Vehicle navigation method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to a vehicle navigation method, device and equipment and a storage medium, and the method comprises the steps: obtaining effective congestion information provided by a navigation map, and obtaining the speed of a vehicle; determining the congestion degree according to the effective congestion information and the vehicle speed; according to the congestion degree, a congestion coping strategy of the vehicle is determined, driving of the vehicle is controlled according to the congestion coping strategy, and the congestion coping strategy comprises a lane changing strategy, a deceleration strategy and / or a vehicle time interval adjusting strategy. According to the embodiment of the invention, the beyond-visual-range information acquisition means can be added outside the sensing range of the vehicle sensing system, that is, the effective congestion information is acquired in advance according to the navigation map, so that the congestion coping strategy can be formulated according to the effective congestion information; according to the congestion coping strategy, vehicle control behaviors such as lane selection, speed reduction in advance and / or time interval increase between vehicles are made, the problem of sudden braking of the vehicle under the condition of traffic congestion in front is solved, and the operation safety and the driving efficiency of the high-speed navigation function are improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent navigation technology, and more particularly to a vehicle navigation method, device, equipment and storage medium. Background Art

[0002] The highway pilot assist function can control vehicle driving within the effective ODD range such as highways and elevated roads, automatically adjust the vehicle speed, keep the vehicle in the lane, and can realize lane change assist, providing the driver with necessary reminder interaction functions.

[0003] When the current highway pilot function responds to congestion, the vehicle perception system can identify the vehicle ahead within the perception range and automatically adjust the vehicle speed according to the driving behavior of the vehicle ahead. However, the risk brought by this is that if there is a traffic jam ahead and the vehicle ahead urgently decelerates, the vehicle will brake suddenly, and even if the vehicle brakes suddenly, it may still collide with the vehicle ahead, and even after the vehicle brakes suddenly, it may also be rear-ended, thus resulting in poor safety and low driving efficiency of the highway pilot function. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a vehicle navigation method, device, equipment and storage medium.

[0005] A first aspect of an embodiment of the present disclosure provides a vehicle navigation method, the method comprising:

[0006] Obtain effective congestion information provided by the navigation map and obtain the vehicle's speed;

[0007] Determining a congestion degree according to the effective congestion information and the vehicle speed;

[0008] According to the congestion level, a congestion coping strategy of the vehicle is determined, and according to the congestion coping strategy, the driving of the vehicle is controlled, wherein the congestion coping strategy includes a lane changing strategy, a deceleration strategy and / or a time distance adjustment strategy.

[0009] A second aspect of an embodiment of the present disclosure provides a vehicle navigation device, the device comprising:

[0010] The first acquisition module is used to obtain effective congestion information provided by the navigation map and obtain the vehicle speed;

[0011] A first determination module, configured to determine a congestion degree according to the valid congestion information and the vehicle speed;

[0012] The first control module is used to determine a congestion response strategy of the vehicle according to the congestion level, and control the driving of the vehicle according to the congestion response strategy, wherein the congestion response strategy includes a lane change strategy, a deceleration strategy and / or a time distance adjustment strategy.

[0013] A third aspect of an embodiment of the present disclosure provides an electronic device, the server comprising: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0014] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented.

[0015] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0016] The disclosed embodiment can obtain effective congestion information provided by the navigation map, and obtain the speed of the vehicle; determine the degree of congestion based on the effective congestion information and the speed of the vehicle; determine the congestion response strategy of the vehicle based on the degree of congestion, and control the driving of the vehicle based on the congestion response strategy, wherein the congestion response strategy includes a lane change strategy, a deceleration strategy and / or a time distance adjustment strategy. It can be seen that by adopting the above technical solution, a means of obtaining beyond-visual-range information can be added outside the perception range of the vehicle perception system, that is, effective congestion information can be obtained in advance based on the navigation map. In this way, a congestion response strategy can be formulated based on the effective congestion information, and then the vehicle control behavior can be made based on the congestion response strategy: select lanes, decelerate in advance, and / or increase the time distance between vehicles, etc., to improve the problem of sudden braking of the vehicle in the case of traffic congestion ahead, and improve the operating safety and driving efficiency of the high-speed navigation function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 is a flow chart of a vehicle navigation method provided by an embodiment of the present disclosure;

