle information uploaded by the vehicle to be controlled when it reaches the control range of the intersection, wherein the vehicle information includes vehicle speed, vehicle position, vehicle lane information and vehicle intention.

[0097] S302. Receive vehicle information collected by an access edge computing unit for non-controlled vehicles, wherein the roadside unit is configured within the reach of the intersection.

[0098] S303: For non-controlled vehicles, extract the vehicle position and vehicle speed of the vehicle information.

[0099] S304: Determine the distance to be moved between the vehicle position and the target intersection, and use the ratio of the distance to be moved to the vehicle speed as the arrival time of the non-controlled vehicle.

[0100] S305: Determine the earliest arrival time and the latest arrival time among the arrival times.

[0101] In the embodiment of the present invention, the earliest arrival time can be understood as the time when the first non-controlled vehicle in the intersection arrival time sequence arrives at the target intersection, which is used to determine the starting time point of the minimum time interval sequence.

[0102] The latest arrival time can be understood as the time when the last non-controlled vehicle in the intersection arrival time sequence arrives at the target intersection, which is used to determine the end time point of the minimum time interval sequence.

[0103] Specifically, the arrival time of each non-controlled vehicle is obtained, and the arrival time of each non-controlled vehicle is arranged in chronological order. The arrival time of the first non-controlled vehicle to arrive at the target intersection is defined as the earliest arrival time, and the arrival time of the last non-controlled vehicle to arrive at the target intersection is defined as the latest arrival time.

[0104] S306: taking a time point of a first threshold before the earliest arrival time as the start time point of the minimum time interval sequence, and taking a time point of a second threshold after the latest arrival time as the end time point of the minimum time interval sequence.

[0105] In the embodiment of the present invention, the first threshold may be understood as a preset time length, which is used to determine the offset of the starting time point relative to the earliest arrival time. For example, the first threshold may include: 1 second or 2 seconds.

[0106] The second threshold value may be understood as a preset time value, which is used to determine the offset of the end time point relative to the latest arrival time. For example, the second threshold value may include: 3 seconds or 4 seconds.

[0107] The minimum time interval sequence can be understood as a time range between a determined start time point and an end time point, which is used to determine the minimum time interval range.

[0108] Specifically, the earliest arrival time and the latest arrival time within each arrival time are determined, a first threshold and a second threshold are set, and the starting time point and the ending time point of the minimum time interval range are determined based on the earliest arrival time, the latest arrival time, the first threshold and the second threshold, and the time point earlier than the first threshold of the earliest arrival time is used as the starting time point of the minimum time interval sequence, and the time point later than the second threshold of the latest arrival time is used as the ending time point of the minimum time interval sequence.

[0109] For example, if the earliest arrival time is 10:05, the latest arrival time is 10:10, the first threshold is 2 seconds, and the second threshold is 4 seconds, then the starting time point of the minimum time interval sequence is 10:04:58, and the ending time point of the minimum time interval sequence is 10:10:04.

[0110] S307: Use the time range between the start time point and the end time point as the minimum time interval range.

[0111] Specifically, the starting time point and the ending time point of each arrival time are determined, and the time range between the starting time point and the ending time point is used as the minimum time interval range.

[0112] S308: Map each arrival time to a minimum time interval range to obtain an intersection arrival time sequence.

[0113] S309. Determine whether the vehicle to be controlled is the vehicle at the current intersection according to the vehicle information. If so, find a valid time interval in the intersection arrival time sequence as the target time interval. If not, determine the preceding vehicle of the vehicle to be controlled, and find a valid time interval after the target time interval of the preceding vehicle in the intersection arrival time sequence as the target time interval, wherein the target time interval at least includes the time interval between each arrival time in the intersection arrival time sequence.

