Crossing vehicle starting guiding method and device

Abstract

The embodiment of the invention provides an intersection vehicle starting guiding method and device. The method comprises the following steps: determining a service vehicle in a static state within a preset range of an intersection; determining queuing dissipation information of the service vehicle; according to the queuing dissipation information of the service vehicle, starting guiding is conducted on the service vehicle. The method can improve the starting guide effect of vehicles at the intersection.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation, and in particular to a method and device for guiding vehicle starting at an intersection. Background Art

[0002] In daily life, when users are waiting for traffic lights at intersections, they often fail to follow the green light in time due to lack of concentration, blocked vision, or distraction from their mobile phones. This not only causes traffic congestion, but may also cause traffic accidents.

[0003] Currently, when users use navigation map applications for route navigation, the navigation map application will monitor the status of traffic lights in real time, including information such as the color of the traffic lights and the remaining waiting time. When the red light countdown is less than the preset time, the user is reminded to start in time or pay attention to traffic safety in the form of text, voice or vibration. In some scenarios, the starting guidance effect is poor, which in turn affects the user experience. Summary of the invention

[0004] The present application provides a method and device for guiding vehicle starting at an intersection, which are used to solve the problem that the guiding effect of the existing starting guiding method is poor.

[0005] In a first aspect, the present application provides a method for guiding vehicle starting at an intersection, comprising:

[0006] Identify the stationary service vehicles within the preset range of the intersection;

[0007] Determine queue dissipation information for service vehicles;

[0008] The service vehicles are guided to start based on the queue elimination information of the service vehicles.

[0009] In some embodiments, determining queue dissipation information for a service vehicle includes:

[0010] When there is no high-precision map, determine the environmental vehicle, wherein the environmental vehicle is a vehicle whose Euclidean distance to the service vehicle is less than a first preset distance;

[0011] According to the lateral distance and longitudinal distance between the surrounding vehicle and the service vehicle, determine that the surrounding vehicle in the same lane as the service vehicle and in front of the service vehicle is the first queue vehicle, wherein the lateral distance is a direction perpendicular to the road and the longitudinal distance is a direction in which the road extends;

[0012] The state information of the first-queue vehicle is obtained and queue dissipation information of the service vehicle is determined according to the state information of the first-queue vehicle.

[0013] In some embodiments, determining queue dissipation information for a service vehicle includes:

[0014] When there is no roadside data, the queue dissipation information of the service vehicles is estimated based on the distance between the service vehicles and the stop line and the traffic light information.

[0015] In some embodiments, determining queue dissipation information for a service vehicle includes:

[0016] Determine the lane where the service vehicle is located through high-precision maps;

[0017] Determine, by means of the roadside equipment, a second-queue vehicle on a path within a second preset distance in front of the service vehicle in the lane where the service vehicle is located and obtain status information of the second-queue vehicle, wherein the path within the second preset distance includes at least one road segment;

[0018] According to the status information of the second-queuing vehicle, queue dissipation information of the serving vehicle is determined.

[0019] In some embodiments, determining a stationary service vehicle within a preset range of an intersection includes:

[0020] Obtain driving information of service vehicles within a preset range of the intersection, including the distance between the vehicle and the stop line and the speed;

[0021] When the distance between the service vehicle and the stop line is less than the third preset distance and the vehicle speed is less than the first preset speed, it is determined that the service vehicle is in a stationary state.

[0022] In some embodiments, starting guidance is provided to the service vehicle according to the queue elimination information of the service vehicle, including:

[0023] Determine, based on the queue dissipation information of the service vehicle, whether there is a third-queue vehicle ahead of the service vehicle, where the third-queue vehicle is a vehicle in the same lane as the service vehicle and within a fourth preset distance ahead of the service vehicle;

[0024] If yes, then when the speed of at least one of the vehicles in the third queue is greater than the second preset speed, the service vehicle is reminded to start; or, when the speeds of all vehicles in the third queue are less than or equal to the second preset speed and the red light countdown is less than the preset duration, the service vehicle is reminded to end the red light;

[0025] If not, the service vehicle will be reminded to start when the red light countdown is less than the preset time.

[0026] In a second aspect, the present application provides a vehicle starting guidance device at an intersection, comprising:

[0027] A determination module, used to determine a service vehicle that is stationary within a preset range of the intersection;

[0028] The determination module is further used to determine queue dissipation information of the service vehicles;

[0029] The guidance module is used to guide the service vehicle to start according to the queue elimination information of the service vehicle.

