Alternate passage control method and device

Abstract

The invention discloses an alternate traffic control method and device, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: sending a networking request to the outside in response to detecting that a vehicle meets a preset alternate passage decision triggering condition; the vehicle is controlled to form a temporary network with two associated lanes located at the same alternative traffic intersection and at least one vehicle which sends a networking request; broadcasting the feature information of the vehicle in the temporary network, and determining a first vehicle closest to the alternative passing intersection in the temporary network; when the vehicle is the first vehicle, generating a passing token to control the vehicle to pass through the alternative passing intersection; the passing tokens are sequentially transmitted by the vehicles with the passing tokens at a preset specific time according to an alternating rule of the two associated lanes, so that the vehicles in the temporary network pass through the alternating passing intersection after sequentially obtaining the passing tokens. According to the embodiment, the alternative passing decision of the automatic driving vehicle is realized.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an alternating traffic control method and device. Background Art

[0002] Alternating traffic refers to the process of allowing vehicles to alternately pass through the intersection in the order of one vehicle per lane under certain conditions for two lanes in the same direction at a specific intersection, so as to avoid serious congestion in a certain lane. The corresponding traffic regulations are as follows: At sections or intersections with reduced lanes, or at intersections without traffic lights, traffic signs, traffic markings or traffic police control, when encountering parking queues or slow driving, motor vehicles should alternate in turn. In the traditional human driving mode, there is currently a solution that relies on external guide markings and large guide screens to guide drivers to alternate traffic, but there is no vehicle alternating traffic control solution for the autonomous driving mode. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a method and device for alternating traffic control of autonomous driving vehicles, which can accurately determine the reasonable traffic order of vehicles by means of autonomous vehicle networking and token passing, thereby achieving reliable alternating traffic of vehicles and improving the passing efficiency of alternating traffic intersections.

[0004] To achieve the above objective, according to one aspect of the present invention, an alternating traffic control method is provided.

[0005] The alternating traffic control method of an embodiment of the present invention is executed by a controller of a vehicle; the method includes: in response to detecting that the vehicle satisfies a preset alternating traffic decision trigger condition, issuing a networking request externally; controlling the vehicle to form a temporary network with two associated lanes at the same alternating traffic intersection and at least one vehicle that issues the networking request according to the received networking request; broadcasting the characteristic information of the vehicle in the temporary network, and determining the first vehicle in the temporary network that is closest to the alternating traffic intersection according to the received characteristic information of other vehicles; when the vehicle is the first vehicle, generating a pass token to control the vehicle to pass through the alternating traffic intersection; and, at a preset specific time, the pass token is sequentially passed by the vehicle holding the pass token according to the alternating rule of the two associated lanes, so that the vehicles in the temporary network pass through the alternating traffic intersection after obtaining the pass token in sequence.

[0006] Optionally, in response to detecting that the vehicle satisfies a preset alternating traffic decision trigger condition, issuing a networking request externally includes: after detecting that the intersection ahead is an alternating traffic intersection, and the traffic speed of the vehicle meets a preset low-speed condition, and there is currently no temporary network corresponding to the alternating traffic intersection, issuing a networking request externally.

[0007] Optionally, a networking request issued by any vehicle carries an identification mark of an alternating intersection in front of the vehicle and an identification mark of a lane in which the vehicle is located; and the method of controlling the vehicle and two associated lanes at the same alternating intersection and at least one vehicle that issued the networking request to form a temporary network based on the received networking request includes: upon detecting that the identification mark of the alternating intersection in the received networking request is the same as the identification mark of the alternating intersection in front of the vehicle, and the lane identification in the received networking request is the identification mark of the associated lane of the alternating intersection in front of the vehicle, returning a networking response to the vehicle that sent the received networking request to form the temporary network.