[0114] S310: Generate intersection arrival guidance information of the vehicle to be controlled according to the time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0115] In an embodiment of the present invention, when a vehicle to be controlled arrives at a control range of an intersection, the vehicle to be controlled uploads its own vehicle information to an electronic device, and the electronic device is responsible for receiving the vehicle information of the vehicle to be controlled uploaded by the vehicle to be controlled, and an access edge computing unit is configured within the control range of the intersection, and the access edge computing unit uploads the collected vehicle information of a non-controlled vehicle to the electronic device, and the electronic device receives the vehicle information of the non-controlled vehicle output by the access edge computing unit, extracts the vehicle position and vehicle speed of the non-controlled vehicle from the vehicle information of the non-controlled vehicle, and obtains a distance to be moved for the non-controlled vehicle to travel to a target intersection based on the extracted vehicle position, and compares the obtained distance to be moved with the vehicle speed extracted from the vehicle information of the non-controlled vehicle to obtain an arrival time of the non-controlled vehicle, and determines the earliest arrival time of the first non-controlled vehicle arriving at the target intersection and the latest arrival time of the last non-controlled vehicle arriving at the target intersection in the intersection arrival time sequence based on the obtained arrival time of each non-controlled vehicle, sets a first threshold and a second threshold, and uses a time point earlier than the first threshold of the earliest arrival time as the starting time point of the minimum time interval sequence, and uses a time point later than the latest arrival time as the starting time point of the minimum time interval sequence. The time point at which the second time threshold is reached is used as the end time point of the minimum time interval sequence, the time range between the start time point and the end time point is used as the minimum time interval range, and the arrival time of each non-controlled vehicle is mapped into the minimum time interval range to form an intersection arrival time sequence. The electronic device determines whether the vehicle to be controlled is a vehicle at the current intersection within the control range of the intersection based on the received vehicle information of the vehicle to be controlled. If the vehicle to be controlled is a vehicle at the current intersection, the effective time interval that can guide the vehicle to be controlled to pass through the intersection safely is directly found in the intersection arrival time sequence, and the effective time interval is used as the target time interval; if the vehicle to be controlled is a vehicle at a non-current intersection, the target time interval for controlling the preceding vehicle is determined in the intersection arrival time sequence, and the effective time interval that can guide the vehicle to be controlled to pass through the intersection safely is found after the determined target time interval for controlling the preceding vehicle, and the effective time interval is used as the target time interval for the vehicle to be controlled. The intersection arrival guidance information of the vehicle to be controlled is generated based on the determined target time interval, and the intersection arrival guidance information is transmitted to the vehicle to be controlled. The vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information. The embodiment of the present invention determines the starting time point and the ending time point of the minimum time interval sequence through the first threshold and the second threshold, and uses the time range between the starting time point and the ending time point as the minimum time interval range, so that the target time interval of the vehicle to be controlled is more accurate, and the intersection arrival guidance information is generated through the accurate target time interval to guide the vehicle to be controlled, thereby improving the vehicle traffic efficiency, and by changing the length of the first threshold and the second threshold, the minimum time interval range is flexibly set, so that the vehicle guidance method can adapt to different traffic scenarios and conditions, thereby improving the timeliness of vehicle overall arrangement.

[0116] Embodiment 4

[0117] Based on the above embodiments, Figure 4 is a schematic diagram of a situation in which a vehicle to be controlled exists at an intersection without a signal light and the vehicle to be controlled is a vehicle at the current intersection. Figure 4 In the figure, the vehicles to be controlled are filled in black, and the non-controlled vehicles are filled in white. According to the vehicle information of the non-controlled vehicles, the arrival time of each non-controlled vehicle at the target intersection is calculated, and a time list is formed based on each arrival time. The time list is used as the intersection arrival time sequence, and the target time interval of the vehicles to be controlled is determined within the intersection arrival time sequence.

[0118] Based on the above embodiments, Figure 5 is a schematic diagram of a vehicle to be controlled at a non-signal intersection provided by an embodiment of the present invention, where the vehicle to be controlled is not a vehicle at the current intersection. Figure 5 In the figure, the vehicle to be controlled is filled in black. According to the vehicle information of the non-controlled vehicles, the arrival time of each non-controlled vehicle at the target intersection is calculated, and a time list is formed based on each arrival time. The time list is used as the intersection arrival time sequence. Among them, if the preceding vehicle of the vehicle to be controlled is the controlled preceding vehicle, the effective time interval after the target time interval of the controlled preceding vehicle is found in the intersection arrival time sequence as the target time interval of the vehicle to be controlled; if the preceding vehicle of the vehicle to be controlled is the non-controlled preceding vehicle, the vehicle to be controlled follows the vehicle.

[0119] Based on the above embodiments, Figure 6 is a flow chart of a vehicle guidance suggestion method provided by an embodiment of the present invention, such as Figure 6 As shown, the method flow includes: judging whether there is a valid gap in the intersection arrival time sequence according to the gap judgment condition; if there is a valid gap, the vehicle to be controlled arrives at the intersection according to the valid gap, and the electronic device generates a guidance suggestion according to the valid gap, wherein the gap judgment condition is equivalent to the selection condition of the effective time interval in the above embodiment, and the guidance suggestion is equivalent to the intersection arrival guidance information in the above embodiment; if there is no valid gap, the vehicle to be controlled will smoothly decelerate to the stop line and wait for a suitable gap to pass the intersection, and the method flow will re-judge the gap judgment condition every 100 milliseconds.