[0020] Figure 2is a schematic diagram of a lane change and deceleration timing provided by an embodiment of the present disclosure;

[0021] Figure 3 is a flowchart of an example of vehicle navigation provided by an embodiment of the present disclosure;

[0022] Figure 4 is a structural schematic diagram of a vehicle navigation device provided by an embodiment of the present disclosure;

[0023] Figure 5 It is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0026] Figure 1 is a flow chart of a vehicle navigation method provided by an embodiment of the present disclosure, and the method can be executed by an electronic device. The electronic device can be exemplarily understood as a device such as an electronic control unit (Electronic Control Unit, ECU). Figure 1 As shown, the method provided in this embodiment includes the following steps:

[0027] S110: Obtain effective congestion information provided by the navigation map, and obtain the vehicle speed.

[0028] Specifically, the effective congestion information is the congestion information of the congested road section that affects the driving of the vehicle. In other words, if the vehicle will pass through a congested road section later and the vehicle will be affected when passing through the congested road section, the congestion information of the congested road section is the effective congestion information.

[0029] Among them, the congestion information may include the congestion location, congestion direction, congestion range, congestion cause, congested lane and / or congested traffic speed of the congested road section, but is not limited thereto. The congestion location refers to the geographical location where the traffic congestion occurs. The congestion location can be represented by latitude and longitude coordinates, a specific address or landmark, or a road section number. The congestion direction is the driving direction of the vehicles affected by the traffic congestion. The congestion range refers to the geographical area affected by the congestion. The congestion range can be represented by specific starting and end point coordinates or addresses, or by a specific length, such as "the congested road section is about 2 kilometers long", or by text description of the area affected by the congestion, such as "from Zhongguancun Street in Haidian District to Xizhimen North Street". The congestion cause refers to the specific factors that cause traffic congestion, such as traffic accidents, road construction, traffic surges, traffic control, bad weather or large-scale events. Congested lanes refer to lanes involved (or affected) by the cause of congestion. The congested traffic speed refers to the average driving speed of vehicles in the congested road section.

[0030] In some embodiments, obtaining effective congestion information provided by the navigation map includes: obtaining original congestion information provided by the navigation map, wherein the original congestion information includes a congestion location and a congestion direction of a congested road section;

[0031] Obtain the current driving route of the vehicle and the driving direction of the vehicle when it passes through the congested location;

[0032] If the congestion location is on the current driving route and the congestion direction is the same as the driving direction of the vehicle, the original congestion information is determined to be valid congestion information.

[0033] Specifically, in some examples, the original congestion information may be any congestion information collected by a navigation map. In other examples, the original congestion information may be congestion information where the congestion location is on the current driving route, which is not limited in the present disclosure.

[0034] Specifically, the current driving route refers to the specific path between the vehicle's current location and the destination.

[0035] Specifically, if the vehicle is going to pass through a congested section later and the vehicle's driving direction is consistent with the congestion direction when passing through the congested section, the congestion information of the congested section is the valid congestion information.

[0036] It can be understood that by taking the original congestion information of "the congestion location is located on the current driving route and the congestion direction is the same as the driving direction of the vehicle" as the effective congestion information, the filtered effective congestion information can be made more accurate, thereby making the control of the vehicle more accurate.

[0037] Of course, in other embodiments, the navigation map may filter out effective congestion information and then send it to the electronic device, thereby saving computing resources of the electronic device.

[0038] S120: Determine the degree of congestion according to the effective congestion information and the vehicle speed.

[0039] Specifically, the congestion level is used to characterize the extent to which vehicle speeds are reduced and travel time is prolonged on congested sections of road.

[0040] In some embodiments, the effective congestion information includes the speed of congested traffic on the congested road section, wherein the congestion degree is determined according to the effective congestion information and the vehicle speed, including:

[0041] Determine the speed difference between the speed of the congested traffic and the speed of the vehicle;

[0042] The congestion level is determined based on the speed difference, wherein the speed difference and the congestion level are positively correlated.

[0043] Specifically, the speed difference refers to the difference between the vehicle's speed and the congested traffic speed.