[0008] Optionally, the characteristic information of any vehicle includes: the identification of the vehicle and the current distance of the vehicle to the alternating traffic intersection; and determining the first vehicle closest to the alternating traffic intersection in the temporary network based on the received characteristic information of other vehicles includes: comparing the current distances of each vehicle, and determining the vehicle with the smallest current distance in the temporary network as the first vehicle.

[0009] Optionally, the method further includes: after receiving characteristic information of other vehicles in the temporary network, comparing the current distance of the vehicle with the current distances of other vehicles in the same lane of the vehicle, obtaining the arrangement number of the vehicle in the lane, and broadcasting the arrangement number of the vehicle in the temporary network; and the alternation rule of the two associated lanes is: the vehicle holding the pass token passes the pass token to the vehicle in the other lane that has not passed the alternating intersection and has the smallest arrangement number.

[0010] Optionally, the method further includes: after transmitting the pass token, controlling the vehicle to exit the temporary network; after detecting that the intersection ahead is an alternating intersection, and the traffic speed of the vehicle meets the preset low-speed condition, and there is currently a temporary network corresponding to the alternating intersection, issuing a networking request to allow the vehicle to join the temporary network; after successfully joining, broadcasting the characteristic information of the vehicle and the arrangement number of the vehicle in the corresponding lane in the temporary network, and controlling the vehicle to pass through the alternating intersection after obtaining the pass token; and, the temporary network disintegrates after the last vehicle exits.

[0011] Optionally, the method further includes: when the vehicle is not the first vehicle: when the pass token is not obtained, controlling the vehicle to perform following driving; after obtaining the pass token, controlling the vehicle to pass through the alternating traffic intersection; in the temporary network: the first vehicle has the unique qualification to generate a pass token.

[0012] To achieve the above objective, according to another aspect of the present invention, an alternating traffic control device is provided.

[0013] The alternating traffic control device of the embodiment of the present invention is arranged in a vehicle; the device comprises: a trigger unit, for: in response to detecting that the vehicle satisfies a preset alternating traffic decision trigger condition, issuing a networking request externally; a networking unit, for: controlling the vehicle to form a temporary network with at least one vehicle that is located in two associated lanes at the same alternating traffic intersection and issues the networking request according to the received networking request; a data transmission unit, for broadcasting the characteristic information of the vehicle in the temporary network, and determining the first vehicle in the temporary network that is closest to the alternating traffic intersection according to the received characteristic information of other vehicles; a traffic control unit, for: when the vehicle is the first vehicle, generating a pass token to control the vehicle to pass through the alternating traffic intersection; and the pass token is sequentially transmitted by the vehicle holding the pass token at a preset specific time according to the alternating rule of the two associated lanes, so that the vehicles in the temporary network pass through the alternating traffic intersection after sequentially obtaining the pass token.

[0014] To achieve the above objective, according to another aspect of the present invention, an electronic device is provided.

[0015] An electronic device of the present invention comprises: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the alternating traffic control method provided by the present invention.

[0016] To achieve the above objective, according to yet another aspect of the present invention, a computer-readable storage medium is provided.

[0017] A computer-readable storage medium of the present invention stores a computer program, which, when executed by a processor, implements the alternating traffic control method provided by the present invention.

[0018] According to the technical solution of the present invention, the embodiments of the above invention have the following advantages or beneficial effects:

[0019] When any vehicle detects that it meets the preset alternating traffic decision triggering conditions, it sends out a networking request. Multiple vehicles that send the above networking request and are in two associated lanes at the same alternating traffic intersection autonomously form a temporary network. After the networking is successful, each vehicle in the temporary network broadcasts the characteristic information of its own vehicle in the temporary network, and determines the first vehicle in the temporary network that is closest to the alternating traffic intersection based on the characteristic information received from other vehicles. Then, the first vehicle generates a pass token and then passes through the alternating traffic intersection. At a specific time, it passes the pass token to the frontmost vehicle in the other lane according to the alternating rules of the two associated lanes. Thereafter, the pass token is passed in sequence by the vehicles holding the pass token at the above specific time according to the above alternating rules, so that each vehicle in the temporary network passes through the alternating traffic intersection after obtaining the pass token in sequence. In this way, the embodiment of the present invention is based on the above vehicle self-networking mechanism and token transfer mechanism, combined with the uniqueness restriction of token generation (only the first vehicle with the smallest distance calculated for the first time in the same temporary network is eligible to generate a pass token) and the pass restriction bound to the token (only by obtaining a pass token can you pass through the alternate traffic intersection) to ensure the strict implementation of the alternate traffic rules on the relevant vehicles. The strong robustness of the above token mechanism makes the entire decision-making process highly reliable, thereby ensuring that autonomous vehicles in automatic driving mode can comply with the laws and regulations on alternate traffic, improve driving safety and the passing efficiency of alternate traffic intersections. In addition, the above temporary network is a dynamically updated scalable network. Vehicles leaving the alternate traffic intersection automatically exit the network, and new vehicles entering automatically join the network, thereby enabling a temporary network and an alternate traffic decision process to cover and solve a complete guidance of the same alternate traffic intersection, thereby making the solution of the present invention highly practical.

[0020] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention.

[0022] Figure 1 Schematic diagram of the main steps of the alternate passage control method in an embodiment of the present invention;

[0023] Figure 2 is a temporary network schematic diagram of an embodiment of the present invention;

[0024] Figure 3 2 is a schematic diagram of alternate traffic of vehicles according to an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of specific execution steps of the alternating traffic control method in an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of components of an alternate passage control device in an embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of an electronic device used to implement the alternate passage control method in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0029] It should be pointed out that the embodiments of the present invention and the technical features therein may be combined with each other without conflict.

[0030] Figure 1 2 is a schematic diagram of the main steps of the alternating traffic control method according to an embodiment of the present invention.

[0031] like Figure 1 As shown, the alternate passage control method of the embodiment of the present invention is executed by a relevant controller of the vehicle, and can be specifically executed according to the following steps:

[0032] Step S101: In response to detecting that the vehicle meets a preset alternating traffic decision triggering condition, a networking request is sent out.

[0033] In this step, the vehicle controller detects in real time or at regular intervals whether the vehicle meets the alternating traffic decision triggering conditions at that time, and determines the subsequent strategy. The alternating traffic decision triggering conditions can be formulated according to the adaptability of the laws and regulations on alternating traffic, for example, as follows: the intersection ahead is an alternating traffic intersection, and the traffic speed of the vehicle meets the preset low-speed condition (for example, the traffic speed is less than the speed threshold, and when the traffic speed is zero, it is a queue state). The above alternating traffic intersection can be an intersection with reduced lanes, or an intersection without traffic lights, traffic signs, traffic markings or traffic police commands. It can be understood that the vehicle controller can collect the alternating traffic graphic signs through a camera or infrared sensor to determine whether the front is an alternating traffic intersection, or it can directly determine whether the front is an alternating traffic intersection from the electronic map of the vehicle or mobile terminal. The vehicle controller can detect the traffic speed through a camera or a Doppler ultrasonic sensor.

[0034] In actual applications, after the vehicle controller detects that the intersection ahead is an alternating intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently no temporary network corresponding to the alternating intersection, it sends out a networking request to try to create a temporary network; if it is detected that the intersection ahead is an alternating intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently a temporary network corresponding to the alternating intersection, the vehicle can be controlled to join the temporary network.

[0035] Step S102: According to the received networking request, the vehicle is controlled to form a temporary network with at least one vehicle that is in two associated lanes at the same alternating traffic intersection and has issued a networking request.

[0036] In this step, multiple vehicles in two associated lanes at the same alternating traffic intersection and issuing networking requests can create a temporary network for executing alternating traffic decisions based on the received networking requests. The structure of the temporary network is as follows: Figure 2 As shown, the network is a mesh structure, and any two vehicles in the network can communicate and transmit data. It can be understood that the two associated lanes of the alternating traffic intersection refer to the two lanes leading to the intersection and requiring alternating traffic, and the vehicle where the vehicle controller is located is of course also located in a certain associated lane.