[0030] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0031] The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the intersection vehicle starting guidance method in the first aspect and any one of the embodiments of the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for guiding vehicle starting at an intersection in the first aspect and any one of the embodiments of the first aspect is implemented.

[0033] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for guiding vehicle starting at an intersection in the first aspect and any one of the embodiments of the first aspect.

[0034] The method and device for guiding vehicle starting at an intersection provided in the present application determine the service vehicles that are stationary within a preset range of the intersection and the queue clearance information in front of the service vehicles, and guide the service vehicles to start according to the queue clearance information, thereby improving the starting guidance effect for the service vehicles and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of a scenario of vehicle starting guidance at an intersection provided in one embodiment of the present application;

[0037] Figure 2 A flowchart of a method for guiding vehicle starting at an intersection provided in one embodiment of the present application;

[0038] Figure 3 A schematic diagram of a scenario for determining queued vehicles provided in an embodiment of the present application;

[0039] Figure 4 A partial flow chart of a method for guiding vehicle starting at an intersection provided in one embodiment of the present application;

[0040] Figure 5A schematic diagram of the structure of a vehicle starting guidance device at an intersection provided in one embodiment of the present application;

[0041] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this document, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0044] The word "if" as used herein may be interpreted as "at" or "when" or "in response to determining," depending on the context.

[0045] It should be understood that the terms “comprises” and “includes” indicate the existence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the existence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups.

[0046] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0047] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0048] With the acceleration of urbanization, road traffic is becoming increasingly busy. Traffic lights at intersections are an important tool for traffic management, and their efficiency is directly related to the smoothness and safety of urban traffic. However, when waiting for traffic lights at intersections, drivers or pedestrians are often distracted, such as being attracted by mobile phones, obstructed vision, or simply negligent, which often leads to failure to start in time when the green light comes on. This not only aggravates traffic congestion, but may also cause traffic accidents due to sudden acceleration or lane changes. Therefore, providing an efficient and accurate starting guidance method is of great significance to improving traffic efficiency and ensuring driving safety.

[0049] Currently, navigation map applications have the functions of signal light status monitoring and start guidance. These applications monitor the color of the signal lights at the intersection and the remaining waiting time in real time. When the red light is about to end, they notify the user in advance to prepare to start through text prompts, voice broadcasts, or mobile phone vibrations, so as to ensure that the user can quickly pass the intersection when the green light comes on. This start guidance method improves the user's response speed to a certain extent and reduces traffic delays caused by long waiting time or untimely start.

[0050] However, the navigation map application provides the same reminder information for users to start driving, such as the voice broadcast of "the red light will turn green soon". For users who are in the front queue at the intersection, they can prepare to start driving after receiving the reminder; while for users who are in the back queue at the intersection, they cannot start driving even after receiving the reminder and still need to wait for the queue to dissipate to the current position before they can start driving. In other words, for users in the back queue, the navigation map application's starting guidance effect is poor, resulting in a poor user experience.

[0051] In view of the above problems, the present application proposes a method and device for guiding vehicles to start at an intersection. For users queuing at an intersection, in addition to guiding them to start based on the signal light information, the service user can also be guided to start based on the status of other users in front of the service user. For example, for guiding the service vehicle to start, the reminder time can be determined based on the signal light information and the status of the vehicles queuing in front of the service vehicle to ensure that the service vehicle is ready to start when the reminder is given.

[0052] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0053] Figure 1 A schematic diagram of a scene of vehicle starting guidance at an intersection provided by an embodiment of the present application is shown. In the figure, A represents a service vehicle, that is, a vehicle registered to use the vehicle-road cooperative driving function; B represents a non-service vehicle. Figure 1As shown, taking a road at an intersection as an example, there are multiple vehicles waiting for the red light in front of the road stop line. For vehicles in the front queue, such as vehicle A1, they can start in time after the red light turns green, while vehicles in the back queue need to wait until the front vehicle starts before starting, such as vehicles A2 and B3. That is, the starting guidance needs to take into account vehicles in different queue positions to avoid the situation where the vehicle cannot start after the start reminder, thereby improving the guidance effect and enhancing the driving experience.

[0054] In this application, the electronic device is used as the execution subject to execute the intersection vehicle starting guidance method of the following embodiment. Specifically, the execution subject can be a hardware device of the electronic device, or a software application that implements the following embodiment in the electronic device, or a computer-readable storage medium installed with the software application that implements the following embodiment, or a code that implements the software application of the following embodiment.