[0044] In some examples, determining the degree of congestion based on the speed difference includes: determining a speed difference range in which the speed difference falls (i.e., the speed difference range to which the speed difference belongs) from a plurality of candidate speed difference ranges, and determining the degree of congestion based on the speed difference range to which the speed difference belongs. Exemplarily, the mapping relationship between the speed difference range and the degree of congestion is shown in Table 1, wherein the specific values ​​of VΔ1 and VΔ2 can be set by those skilled in the art according to actual conditions, and are not limited here. For example, VΔ1 is 30 kph and VΔ2 is 60 kph, but is not limited thereto.

[0045] Table 1

[0046] Speed ​​difference range Congestion level Vehicle speed - congested traffic speed <VΔ1 Mild congestion VΔ1≤vehicle speed-congested traffic speed <VΔ2 Moderate congestion VΔ2≤vehicle speed-congested traffic speed Severe congestion

[0047] Of course, in other embodiments, the effective congestion information includes the speed of congested traffic on the congested road section, wherein the degree of congestion is determined based on the effective congestion information and the vehicle speed, including: determining the degree of congestion corresponding to the effective congestion information and the vehicle speed by querying a first preset mapping relationship, wherein the first preset mapping relationship is a mapping relationship between congestion information, vehicle speed and congestion degree.

[0048] It is understandable that determining the degree of congestion solely based on the speed of congested traffic will ignore the specific situation of the vehicle itself. In the disclosed embodiment, the degree of congestion is determined based on the speed of congested traffic and the speed of the vehicle itself, which can more accurately reflect the actual experience of the vehicle itself on the congested road section, and then subsequently formulate a congestion response strategy that is more in line with the situation of the vehicle itself based on the degree of congestion, thereby providing a more personalized navigation service.

[0049] S130. Determine a congestion response strategy for the vehicle according to the degree of congestion, and control the driving of the vehicle according to the congestion response strategy, wherein the congestion response strategy includes a lane change strategy, a deceleration strategy, and / or a time distance adjustment strategy.

[0050] In some embodiments, the congestion response strategy includes a lane change strategy, and the effective congestion information includes a congested lane and a congested location of the congested road section, wherein the lane change strategy is determined according to the congestion degree, and the driving of the vehicle is controlled according to the lane change strategy, including: determining a lane change distance according to the congestion degree, wherein the congestion degree and the lane change distance are positively correlated;

[0051] If the current driving lane is a congested lane, and the distance between the vehicle and the congested position is the lane change distance, the current perception result provided by the vehicle perception system is obtained, and if it is determined that there is lane change space according to the current perception result, the vehicle is controlled to change lanes to the target non-congested lane;

[0052] If the current driving lane is a non-congested lane or there is no lane change space, control the vehicle to maintain driving in the current driving lane.

[0053] Specifically, the lane change distance refers to the timing when the vehicle changes lanes in order to cope with traffic congestion, that is, when the distance between the current position of the vehicle and the congested position is the lane change distance, the vehicle changes lanes.

[0054] In some examples, determining the lane change distance according to the congestion level includes: determining the lane change distance corresponding to the congestion level of the congested road section by querying a second preset mapping relationship, wherein the second preset mapping relationship is a mapping relationship between the congestion level and the lane change distance. However, this is not limited thereto.

[0055] Specifically, the vehicle perception system collects information about the vehicle's surrounding environment through various sensors (cameras, radars, ultrasonic sensors, IMUs, GPS, etc.) to obtain perception results. The perception results may include at least one of the following: static obstacle detection results (such as detection results of stationary pedestrians, stationary vehicles, buildings, road signs and traffic signs, etc.), dynamic obstacle detection results (such as detection results of moving pedestrians, moving vehicles, etc.), road feature detection results (such as detection results of lane lines, road boundaries, etc.), traffic participant behavior prediction results (future behaviors of other vehicles, pedestrians and cyclists such as changing lanes, turning, accelerating or decelerating), etc.

[0056] Specifically, the target non-congested lane refers to the lane to which the vehicle is to change lanes, and the lane is a non-congested lane, wherein the non-congested lane refers to a lane that is not affected by congestion causes.

[0057] Specifically, according to the current perception result and the current driving lane, the target non-congested lane and whether there is a lane change space on the target non-congested lane are determined. In some examples, the current perception result and the current driving lane are input into a pre-trained prediction model, and the prediction result output by the prediction model for "the target non-congested lane and whether there is a lane change space on the target non-congested lane" is obtained, but it is not limited thereto.