[0037] In actual applications, the networking request sent by any vehicle carries the alternate intersection mark in front of the vehicle and the lane mark of the vehicle. Exemplarily, the vehicle controller can obtain the intersection mark in front and the lane mark through the electronic map of the vehicle or mobile terminal. The specific networking process can be: after the vehicle controller detects that the alternate intersection mark in the received networking request is the same as the alternate intersection mark in front of the vehicle, and the lane mark in the received networking request is the associated lane mark of the alternate intersection in front of the vehicle, it returns a networking response to the sending vehicle of the received networking request to form a temporary network.

[0038] Step S103: broadcasting the characteristic information of the vehicle in the temporary network, and determining the first vehicle closest to the alternate traffic intersection in the temporary network according to the received characteristic information of other vehicles.

[0039] In specific applications, the characteristic information of any vehicle may include: the identification of the vehicle and the current distance from the vehicle to the alternating intersection. It is understandable that the vehicle identification may be a license plate number, and the current distance from the vehicle to the alternating intersection may be the distance from the vehicle to the center point of the alternating intersection, or the distance from the vehicle to the sign of the alternating intersection. Preferably, the vehicle controller may measure the distance from the vehicle to the designated target through a laser radar or a camera. In actual scenarios, each vehicle controller may compare the above current distances of each vehicle and determine the vehicle with the smallest current distance in the temporary network as the first vehicle.

[0040] In particular, after receiving the characteristic information of other vehicles, the vehicle controller can compare the current distance of the vehicle with the current distance of other vehicles in the same lane of the vehicle to obtain the arrangement number of the vehicle in the lane. That is to say, the vehicle controller sorts the current distances of the vehicles in the same lane, and assigns the arrangement number of each vehicle in turn according to the sorting result. Exemplarily, the lane arrangement number can be an integer sequence starting from 1, and the lane arrangement number of a certain vehicle remains fixed during the entire alternating traffic decision process after it is generated. Thereafter, the vehicle controller broadcasts the arrangement number of the vehicle in the temporary network, so that each vehicle in the temporary network can understand the lane arrangement number of each vehicle including the vehicle. It can be understood that the lane arrangement number facilitates the subsequent alternating transmission of pass certificates between two associated lanes.

[0041] In practical applications, the lane sequence number can also be obtained in the following way. First, a vehicle in any lane determines through a sensor that there is no vehicle in front of the vehicle, and then automatically assigns a sequence number of 1, and broadcasts its sequence number and license plate number. If a vehicle finds through a camera that the license plate number of the vehicle in front of it is a license plate number with a sequence number of 1, then the vehicle's sequence number is automatically assigned to 2. If a vehicle finds through a camera that the license plate number of the vehicle in front of it is a license plate number with a sequence number of 2, then the vehicle's sequence number is automatically assigned to 3..., and the lane sequence number of each vehicle can be determined.

[0042] Step S104: When the vehicle is the first vehicle, a pass token is generated to control the vehicle to pass through the alternate traffic intersection.

[0043] In the embodiment of the present invention, the pass token is a specific data used to characterize the priority right of passage at the intersection. The present invention designs the uniqueness restriction of token generation and the pass restriction bound to the token. The uniqueness restriction of token generation means that only the first vehicle with the smallest distance calculated for the first time in the same temporary network is eligible to generate a pass token, that is, in the temporary network, only the first vehicle is eligible to generate a pass token; the pass restriction bound to the token means that only by obtaining a pass token can one pass through the alternate passage intersection.