[0120] Based on the above embodiments, Figure 7 is another flow chart of a vehicle guidance suggestion method provided by an embodiment of the present invention. Figure 7As shown, the method flow includes: judging whether there is a valid gap in the intersection arrival time sequence according to the gap judgment condition; if there is a valid gap, judging whether the first gap in the intersection arrival time sequence of the vehicle to be controlled is a valid gap; if the first gap is a valid gap, judging whether the speed of the vehicle to be controlled needs to be accelerated or decelerated to pass through the first gap and pass the target intersection; if the vehicle to be controlled can pass through the first gap without acceleration / deceleration, maintaining the current speed; if the first gap does not meet the gap judgment condition, judging whether the middle gap meets the gap judgment condition; if the middle gap meets the gap judgment condition, taking the middle gap as a valid gap, and then judging whether the speed of the vehicle to be controlled needs to be accelerated or decelerated to pass through the middle gap and pass the target intersection. At a target intersection, if the vehicle to be controlled does not need to accelerate / decelerate to pass through the target intersection in the middle gap, the current speed is maintained, wherein a1 is a time parameter, a2 is another time parameter, and the middle gap is the time interval formed by a1 and a2; if the middle gap does not meet the gap judgment condition, then continue to judge whether the current speed of the vehicle to be controlled can reach the target intersection after the last vehicle in the intersection control range reaches the target intersection. If it can reach, then continue to judge whether there is no vehicle within d meters after the last vehicle. If there is no vehicle within d meters after the last vehicle, then judge whether the vehicle to be controlled needs to accelerate or decelerate to pass through the target intersection in the last gap according to the current speed of the vehicle to be controlled. If the vehicle to be controlled does not need to accelerate / decelerate to pass through the target intersection in the last gap, then maintain the current speed. It can be understood that the first gap is equivalent to the first time gap in the above embodiment, and the last gap is equivalent to the last time gap in the above embodiment.

[0121] The embodiment of the present invention ensures the real-time vehicle guidance by configuring the cycle of the algorithm cycle, improves the timeliness of vehicle overall arrangement, effectively guides the vehicle based on the gap judgment conditions, ensures the safety of the vehicle when passing through the road traffic intersection, and improves the vehicle traffic efficiency.

[0122] Embodiment 5

[0123] Figure 8 This is a schematic diagram of the structure of a vehicle guiding device provided in Embodiment 5 of the present invention. Figure 8 As shown, the device comprises:

[0124] The information acquisition module 401 is used to acquire vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection;

[0125] The time series module 402 is used to determine the arrival time of the non-controlled vehicle at the target intersection within the control range of the intersection according to the information of each vehicle, and to construct an intersection arrival time series based on each arrival time;

[0126] The interval determination module 403 is used to determine a target time interval in the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each arrival time in the intersection arrival time sequence;

[0127] The guidance execution module 404 is used to generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

[0128] In an embodiment of the present invention, when a vehicle travels into a control range of an intersection where an electronic device is effectively effective or monitored, the electronic device is triggered to work, the electronic device obtains vehicle information of non-controlled vehicles and controlled vehicles, calculates arrival time of each non-controlled vehicle at a target intersection based on the vehicle information of the non-controlled vehicles, arranges the calculated arrival time of each non-controlled vehicle in chronological order, constructs an intersection arrival time sequence of non-controlled vehicles arriving at the target intersection, calculates time required for the vehicle to be controlled to arrive at the target intersection based on the vehicle information of the vehicle to be controlled, searches for a time interval that meets a time condition for the vehicle to be controlled to cross the target intersection in the intersection arrival time sequence according to the time required for the vehicle to be controlled to arrive at the target intersection, determines the time interval as a target time interval for the vehicle to be controlled, generates intersection arrival guidance information for the vehicle to be controlled according to the determined target time interval for the vehicle to be controlled, transmits the generated intersection arrival guidance information to the vehicle to be controlled, and the vehicle to be controlled adjusts its driving behavior based on the received intersection arrival guidance information. The embodiment of the present invention constructs an intersection arrival time sequence through electronic devices, searches for and determines a target time interval of a vehicle to be controlled in the intersection arrival time sequence, generates intersection arrival guidance information of the vehicle to be controlled based on the target time interval, and guides the vehicle to be controlled by generating the intersection arrival guidance information through the electronic device, so that the vehicle guidance method can guide the vehicle to be controlled without training a large amount of sample data, and the vehicle guidance method is easy to operate, update, implement and deploy, thereby ensuring the real-time nature of vehicle guidance and improving the timeliness of vehicle overall arrangement. The generated intersection arrival guidance information is transmitted to the vehicle to be controlled through the electronic device, and the vehicle to be controlled adjusts its driving strategy in real time based on the intersection arrival guidance information, thereby improving the traffic efficiency of the vehicle.