[0055] Figure 2 FIG. 1 is a flow chart of a method for guiding vehicle starting at an intersection provided by an embodiment of the present application. Figure 2 As shown, with the electronic device as the execution subject, the method of this embodiment may include the following steps:

[0056] S101. Determine a stationary service vehicle within a preset range of an intersection.

[0057] In this embodiment, the electronic device can be a cloud server in the vehicle-road cooperative system. The cloud server obtains the driving data of each vehicle within a preset range of the intersection through the equipment deployed on the roadside, and then filters the driving data of the service vehicle from the obtained driving data of each vehicle according to the identification of the pre-stored service vehicle, thereby realizing the coordinated guidance of vehicles through the vehicle-road-cloud intersection at the intersection without traffic lights.

[0058] Based on the driving data of the service vehicle, it can be determined whether it is in a stationary state, that is, whether the service vehicle is in a state of waiting for a red light.

[0059] The preset range of the intersection includes a preset length range on each road of the intersection, and the preset length is the length extending from the stop line to the road away from the intersection. For example, the preset length can be 100 meters, that is, 100 meters away from the stop line of the current road is within the preset range of the intersection.

[0060] If the electronic device can obtain high-precision map data, the intersection recognition range can be determined based on the high-precision map data. If the electronic device cannot obtain high-precision map data, the intersection recognition range can be determined based on standard-definition map data.

[0061] S102: Determine queue clearance information of service vehicles.

[0062] In this embodiment, the queue dissipation information of the service vehicle refers to the dissipation information of the vehicles queued in front of the service vehicle. Figure 1 In the service vehicle A2, whether vehicles A1, B1 and B2 have started and whether they have passed the intersection are all queue dissipation information of the service vehicle A2.

[0063] For example, for Figure 1 In the service vehicle A3, whether vehicles A1, vehicle B1, vehicle B2, vehicle A2 and vehicle B3 have started and whether they have passed the intersection are all queue dissipation information of the service vehicle A3.

[0064] Optionally, since there are many queued vehicles in the road section from the current position of vehicle A3 to the stop line, the electronic device may use the status of queued vehicles within a preset distance from the current position of vehicle A3 as its queue dissipation information. For example, the status of vehicles B2, A2, and B3 is used as the queue dissipation information of vehicle A3, or the status of vehicles A2 and B3 is used as the queue dissipation information of vehicle A3.

[0065] It should be noted that when guiding the service vehicle to start according to the queue dissipation information, if the preset distance is too long, it will be similar to guiding the service vehicle to start according to the traffic light information, and the service vehicle will still not be able to start after the start reminder; and if the preset distance is too short, the reminder time for guiding the service vehicle to start according to the queue dissipation information will be late. Therefore, selecting a suitable preset distance can effectively improve the guidance effect. The setting of the preset distance can be determined according to the traffic volume or flow rate ratio of different intersections, and this embodiment does not limit this.

[0066] S103: guiding the service vehicle to start according to the queue elimination information of the service vehicle.

[0067] In this embodiment, the queue dissipation information of the service vehicle includes the status of the queued vehicles, so that the service vehicle can be guided to start. For example, when the speed of at least one vehicle in the queue is greater than the preset speed, a start reminder message is sent to the service vehicle. For the service vehicle at the back of the queue, the start guidance is carried out according to the status of the traffic light. It may be that due to the large number of queued vehicles, the service vehicle can only start ten seconds after receiving the start reminder. In this embodiment, the start guidance is carried out according to the queue dissipation information. The service vehicle can start within a few seconds after receiving the start reminder, which shortens the time from the reminder to the vehicle starting.

[0068] The vehicle starting guidance method at an intersection provided in this embodiment can guide the service vehicle to start according to the queue dissipation information by determining the service vehicle that is stationary at the intersection and the corresponding queue dissipation information, thereby shortening the time from reminder to vehicle starting, improving the effect of starting guidance, improving the vehicle traffic efficiency at the intersection, and enhancing the user experience.

[0069] In some embodiments, the specific implementation of step S102 includes:

[0070] S201. When there is no high-precision map, determine the surrounding vehicles.

[0071] Among them, no high-precision map means that lane-level information cannot be obtained, and only road-level information is available. The environment vehicle is a vehicle whose Euclidean distance to the service vehicle is less than a first preset distance.