[0044] In this step, the controller of the first vehicle can directly generate a pass token to control the vehicle to pass through the alternate intersection. Thereafter, the pass token is sequentially passed by the vehicle holding the pass token at a preset specific time according to the alternating rules of the above two associated lanes, so that the vehicles in the temporary network can pass through the alternate intersection after obtaining the pass token in turn. In practical applications, the above alternating rules are: the vehicle holding the pass token passes the pass token to the vehicle in the other lane (i.e., the lane where the vehicle is not) that has not passed the alternate intersection and has the smallest arrangement number. The alternating rules are as follows: Figure 3 As shown, according to the distance from the vehicle to the alternate traffic intersection, vehicles 1, 2, 3, and 4 pass through the intersection in sequence.

[0045] It can be understood that when the vehicle is not the first vehicle, before the pass token is obtained, the vehicle controller controls the vehicle to follow the vehicle; after obtaining the pass token, the vehicle controller controls the vehicle to pass through the alternate traffic intersection.

[0046] In addition, in an embodiment of the present invention, after transmitting the pass token, the vehicle controller controls the vehicle to exit the temporary network. After detecting that the intersection ahead is an alternating traffic intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently a temporary network corresponding to the alternating traffic intersection, the vehicle controller issues a networking request to allow the vehicle to join the temporary network; after joining successfully, the vehicle controller broadcasts the characteristic information of the vehicle and the arrangement number of the vehicle in the corresponding lane in the temporary network, and controls the vehicle to pass through the alternating traffic intersection after obtaining the pass token. It can be understood that the temporary network disintegrates after the last vehicle exits, at which time the traffic speed returns to normal, and the alternating traffic mode of the corresponding intersection can be exited.

[0047] Figure 4 Schematic diagram of specific execution steps of the alternating traffic control method in an embodiment of the present invention. Figure 4As shown, in step S401, the vehicle controller detects that the vehicle meets the triggering conditions for the alternating traffic decision; in step S402, the vehicle controller determines whether there is a temporary network at present: if so, execute step S410, otherwise execute step S403; in step S403, the vehicle controller issues a networking request; in step S404, each vehicle completes the networking; in step S405, the vehicle controller broadcasts the characteristic information in the temporary network; in step S406, the vehicle controller calculates the lane arrangement number of the vehicle and broadcasts it; in step S407, the vehicle controller determines the first vehicle; in step S408, the controller of the first vehicle generates a pass and controls the vehicle to pass through the intersection; in step S409, the controllers of each vehicle execute the transmission of the pass in sequence according to the alternating rules and the lane arrangement number; in step S410, the vehicle controller issues a networking request and transmits the characteristic information after the networking is successful; in step S411, after each vehicle obtains the pass and passes through the intersection, the temporary network is disintegrated, and the alternating traffic decision process ends.

[0048] In the technical solution of the embodiment of the present invention, based on the vehicle self-networking mechanism and the token passing mechanism, combined with the uniqueness restriction of token generation and the traffic restriction bound to the token, the alternating traffic rules are strictly implemented on relevant vehicles. The strong robustness of the token mechanism makes the entire decision-making process highly reliable, thereby ensuring that autonomous vehicles in automatic driving mode can comply with the laws and regulations on alternating traffic, improve driving safety and the passing efficiency of alternating traffic intersections.

[0049] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of the present invention are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0050] For the above-mentioned method embodiments, for the convenience of description, they are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the order of the actions described, and some steps can actually be performed in other orders or simultaneously. In addition, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary to implement the present invention.

[0051] In order to better implement the above-mentioned solution of the embodiment of the present invention, relevant devices for implementing the above-mentioned solution are also provided below.

[0052] See also Figure 5As shown, the alternate traffic control device 500 provided in the embodiment of the present invention is arranged in a vehicle controller and may include: a trigger unit 501 , a networking unit 502 , a data transmission unit 503 and a traffic control unit 504 .