[0058] Specifically, in order to avoid congested lanes, lane changes are performed according to the principle that the greater the congestion, the earlier the lane change is performed. Moreover, if the vehicle is traveling in a congested lane, the vehicle determines whether there is room for lane change around the vehicle based on the current perception results. If there is room for lane change, the vehicle changes lanes to the target non-congested lane. If there is no room for lane change or the current lane where the vehicle is located is a non-congested lane, the vehicle maintains the current lane and does not change lanes.

[0059] It can be understood that by setting the lane change to be executed earlier the more severe the congestion is, and when the vehicle reaches the opportunity to change lanes, if there is space for lane change, the lane change is executed in time, the vehicle can change lanes to the non-congested lane as early as possible, thereby avoiding the congested lane. This can not only improve the problem of sudden braking of the vehicle in traffic congestion, but also improve driving efficiency.

[0060] In some embodiments, the congestion response strategy includes a deceleration strategy, and the effective congestion information includes the congestion location of the congested road section, wherein the deceleration strategy is determined according to the congestion degree, and the driving of the vehicle is controlled according to the deceleration strategy, including: determining a deceleration distance and a deceleration rate according to the congestion degree, wherein the congestion degree is positively correlated with the deceleration distance, and the congestion degree is positively correlated with the deceleration rate;

[0061] When the distance between the own vehicle and the congested location is the deceleration distance, the own vehicle is controlled to decelerate according to the deceleration rate, and a deceleration prompt is issued when the own vehicle decelerates, wherein the deceleration prompt is used to remind the following vehicle to decelerate.

[0062] Optionally, for the same congestion level, the lane change distance is greater than the deceleration distance, but is not limited to this.

[0063] Specifically, the deceleration distance refers to the timing at which the vehicle decelerates in order to cope with traffic congestion, that is, when the distance between the current position of the vehicle and the congestion position is the deceleration distance, the vehicle decelerates.

[0064] In some examples, determining the deceleration distance according to the congestion level includes: determining the deceleration distance corresponding to the congestion level of the congested road section by querying a third preset mapping relationship, wherein the third preset mapping relationship is a mapping relationship between the congestion level and the deceleration distance. However, this is not limited thereto.

[0065] Specifically, the deceleration refers to the rate of change of speed when the vehicle is decelerating.

[0066] In some examples, determining the deceleration according to the congestion level includes: determining the deceleration corresponding to the congestion level of the congested road section by querying a fourth preset mapping relationship, wherein the fourth preset mapping relationship is a mapping relationship between the congestion level and the deceleration. However, this is not limited thereto.

[0067] Exemplarily, the mapping relationship between the congestion degree and the deceleration is shown in Table 2, wherein 0.5m / s^2≤deceleration≤1.5m / s^2 is a small deceleration, 1.5m / s^2<deceleration≤3.5m / s^2 is a medium deceleration, and 3.5m / s^2<deceleration≤5m / s^2 is a large deceleration, but it is not limited to this.

[0068] Table 2

[0069]

[0070] Specifically, the deceleration prompt may be any prompt that can prompt the following vehicle to decelerate. For example, the deceleration prompt may be to turn on the double flash lights, but is not limited thereto.

[0071] In some examples, the vehicle can be controlled to decelerate to a preset speed. It should be noted that the specific value of the preset speed can be set by those skilled in the art according to actual conditions and is not limited here. For example, the preset speed is less than or equal to the speed of the congested traffic flow, but is not limited thereto.

[0072] Specifically, the deceleration magnitude and timing of deceleration outside the perceived visual range are determined according to the degree of congestion. The more severe the congestion, the earlier the deceleration timing, and the deceleration speed is appropriately increased. When the vehicle is decelerating, the hazard lights are activated to remind the vehicle behind to slow down, reducing the risk of the vehicle being rear-ended.

[0073] It can be understood that by setting the deceleration to be executed earlier the more severe the congestion, and the greater the deceleration rate the more severe the congestion, and when the vehicle reaches the deceleration opportunity, deceleration is executed in time according to the matching deceleration rate, the vehicle can be decelerated as early as possible. In this way, the problem of sudden braking of the vehicle in traffic congestion can be improved, and the driving safety of the vehicle can be improved.