[0129] Based on the above embodiments, the embodiments of the present invention further include:

[0130] When there is no controlled preceding vehicle of the vehicle to be controlled, a vehicle following suggestion is generated according to vehicle information of a non-controlled preceding vehicle of the vehicle to be controlled.

[0131] Furthermore, the time series module 402 also includes: a vehicle information extraction submodule, which is used to extract the vehicle position and vehicle speed of the vehicle information for non-controlled vehicles; an arrival time determination submodule, which is used to determine the distance to be moved between the vehicle position and the target intersection, and use the ratio of the distance to be moved to the vehicle speed as the arrival time of the non-controlled vehicle; an intersection arrival time series determination submodule, which is used to determine the minimum time interval range including each arrival time, map each arrival time to the minimum time interval range, and obtain the intersection arrival time series.

[0132] Optionally, the information acquisition module 401 is specifically used to: receive vehicle information uploaded by the vehicle to be controlled when it reaches the control range of the intersection, wherein the vehicle information includes vehicle speed, vehicle position, vehicle lane information and vehicle intention; receive vehicle information collected by the access edge computing unit for non-controlled vehicles, wherein the roadside unit is configured in the control range of the intersection.

[0133] Optionally, the intersection arrival time sequence determination submodule is specifically used for:

[0134] Determine the earliest arrival time and the latest arrival time among the arrival times;

[0135] The time point of the first threshold value before the earliest arrival time is used as the starting time point of the minimum time interval sequence, and the time point of the second threshold value after the latest arrival time is used as the ending time point of the minimum time interval sequence;

[0136] The time range between the start time point and the end time point is taken as the minimum time interval range.

[0137] Optionally, the interval determination module 403 is specifically configured to:

[0138] According to the vehicle information, it is determined whether the vehicle to be controlled is the vehicle at the current intersection; if so, a valid time interval is found in the intersection arrival time sequence as the target time interval; if not, the control front vehicle of the vehicle to be controlled is determined, and a valid time interval located after the target time interval of the control front vehicle is found in the intersection arrival time sequence as the target time interval, wherein the selection condition of the valid time interval includes at least one of the following: the vehicle to be controlled arrives at the target intersection by a third threshold value in advance of the first arrival time in the intersection arrival time sequence when the vehicle acceleration restriction condition and the road speed restriction condition are met, and the first time slot in the intersection arrival time sequence is selected as the valid time interval; there are no other vehicles within the first threshold distance after the non-controlled vehicle corresponding to the last arrival time in the intersection arrival time sequence, and the last time slot in the intersection arrival time sequence is selected as the valid time interval; if the time interval of the time slot in the intersection arrival time sequence is greater than the fourth threshold value, and the vehicle to be controlled arrives at the target intersection within the time range corresponding to the time slot when the vehicle acceleration restriction condition and the road speed restriction condition are met, the time slot is selected as the valid time interval, wherein the time slot does not belong to the first time slot and the last time slot in the intersection arrival time sequence.

[0139] Embodiment 6

[0140] Embodiments of the present invention provide an electronic device for executing a vehicle guiding method, a computer-readable storage medium, and a computer program product.

[0141] Fig. 9 A schematic diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown in the embodiments of the present invention, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present invention described and / or required herein.

[0142] like Fig. 9As shown, the electronic device includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 to the RAM 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0143] A number of components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit, a graphics processing unit, various dedicated artificial intelligence computing chips, various processors running machine learning model algorithms, digital signal processors, and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, for example, a vehicle guidance method.

[0145] In some embodiments, the vehicle guidance method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle guidance method may be performed. Alternatively, in other embodiments, the processor 11 may be configured as a vehicle guidance method in any other appropriate manner (e.g., by means of firmware).