[0053] Among them, the trigger unit 501 is used to: in response to detecting that the vehicle meets the preset alternating traffic decision trigger condition, send out a networking request; the networking unit 502 is used to: control the vehicle and at least one vehicle that is in two associated lanes at the same alternating traffic intersection and sends the networking request to form a temporary network according to the received networking request; the data transmission unit 503 is used to broadcast the characteristic information of the vehicle in the temporary network, and determine the first vehicle in the temporary network that is closest to the alternating traffic intersection according to the received characteristic information of other vehicles; the traffic control unit 504 is used to: when the vehicle is the first vehicle, generate a pass token to control the vehicle to pass through the alternating traffic intersection; and the pass token is passed in sequence by the vehicle holding the pass token at a preset specific time according to the alternating rule of the two associated lanes, so that the vehicles in the temporary network pass through the alternating traffic intersection after obtaining the pass token in sequence.

[0054] In an embodiment of the present invention, the trigger unit 501 is used to: after detecting that the intersection ahead is an alternating traffic intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently no temporary network corresponding to the alternating traffic intersection, send out a networking request.

[0055] In a specific application, a networking request sent by any vehicle carries the identification of the alternating intersection in front of the vehicle and the identification of the lane in which the vehicle is located; the networking unit 502 is used to: upon detecting that the identification of the alternating intersection in the received networking request is the same as the identification of the alternating intersection in front of the vehicle, and the lane identification in the received networking request is the associated lane identification of the alternating intersection in front of the vehicle, return a networking response to the vehicle sending the received networking request to form the temporary network.

[0056] In practical applications, the characteristic information of any vehicle includes: the identification of the vehicle and the current distance of the vehicle to the alternating traffic intersection; and the data transmission unit 503 is used to: compare the current distances of each vehicle and determine the vehicle with the smallest current distance in the temporary network as the first vehicle.

[0057] In an embodiment of the present invention, the data transmission unit 503 is used to: after receiving the characteristic information of other vehicles in the temporary network, compare the current distance of the vehicle with the current distance of other vehicles in the same lane of the vehicle, obtain the arrangement number of the vehicle in the lane, and broadcast the arrangement number of the vehicle in the temporary network; and the alternation rule of the two associated lanes is: the vehicle holding the pass token passes the pass token to the vehicle in the other lane that has not passed the alternating intersection and has the smallest arrangement number.

[0058] In an embodiment of the present invention, the data transmission unit 503 is used to: control the vehicle to exit the temporary network after transmitting the pass token; after detecting that the intersection ahead is an alternating intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently a temporary network corresponding to the alternating intersection, issue a networking request to allow the vehicle to join the temporary network; after successfully joining, broadcast the characteristic information of the vehicle and the arrangement number of the vehicle in the corresponding lane in the temporary network, and control the vehicle to pass through the alternating intersection after obtaining the pass token; and the temporary network is dismantled after the last vehicle exits.

[0059] In an embodiment of the present invention, the traffic control unit 504 is used to: when the vehicle is not the first vehicle: when the traffic token is not obtained, control the vehicle to follow the vehicle; after obtaining the traffic token, control the vehicle to pass through the alternating traffic intersection; in the temporary network: the first vehicle has the unique qualification to generate a traffic token.

[0060] According to the technical solution of the embodiment of the present invention, when any vehicle detects that the vehicle meets the preset alternating traffic decision triggering conditions, it sends out a networking request, and multiple vehicles that send the above networking request and are in the two associated lanes of the same alternating traffic intersection autonomously form a temporary network; after the networking is successful, each vehicle in the temporary network broadcasts the characteristic information of the vehicle in the temporary network, and determines the first vehicle in the temporary network that is closest to the alternating traffic intersection based on the characteristic information of other vehicles received; then, the first vehicle generates a pass token and then passes through the alternating traffic intersection, and at a specific time, it passes the pass token to the frontmost vehicle in the other lane according to the alternating rules of the two associated lanes; thereafter, the pass token is passed in sequence by the vehicles holding the pass token at the above specific time according to the above alternating rules, so that each vehicle in the temporary network passes through the alternating traffic intersection after obtaining the pass token in sequence. In this way, the embodiment of the present invention is based on the above vehicle self-networking mechanism and token transfer mechanism, combined with the uniqueness restriction of token generation and the traffic restriction bound to the token to ensure the strict implementation of the alternating traffic rules on the relevant vehicles. The strong robustness of the above token mechanism makes the entire decision-making process highly reliable, thereby ensuring that autonomous vehicles in automatic driving mode can comply with the laws and regulations on alternating traffic, improve driving safety and the passing efficiency of alternating traffic intersections. In addition, the above temporary network is a dynamically updated scalable network. Vehicles leaving the alternating traffic intersection automatically exit the network, and new vehicles entering automatically join the network, thereby enabling a temporary network and an alternating traffic decision process to cover and solve a complete guidance of the same alternating traffic intersection, thereby making the solution of the present invention highly practical.