[0072] S202: Determine, based on the lateral distance and longitudinal distance between the surrounding vehicle and the service vehicle, that the surrounding vehicle that is in the same lane as the service vehicle and in front of the service vehicle is a first-queue vehicle.

[0073] Among them, the horizontal direction is the direction perpendicular to the road, and the vertical direction is the direction in which the road extends.

[0074] Figure 3 A schematic diagram of a scenario for determining queued vehicles provided in an embodiment of the present application. Figure 3 As shown in the figure, the distance between the current position of service vehicle A1 (point O in the figure) and the center line of the road in the other direction (line 1 in the figure) is recorded as OP. The intersection of OP and line 1 is point P, which is regarded as the location of the traffic light, and the intersection of OP and the stop line of the road where service vehicle A1 is located is point Q.

[0075] Assuming that the surrounding vehicles of service vehicle A1 are determined by Euclidean distance, the distances of surrounding vehicles B1, B2, A2 from OP are the lateral distances, which are B1-X, B2-Y, and A2-Z respectively. When the lateral distance is less than 1 / 2 of the standard lane width, it can be considered that the surrounding vehicle is in the same lane as service vehicle A1.

[0076] For the surrounding vehicles in the same lane as the service vehicle A1, it can be determined whether the surrounding vehicles are in front of the service vehicle A1 according to the longitudinal distance. The longitudinal distance here indicates the longitudinal relationship between the service vehicle, the surrounding vehicles and the signal light position.

[0077] Continue to refer Figure 3 , OP>OX and OP>XP, indicating that the environment vehicle B1 is in front of the service vehicle A1; OP>OY and OP<YP, indicating that the environment vehicle B2 is behind the service vehicle A1; OP>OZ and OP<ZP, indicating that the environment vehicle A2 is behind the service vehicle A1. Based on this longitudinal relationship, it can be determined whether the environment vehicle in the same lane as the service vehicle is in front of the service vehicle.

[0078] Optionally, when there is no high-precision map, it is also possible to determine which vehicles are the first-in-line vehicles for the service vehicles based on information collected by roadside equipment.

[0079] S203: Acquire the status information of the first-queuing vehicle and determine the queue dissipation information of the service vehicle according to the status information of the first-queuing vehicle.

[0080] Specifically, the status information of the first-queue vehicles can be collected by the roadside equipment, for example, whether the first-queue vehicles have started, etc. Among the first-queue vehicles, if the front vehicles start, it can indicate that the first-queue vehicles are beginning to dissipate; if the rear vehicles start, it can indicate that the first-queue vehicles are about to dissipate to the position of the service vehicle.

[0081] According to the status information of the first-queue vehicle, the time for dissipating to the position of the service vehicle can be predicted, and the service vehicle can be guided to start in advance according to this time.

[0082] In the vehicle starting guidance method at an intersection provided in this embodiment, vehicle information can be collected through roadside equipment to determine which vehicles are in the same lane as the service vehicle and are located in front of the service vehicle, thereby achieving starting guidance for the service vehicle without a high-precision map.

[0083] In some embodiments, a specific implementation of step S102 includes: when there is no roadside data, estimating the queue dissipation information of the service vehicle based on the distance between the service vehicle and the stop line and the traffic light information.

[0084] In this embodiment, since there is no roadside sensing data, the driving data of non-service vehicles cannot be obtained, so it is necessary to estimate the queue dissipation information.

[0085] Specifically, an empirical function of queue length and dissipation time can be determined according to a queue dissipation model.

[0086] The queue length represents the distance from the current service vehicle to the traffic light. The average distance between the vehicles can be an empirical value, such as 10 meters. The estimated number of vehicles in the queue can be obtained by dividing the queue length by the average distance between the vehicles.

[0087] Optionally, the queue length may also be a preset distance in front of the current service vehicle.

[0088] The queue dissipation time is obtained by multiplying the number of queued vehicles by the dissipation speed, wherein the dissipation speed represents the dissipation time of each vehicle, for example, 2 seconds per vehicle.

[0089] When the difference between the queue dissipation time and the green light duration is less than a preset difference, for example, less than 3 seconds, it indicates that the queued vehicles are about to dissipate to the service vehicles, and the service vehicles can be reminded to start.

[0090] Optionally, if there are other service vehicles in the queue, the queue dissipation time may be adjusted according to the status of the other service vehicles, thereby improving the accuracy of the estimation of the queue dissipation information.

[0091] In the vehicle starting guidance method at an intersection provided in this embodiment, the time for starting guidance for the service vehicle is determined by estimating queue dissipation information and traffic light data, thereby achieving starting guidance for the service vehicle in the absence of roadside data, thereby improving user experience.