[0074] In some embodiments, the congestion response strategy includes a time interval adjustment strategy, and the time interval adjustment strategy is determined according to the congestion degree, and the driving of the vehicle is controlled according to the time interval adjustment strategy, including: determining the time interval between congested vehicles according to the congestion degree, wherein the time interval between congested vehicles is greater than the time interval between normal vehicles, and the time interval between normal vehicles is the time interval between vehicles under unobstructed road conditions;

[0075] The time distance between vehicles when the vehicle deceleration is completed is controlled to be the time distance between vehicles in congestion.

[0076] Specifically, the congestion headway refers to the headway between vehicles that is increased to a certain point in order to cope with traffic congestion. The headway between vehicles refers to the time interval between two consecutive vehicles. Specifically, it is the time required for the rear vehicle to pass the same point after the front vehicle passes a certain point.

[0077] It should be noted that the specific values ​​of the time distance between congested vehicles and the time distance between normal vehicles can be set by those skilled in the art according to actual conditions and are not limited here.

[0078] Specifically, in some examples, the time headway between congested vehicles corresponding to different congestion levels is the same. In other examples, the congestion level and the time headway between congested vehicles are positively correlated. This disclosure is not limited to this.

[0079] In some examples, as described in the deceleration strategy, the deceleration magnitude and timing for starting deceleration outside the perceived visual range can be determined based on the degree of congestion. When the vehicle reaches the deceleration timing, deceleration is performed in a timely manner according to the matching deceleration. When the vehicle decelerates, it can decelerate to the speed of congested traffic and maintain the time distance between vehicles at the congested vehicle time distance.

[0080] In other examples, the vehicle is decelerated according to a preset deceleration to a time distance between vehicles that is a time distance between vehicles in a congested vehicle. It should be noted that the specific value of the preset deceleration can be set by those skilled in the art according to actual conditions and is not limited here.

[0081] It can be understood that by setting the control of the vehicle to decelerate to the inter-vehicle time distance equal to the inter-vehicle time distance in congestion, the inter-vehicle time distance of the vehicle can be increased. In this way, the risk of collision between the vehicle and the vehicle ahead in traffic congestion can be reduced, thereby improving the driving safety of the vehicle.

[0082] It should be noted that the previous text describes in detail the specific implementation methods of S130 when the congestion response strategy includes a lane changing strategy, the congestion response strategy includes a deceleration strategy, and the congestion response strategy includes a time distance adjustment strategy. The specific implementation methods of S130 when the congestion response strategy includes a lane changing strategy and a deceleration strategy, the congestion response strategy includes a lane changing strategy and a time distance adjustment strategy, the congestion response strategy includes a deceleration strategy and a time distance adjustment strategy, and the congestion response strategy includes a lane changing strategy, a deceleration strategy, and a time distance adjustment strategy can be understood by referring to the previous text and will not be repeated here.

[0083] For example, Figure 2It is a schematic diagram of a lane change and deceleration timing provided by an embodiment of the present disclosure. Among them, the lane change timing for light congestion is S1-short, and the deceleration timing is S2-short, S1-short>S2-short, the lane change timing for moderate congestion is S1-medium, and the deceleration timing is S2-medium, S1-medium>S2-medium, and the lane change timing for severe congestion is S1-long, and the deceleration timing is S2-long, S1-long>S2-long. And, S1-long>S1-medium>S1-short, S2-long>S2-medium>S2-short. If the degree of vehicle congestion is moderate congestion, then when the vehicle is S1-medium away from the congested section, it is determined whether the current lane of the vehicle is the lane where the congestion cause is located. If not, keep driving in the current lane; if so, automatically change lanes to the lane that is not the cause of congestion. When the vehicle is within the congested section S2-, it starts to decelerate at the matching deceleration a1, turns on the hazard warning lights, and increases the headway between the vehicle and the vehicle ahead to the safe distance tgap-safe (i.e., the headway between the vehicles in the congested section). The vehicle eventually decelerates to the speed of the congested traffic flow, and drives at the increased safe headway tgap-safe until it completely passes through the congested section. After passing through the congested section, the hazard warning lights are turned off, the headway between the vehicles is restored to the normal value tgap-normal (i.e., the normal headway between the vehicles), and the driving speed is adjusted according to the road speed limit or the traffic ahead to ensure driving safety and efficiency.