[0061] The present invention also provides an electronic device. The electronic device of an embodiment of the present invention comprises: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the alternating traffic control method provided by the present invention.

[0062] Reference below Figure 6 , which shows a schematic diagram of the structure of a computer system 600 of an electronic device suitable for implementing an embodiment of the present invention. Figure 6 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 invention.

[0063] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the computer system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0064] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 606 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0065] In particular, according to the embodiments disclosed in the present invention, the process described in the main step diagram above can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the main step diagram. In the above embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit 601, the above functions defined in the system of the present invention are executed.

[0066] It should be noted that the computer-readable medium shown in the present invention 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 invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, 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 appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0067] 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 invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flow chart, and the combination of the boxes in the block diagram 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.

[0068] The units involved in the embodiments of the present invention may be implemented by software or hardware. The units described may also be set in a processor. For example, they may be described as: a processor including: a trigger unit, a networking unit, a data transmission unit, and a traffic control unit. The names of these units do not, in some cases, constitute limitations on the units themselves. For example, the networking unit may also be described as a "unit that provides a temporary network to the data transmission unit."

[0069] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the device, the steps executed by the device include: in response to detecting that the vehicle meets the preset alternating traffic decision triggering condition, issuing a networking request; controlling the vehicle to form a temporary network with at least one vehicle in two associated lanes at the same alternating traffic intersection and issuing the networking request according to the received networking request; broadcasting the characteristic information of the vehicle in the temporary network, and determining the first vehicle closest to the alternating traffic intersection in the temporary network according to the received characteristic information of other vehicles; in the case that the vehicle is the first vehicle, generating a pass token to control the vehicle to pass through the alternating traffic intersection; and the pass token is sequentially passed by the vehicle holding the pass token according to the alternating rule of the two associated lanes at a preset specific time, so that the vehicles in the temporary network pass through the alternating traffic intersection after sequentially obtaining the pass token.

[0070] In the technical solution of the embodiment of the present invention, based on the vehicle self-networking mechanism and the token passing mechanism, combined with the uniqueness restriction of token generation and the traffic restriction bound to the token, the alternating traffic rules are strictly implemented on relevant vehicles. The strong robustness of the token mechanism makes the entire decision-making process highly reliable, thereby ensuring that autonomous vehicles in automatic driving mode can comply with the laws and regulations on alternating traffic, improve driving safety and the passing efficiency of alternating traffic intersections.

[0071] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An alternating traffic control method, characterized in that: Executed by a controller of a vehicle; the method comprises: In response to detecting that the vehicle meets a preset alternating traffic decision triggering condition, sending a networking request externally; Controlling the vehicle to form a temporary network with at least one vehicle in two associated lanes at the same alternating traffic intersection and issuing the networking request according to the received networking request; Broadcasting characteristic information of the vehicle in the temporary network, and determining a first vehicle in the temporary network that is closest to the alternate traffic intersection according to the received characteristic information of other vehicles; When this vehicle is the first vehicle, a pass token is generated to control the vehicle to pass through the alternating intersection; and the pass token is passed in sequence by the vehicles holding the pass token at a preset specific time according to the alternating rule of the two associated lanes, so that the vehicles in the temporary network can pass through the alternating intersection after obtaining the pass token in sequence.