[0092] In some embodiments, the specific implementation of step S102 includes:

[0093] S301. Determine the lane where the service vehicle is located through a high-precision map.

[0094] S302: Determine, through the roadside equipment, a second-queue vehicle on a path within a second preset distance in front of the service vehicle in the lane where the service vehicle is located, and obtain status information of the second-queue vehicle.

[0095] In this embodiment, with high-precision maps and roadside data, the second queue vehicle ahead of the service vehicle can be determined through the high-precision maps and roadside data. The status information of the second queue vehicle can be collected through the roadside equipment, for example, whether the second queue vehicle has started.

[0096] The path of the second preset distance includes at least one road segment. If the distance from the service vehicle to the end point of the current road segment is greater than the second preset distance, the path of the second preset distance is all in the current road segment; otherwise, the second preset distance includes the distance from the service vehicle to the end point of the current road segment and part or all of the distance of the next road segment, that is, the second preset distance is a preset distance along the road direction.

[0097] It should be understood that the road segments described here are road divisions in the map, for example, the road before and after a turn is divided into different road segments at the turn.

[0098] S303: Determine queue elimination information of the service vehicle according to the status information of the second queuing vehicle.

[0099] Specifically, the status information of the second-queue vehicles can be collected by the roadside equipment, for example, whether the second-queue vehicles have started, etc. Among the second-queue vehicles, if the front vehicles start, it can indicate that the second-queue vehicles are beginning to dissipate; if the rear vehicles start, it can indicate that the second-queue vehicles are about to dissipate to the position of the service vehicle.

[0100] According to the status information of the second-queued vehicle, the time for the vehicle to dissipate to the position of the service vehicle can be predicted, and the service vehicle can be guided to start in advance according to the time.

[0101] In the vehicle starting guidance method at an intersection provided by this embodiment, the queue elimination information of the service vehicle is accurately judged through the data collected by the high-precision map and the roadside equipment, and the service vehicle is guided to start according to the queue elimination information, which improves the accuracy of the guidance time and is also beneficial to improving the vehicle traffic efficiency at the intersection.

[0102] In some embodiments, the specific implementation of step S101 includes:

[0103] S401. Acquire driving information of a service vehicle within a preset range of an intersection, where the driving information includes the distance between the vehicle and the stop line and the speed of the vehicle.

[0104] S402: When the distance between the service vehicle and the stop line is less than a third preset distance and the vehicle speed is less than a first preset speed, it is determined that the service vehicle is stationary.

[0105] For example, when the distance between the service vehicle and the stop line is less than 100 meters and the vehicle speed is less than 10 km / h, it can be determined that the service vehicle is stationary.

[0106] Figure 4 This is a partial flow chart of a method for guiding vehicle starting at an intersection provided by an embodiment of the present application. Figure 4 As shown, the specific implementation of step S103 includes:

[0107] S501. Determine whether there is a third queue vehicle ahead of the service vehicle according to the queue elimination information of the service vehicle.

[0108] The third queue vehicle is a vehicle in the same lane as the serving vehicle and within a fourth preset distance in front of the serving vehicle. The fourth preset distance may be 15 meters.

[0109] S502: If yes, then when the speed of at least one of the vehicles in the third queue is greater than the second preset speed, the service vehicle is reminded to start; or, when the speeds of the vehicles in the third queue are all less than or equal to the second preset speed and the red light countdown is less than the preset duration, the service vehicle is reminded to end the red light.

[0110] S503: If not, when the red light countdown is less than the preset time, the service vehicle is reminded to start.

[0111] Specifically, if there is no third-queue vehicle in front of the service vehicle, it indicates that the service vehicle is waiting for the red light at the stop line, so the service vehicle can be guided to start according to the signal light information. If there is a third-queue vehicle in front of the service vehicle, the service vehicle can start only after the third-queue vehicle disappears, so the service vehicle is guided to start according to the disappearance information of the third-queue vehicle.

[0112] In this embodiment, when the fourth preset distance is small, the service vehicle can be guided to start according to the state that there are few vehicles in front of the service vehicle, and the guidance accuracy is higher. When the fourth preset distance is large, the service vehicle can be guided to start according to the state that there are many vehicles in front of the service vehicle, so as to avoid the guidance time being too close to the service vehicle start time. By reasonably setting the fourth preset distance, the starting guidance effect of the service vehicle can be improved.