[0146] Various implementations of the systems and techniques described above in the embodiments of the present invention may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard products, systems on a chip, load programmable logic devices, computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general programmable processor, which may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] The computer programs for implementing the methods of the embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of an embodiment of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a cathode ray tube or a liquid crystal display monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including: acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area networks, wide area networks, blockchain networks, and the Internet.

[0151] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private server services.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the embodiments of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle guiding method, characterized in that: The method comprises: Obtain vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection; Determine the arrival time of the non-controlled vehicle at the target intersection within the control range of the intersection according to the vehicle information, and construct an intersection arrival time sequence based on the arrival times; Determine a target time interval within the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each of the arrival times within the intersection arrival time sequence; Generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

2. The method according to claim 1, characterized in that: The obtaining of vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection includes: Receiving the vehicle information uploaded by the vehicle to be controlled when the vehicle reaches the control range of the intersection; Receiving the vehicle information collected by an access edge computing unit for the non-controlled vehicle, wherein the access edge computing unit is configured in the control range of the intersection; The vehicle information includes vehicle speed, vehicle position, vehicle lane information and vehicle intention.

3. The method according to claim 1, characterized in that: The step of determining the arrival time of the non-controlled vehicle at the target intersection within the intersection control range according to the vehicle information, and constructing an intersection arrival time sequence based on the arrival times, comprises: For the non-controlled vehicle, extracting the vehicle position and the vehicle speed of the vehicle information; Determining a distance to be moved between the vehicle position and the target intersection, and using a ratio of the distance to be moved to the vehicle speed as the arrival time of the non-controlled vehicle; Determine a minimum time interval range including each of the arrival times, map each of the arrival times to the minimum time interval range, and obtain the intersection arrival time sequence.

4. The method according to claim 3, characterized in that: The determining includes a minimum time interval range of each of the arrival times, including: Determine the earliest arrival time and the latest arrival time within each of the arrival times; Taking a time point of a first threshold value before the earliest arrival time as the starting time point of the minimum time interval sequence, and taking a time point of a second threshold value after the latest arrival time as the ending time point of the minimum time interval sequence; The time range between the starting time point and the ending time point is used as the minimum time interval range.

5. The method according to claim 1, characterized in that: The step of determining a target time interval within the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled includes: Determine whether the vehicle to be controlled is a vehicle at the current roadhead according to the vehicle information; If yes, then searching for a valid time interval in the intersection arrival time sequence as the target time interval; If not, the preceding vehicle of the to-be-controlled vehicle is determined, and a valid time interval after the target time interval of the preceding vehicle is searched in the intersection arrival time sequence as the target time interval.

6. The method according to claim 5, characterized in that: Also includes: When there is no controlled preceding vehicle of the vehicle to be controlled, a vehicle following suggestion is generated according to vehicle information of a non-controlled preceding vehicle of the vehicle to be controlled.

7. The method according to claim 5, characterized in that: The selection condition of the effective time interval includes at least one of the following: The vehicle to be controlled arrives at the target intersection a third threshold earlier than the first arrival time in the intersection arrival time sequence when the vehicle acceleration restriction condition and the road speed restriction condition are satisfied, and the first time slot in the intersection arrival time sequence is selected as the effective time interval; There is no other vehicle within a first threshold distance after the non-controlled vehicle corresponding to the last arrival time in the intersection arrival time sequence, and the last time slot of the intersection arrival time sequence is selected as the effective time interval; If the time interval of the time gap in the intersection arrival time sequence is greater than a fourth threshold value, and the vehicle to be controlled arrives at the target intersection within the time range corresponding to the time gap while satisfying the vehicle acceleration restriction condition and the road speed restriction condition, the time gap is selected as the effective time interval, wherein the time gap does not belong to the first time gap and the last time gap in the intersection arrival time sequence.

8. A vehicle guiding device, characterized in that: The device comprises: An information acquisition module is used to acquire vehicle information of non-controlled vehicles and vehicles to be controlled within the control range of the intersection; A time series module, for determining the arrival time of the non-controlled vehicle at the target intersection within the control range of the intersection according to the vehicle information, and constructing an intersection arrival time series based on the arrival times; An interval determination module, used to determine a target time interval within the intersection arrival time sequence according to the vehicle information of the vehicle to be controlled, wherein the target time interval at least includes a time interval between each of the arrival times within the intersection arrival time sequence; The guidance execution module is used to generate intersection arrival guidance information of the vehicle to be controlled according to the target time interval, and transmit the intersection arrival guidance information to the vehicle to be controlled.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the vehicle guiding method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle guiding method according to any one of claims 1 to 7 when executed.

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