[0084] In the disclosed embodiment, the navigation map function can display real-time traffic information, including the current driving route, congestion information, etc., to help the driver avoid it in advance. Therefore, by combining the navigation map function with the high-speed pilot function, a means of obtaining beyond-visual-range information can be added outside the perception range of the vehicle perception system, that is, effective congestion information can be obtained in advance according to the navigation map. In this way, vehicle control behaviors can be made outside the perception range of the vehicle perception system: lane selection, early deceleration, and / or increasing the time distance between vehicles, etc., to improve the problem of sudden braking of the vehicle in the case of traffic congestion ahead, and improve the operating safety and driving efficiency of the high-speed pilot function.

[0085] In another embodiment of the present disclosure, the method further includes: after the vehicle passes through the congested road section, restoring the vehicle's inter-vehicle time distance to a normal inter-vehicle time distance, and adjusting the vehicle's speed according to the road speed limit and / or the speed of the traffic ahead.

[0086] Specifically, after passing a congested road section, turn off the hazard warning lights, restore the vehicle headway to a normal headway, and adjust the driving speed according to the road speed limit or traffic conditions ahead to ensure the safety and efficiency of the vehicle.

[0087] The vehicle navigation method provided by the embodiment of the present disclosure is described in detail below with reference to a specific example. Exemplarily, the vehicle navigation system may include a navigation map module and the electronic device described above, and the electronic device may include an ADCU module, an intelligent driving controller module, and a vehicle execution module, wherein the navigation map module is responsible for real-time acquisition and update of congestion information, the ADCU module is responsible for receiving congestion information, and determining whether the congestion information is valid congestion information based on the current driving route of the vehicle and the driving direction of the vehicle when the vehicle passes the congested location; the intelligent driving controller module formulates a congestion response strategy based on the valid congestion information; and the vehicle execution module is responsible for executing the congestion response strategy.

[0088] For example, Figure 3 FIG. 1 is a flowchart of an example of vehicle navigation provided by an embodiment of the present disclosure. Figure 3 As shown, the navigation map module broadcasts congestion information, wherein the congestion information includes the location of congestion, the direction of congestion, the cause of congestion, the congested lanes involved in the cause of congestion, and the speed of congested traffic. The ADCU module determines whether the congestion information is valid congestion information based on the current driving route of the vehicle and the driving direction of the vehicle when the vehicle passes the congested location. If the congestion information is valid congestion information, the intelligent driving controller module confirms that the road ahead of the vehicle is congested, determines the degree of congestion according to the speed of the congested traffic and the speed of the vehicle, and formulates a congestion response strategy according to the degree of congestion. The vehicle execution module executes lane changes, deceleration, increases the time distance between vehicles, and turns on the double flashes according to the congestion response strategy. Exemplarily, the lane change and deceleration principles are shown in Table 3 below. The goal is to leave at least a tgap-safe time distance between vehicles (i.e., the time distance between congested vehicles) when the speed is the same as that of the congested traffic after the lane change and deceleration are completed. After passing a congested road section, the vehicle execution module turns off the hazard warning lights, restores the time gap between vehicles to the normal value tgap-normal (i.e., normal time gap between vehicles), and adjusts the driving speed according to the road speed limit or traffic conditions ahead to ensure driving safety and efficiency.

[0089] Table 3

[0090]

[0091] In summary, the present disclosure can obtain the movement behavior of the traffic participants ahead in advance through the super sensor perception distance method, that is, obtain effective congestion information in advance through the navigation map, and then change lanes, slow down and / or increase the time distance between vehicles in time when there is congestion ahead. Therefore, the present disclosure has the following advantages: 1) Combining the high-speed navigation function with the existing navigation map information of the vehicle to obtain beyond-line-of-sight traffic information without increasing the hardware cost, and the data is obtained in real time, and the information is extremely fresh. 2) Compared with vehicle-to-vehicle interconnection technology, there is no need to upload vehicle information to protect the privacy of the vehicle. 3) Improve driving safety: By intelligently predicting and responding to congestion, the risk of traffic accidents caused by congestion is effectively avoided. 4) Improve driving efficiency: It can automatically adjust the driving lane and speed, reducing driving delays caused by congestion. Enhance user experience: The driver can deal with congestion without manual operation, which improves driving comfort and convenience.