2. The method according to claim 1, characterized in that The step of sending a network request to the outside in response to detecting that the vehicle meets a preset alternating traffic decision triggering condition includes: After detecting that the intersection ahead is an alternating traffic intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently no temporary network corresponding to the alternating traffic intersection, a networking request is sent out.

3. The method according to claim 1, characterized in that The networking request sent by any vehicle carries the identifier of the alternating traffic intersection in front of the vehicle and the identifier of the lane where the vehicle is located; and the controlling, according to the received networking request, the vehicle and at least one vehicle in two associated lanes at the same alternating traffic intersection and sending the networking request to form a temporary network comprises: After detecting that the alternating intersection identifier in the received networking request is the same as the alternating intersection identifier in front of the vehicle, and the lane identifier in the received networking request is the associated lane identifier of the alternating intersection in front of the vehicle, a networking response is returned to the sending vehicle of the received networking request to form the temporary network.

4. The method according to claim 3, characterized in that The characteristic information of any vehicle includes: an identification of the vehicle and a current distance of the vehicle from the alternate traffic intersection; and the determining, based on the received characteristic information of other vehicles, the first vehicle closest to the alternate traffic intersection in the temporary network includes: The current distances of the vehicles are compared, and the vehicle with the smallest current distance in the temporary network is determined as the first vehicle.

5. The method according to claim 4, characterized in that The method further comprises: After receiving the characteristic information of other vehicles in the temporary network, compare the current distance of the vehicle with the current distance of other vehicles in the same lane of the vehicle, obtain the arrangement number of the vehicle in the lane, and broadcast the arrangement number of the vehicle in the temporary network; and The alternation rule of the two associated lanes is: the vehicle holding the pass token transfers the pass token to the vehicle in the other lane that has not passed the alternating intersection and has the smallest arrangement number.

6. The method according to claim 5, characterized in that The method further comprises: After delivering the pass token, controlling the vehicle to exit the temporary network; After detecting that the intersection ahead is an alternating traffic intersection, the traffic speed of the vehicle meets the preset low-speed condition, and there is currently a temporary network corresponding to the alternating traffic intersection, a network request is issued to allow the vehicle to join the temporary network; after joining successfully, the characteristic information of the vehicle and the arrangement sequence number of the vehicle in the corresponding lane are broadcasted in the temporary network, and the vehicle is controlled to pass through the alternating traffic intersection after obtaining the pass token; And, the temporary network disintegrates after the last vehicle exits.

7. The method according to claim 1, characterized in that The method further comprises: when the vehicle is not the first vehicle: when the pass token is not obtained, controlling the vehicle to perform following vehicle driving; after obtaining the pass token, controlling the vehicle to pass through the alternate traffic intersection; In the temporary network: the first vehicle has the unique qualification to generate a pass token.

8. An alternating traffic control device, characterized in that: Set in a vehicle controller; the device includes: A trigger unit, configured to: in response to detecting that the vehicle meets a preset alternating traffic decision trigger condition, issue a networking request externally; A networking unit, configured to: control the vehicle to form a temporary network with at least one vehicle in two associated lanes at the same alternating traffic intersection and issuing the networking request according to the received networking request; A data transmission unit, configured to broadcast characteristic information of the vehicle in the temporary network, and determine a first vehicle in the temporary network that is closest to the alternate traffic intersection according to the received characteristic information of other vehicles; A traffic control unit is used to: when the vehicle is the first vehicle, generate a pass token to control the vehicle to pass through the alternate traffic intersection; and the pass token is passed in sequence by the vehicles holding the pass token at a preset specific time according to the alternating rule of the two associated lanes, so that the vehicles in the temporary network can pass through the alternate traffic intersection after obtaining the pass token in sequence.

9. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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