[0092] Figure 4 is a schematic diagram of the structure of a vehicle navigation device provided by an embodiment of the present disclosure, and the vehicle navigation device can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. Figure 4 As shown, the vehicle navigation device includes:

[0093] A first acquisition module 410 is used to acquire effective congestion information provided by the navigation map and acquire the vehicle speed;

[0094] A first determination module 420, configured to determine a congestion degree according to the valid congestion information and the vehicle speed;

[0095] The first control module 430 is used to determine a congestion response strategy of the vehicle according to the congestion level, and control the driving of the vehicle according to the congestion response strategy, wherein the congestion response strategy includes a lane change strategy, a deceleration strategy and / or a time distance adjustment strategy.

[0096] Optionally, the first acquisition module 410 includes a first acquisition submodule, and the first acquisition submodule is used to obtain the effective congestion information provided by the navigation map, wherein the first acquisition submodule is specifically used to obtain the original congestion information provided by the navigation map, wherein the original congestion information includes the congestion location and congestion direction of the congested road section;

[0097] Obtaining the current driving route of the vehicle and the driving direction of the vehicle when the vehicle passes through the congested location;

[0098] If the congestion location is located on the current driving route and the congestion direction is the same as the driving direction of the vehicle, the original congestion information is determined to be the valid congestion information.

[0099] Optionally, the effective congestion information includes the congested traffic speed of the congested road section, wherein the first determination module 420 is specifically used to determine the speed difference between the congested traffic speed and the vehicle speed;

[0100] The congestion level is determined according to the speed difference, wherein the speed difference and the congestion level are positively correlated.

[0101] Optionally, the effective congestion information includes a congested lane and a congested position of a congested road section, wherein the first control module 430 includes a first control submodule, the first control submodule is used to determine a lane change strategy according to the congestion level, and control the driving of the vehicle according to the lane change strategy, and the first control submodule is specifically used to determine a lane change distance according to the congestion level, wherein the congestion level and the lane change distance are positively correlated;

[0102] If the current driving lane is the congested lane, and the distance between the vehicle and the congested position is the lane change distance, obtaining a current perception result provided by a vehicle perception system, and if it is determined that there is lane change space according to the current perception result, controlling the vehicle to change lanes to the target non-congested lane;

[0103] If the current driving lane is a non-congested lane or there is no lane change space, the vehicle is controlled to maintain driving in the current driving lane.

[0104] Optionally, the effective congestion information includes a congestion location of a congested road section, wherein the first control module 430 includes a second control submodule, the second control submodule is used to determine a deceleration strategy according to the congestion degree, and control the driving of the vehicle according to the deceleration strategy, and the second control submodule is specifically used to determine a deceleration distance and a deceleration rate according to the congestion degree, wherein the congestion degree is positively correlated with the deceleration distance, and the congestion degree is positively correlated with the deceleration rate;

[0105] When the distance between the own vehicle and the congested location is the deceleration distance, the own vehicle is controlled to decelerate according to the deceleration rate, and a deceleration prompt is issued when the own vehicle decelerates, wherein the deceleration prompt is used to remind the following vehicle to decelerate.

[0106] Optionally, the first control module 430 includes a third control submodule, the third control submodule is used to determine the time headway adjustment strategy according to the congestion level, and control the driving of the vehicle according to the time headway adjustment strategy, the third control submodule is specifically used to determine the time headway of a congested vehicle according to the congestion level, wherein the time headway of a congested vehicle is greater than the time headway of a normal vehicle, and the normal time headway of a normal vehicle is the time headway of a vehicle under unobstructed road conditions;

[0107] The inter-vehicle time distance when the vehicle deceleration is completed is controlled to be the congested inter-vehicle time distance.

[0108] Optionally, the device further includes: a second control module, configured to restore the vehicle's inter-vehicle time distance to a normal inter-vehicle time distance after the vehicle passes through a congested road section, and adjust the vehicle's speed according to the road speed limit and / or the speed of the traffic ahead.

[0109] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0110] An embodiment of the present disclosure further provides an electronic device, which includes: a memory, in which a computer program is stored; and a processor, for executing the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0111] For example, Figure 5 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 5 , which shows a schematic diagram of the structure of an electronic device 500 suitable for implementing the embodiment of the present disclosure. The electronic device 500 in the embodiment of the present disclosure may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0112] like Figure 5 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0113] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0114] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0115] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (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 above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0116] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0117] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0118] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains effective congestion information provided by the navigation map, and obtains the vehicle speed;

[0119] Determining a congestion degree according to the effective congestion information and the vehicle speed;

[0120] According to the congestion level, a congestion coping strategy of the vehicle is determined, and according to the congestion coping strategy, the driving of the vehicle is controlled, wherein the congestion coping strategy includes a lane changing strategy, a deceleration strategy and / or a time distance adjustment strategy.

[0121] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0122] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0124] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0125] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. 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 random access memory (RAM), a read-only memory (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.

[0126] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0127] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0128] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle navigation method, characterized in that: include: Obtain effective congestion information provided by the navigation map and obtain the vehicle's speed; Determining a congestion degree according to the effective congestion information and the vehicle speed; According to the congestion level, a congestion coping strategy of the vehicle is determined, and according to the congestion coping strategy, the driving of the vehicle is controlled, wherein the congestion coping strategy includes a lane changing strategy, a deceleration strategy and / or a time distance adjustment strategy.

2. The method according to claim 1, characterized in that: The obtaining of effective congestion information provided by the navigation map includes: Acquire original congestion information provided by the navigation map, wherein the original congestion information includes a congestion location and a congestion direction of a congested road section; Obtaining the current driving route of the vehicle and the driving direction of the vehicle when the vehicle passes through the congested location; If the congestion location is located on the current driving route and the congestion direction is the same as the driving direction of the vehicle, the original congestion information is determined to be the valid congestion information.

3. The method according to claim 1, characterized in that The effective congestion information includes the speed of congested traffic on the congested road section, wherein determining the congestion degree according to the effective congestion information and the vehicle speed includes: Determine the speed difference between the congested traffic flow speed and the own vehicle speed; The congestion level is determined according to the speed difference, wherein the speed difference and the congestion level are positively correlated.

4. The method according to claim 1, characterized in that The effective congestion information includes the congested lanes and congestion locations of the congested road section, wherein a lane change strategy is determined according to the congestion degree, and the driving of the vehicle is controlled according to the lane change strategy, including: Determining a lane change distance according to the congestion level, wherein the congestion level and the lane change distance are positively correlated; If the current driving lane is the congested lane, and the distance between the vehicle and the congested position is the lane change distance, obtaining a current perception result provided by a vehicle perception system, and if it is determined that there is lane change space according to the current perception result, controlling the vehicle to change lanes to the target non-congested lane; If the current driving lane is a non-congested lane or there is no lane change space, the vehicle is controlled to maintain driving in the current driving lane.

5. The method according to claim 1, characterized in that: The effective congestion information includes the congestion location of the congested road section, wherein a deceleration strategy is determined according to the congestion degree, and the driving of the vehicle is controlled according to the deceleration strategy, including: Determine a deceleration distance and a deceleration according to the congestion degree, wherein the congestion degree is positively correlated with the deceleration distance, and the congestion degree is positively correlated with the deceleration; When the distance between the own vehicle and the congested location is the deceleration distance, the own vehicle is controlled to decelerate according to the deceleration rate, and a deceleration prompt is issued when the own vehicle decelerates, wherein the deceleration prompt is used to remind the following vehicle to decelerate.

6. The method according to claim 5, characterized in that Determining a time interval adjustment strategy for each vehicle according to the congestion level, and controlling the driving of the vehicle according to the time interval adjustment strategy for each vehicle, including: Determine the congested vehicle headway according to the congestion degree, wherein the congested vehicle headway is greater than the normal vehicle headway, and the normal vehicle headway is the vehicle headway under unobstructed road conditions; The inter-vehicle time distance when the vehicle deceleration is completed is controlled to be the congested inter-vehicle time distance.

7. The method according to any one of claims 1 to 6, characterized in that: Also includes: After the vehicle passes through the congested section, the vehicle's headway is restored to a normal headway, and the vehicle's speed is adjusted according to the road speed limit and / or the speed of the traffic ahead.

8. A vehicle navigation device, characterized in that: include: The first acquisition module is used to obtain effective congestion information provided by the navigation map and obtain the vehicle speed; A first determination module, configured to determine a congestion degree according to the valid congestion information and the vehicle speed; The first control module is used to determine a congestion response strategy of the vehicle according to the congestion level, and control the driving of the vehicle according to the congestion response strategy, wherein the congestion response strategy includes a lane change strategy, a deceleration strategy and / or a time distance adjustment strategy.

9. An electronic device, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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