[0113] Based on the understanding of the above embodiments, the vehicles in the embodiments of the present application include electric vehicles, electric vehicles, bicycles, and pedestrians waiting for red lights at intersections. For service users at the front of the queue, the service users can be guided to start only based on the signal light information, and for service users at the back of the queue, the service users can be guided to start based on the status of multiple users in front and the signal light information.

[0114] Figure 5 FIG. 1 is a schematic diagram showing the structure of a vehicle starting guidance device at an intersection provided by an embodiment of the present application. Figure 5 As shown, the intersection vehicle starting guidance device 10 of this embodiment is used to implement the operation corresponding to the electronic device in any of the above method embodiments. The intersection vehicle starting guidance device 10 of this embodiment includes:

[0115] A determination module 11, used to determine a service vehicle that is stationary within a preset range of the intersection;

[0116] The determination module 11 is further used to determine queue dissipation information of the service vehicles;

[0117] The guidance module 12 is used to guide the service vehicle to start according to the queue clearance information of the service vehicle.

[0118] The intersection vehicle starting guidance device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0119] Figure 6 FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 6 As shown, the electronic device 20 is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0120] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk, or an optical disk.

[0121] The processor 22 is used to execute the computer program stored in the memory to implement the method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0122] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0123] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0124] The communication interface 24 may be connected to the processor 22 via the bus 23. The processor 22 may control the communication interface 24 to implement the functions of receiving and sending signals.

[0125] The electronic device 20 provided in this embodiment can be used to execute the above-mentioned intersection vehicle starting guidance method, and its implementation method and technical effect are similar, which will not be repeated in this embodiment.

[0126] The present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, it is used to implement the methods provided in the various embodiments described above.

[0127] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that is convenient for transmitting a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0128] Specifically, the computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0129] The present application also provides a computer program product, which includes a computer program / instruction, and the computer program / instruction is stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instruction from the computer-readable storage medium, and at least one processor executes the computer program / instruction so that the device implements the methods provided in the various embodiments described above.

[0130] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0131] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0132] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for guiding vehicle starting at an intersection, characterized in that: The method comprises: Identify the stationary service vehicles within the preset range of the intersection; determining queue dissipation information of the service vehicle; The service vehicle is guided to start according to the queue elimination information of the service vehicle.

2. The method according to claim 1, characterized in that Determining queue dissipation information of the service vehicle, including: When there is no high-precision map, determining an environmental vehicle, wherein the environmental vehicle is a vehicle whose Euclidean distance to the service vehicle is less than a first preset distance; According to the lateral distance and longitudinal distance between the environmental vehicle and the service vehicle, determine that the environmental vehicle in the same lane as the service vehicle and located in front of the service vehicle is the first queue vehicle, wherein the lateral distance is a direction perpendicular to the road, and the longitudinal distance is a road extension direction; The state information of the first queuing vehicle is acquired and queue dissipation information of the serving vehicle is determined according to the state information of the first queuing vehicle.

3. The method according to claim 1, characterized in that Determining queue dissipation information of the service vehicle, including: When there is no roadside data, the queue dissipation information of the service vehicle is estimated based on the distance between the service vehicle and the stop line and the traffic light information.

4. The method according to claim 1, characterized in that Determining queue dissipation information of the service vehicle, including: Determine the lane where the service vehicle is located through a high-precision map; Determine, by means of roadside equipment, a second queue vehicle on a path within a second preset distance in front of the service vehicle in the lane where the service vehicle is located, and obtain status information of the second queue vehicle, wherein the path within the second preset distance includes at least one road segment; The queue dissipation information of the service vehicle is determined according to the status information of the second queuing vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: Determine the stationary service vehicles within the preset range of the intersection, including: Acquire driving information of a service vehicle within a preset range of the intersection, the driving information including the distance between the vehicle and the stop line and the speed of the vehicle; When the distance between the service vehicle and the stop line is less than a third preset distance and the vehicle speed is less than a first preset speed, it is determined that the service vehicle is in a stationary state.

6. The method according to any one of claims 1 to 4, characterized in that: According to the queue elimination information of the service vehicle, starting guidance is provided to the service vehicle, including: Determine, according to the queue dissipation information of the service vehicle, whether there is a third queue vehicle in front of the service vehicle, the third queue vehicle being a vehicle in the same lane as the service vehicle and within a fourth preset distance in front of the service vehicle; If yes, when the speed of at least one of the third queue vehicles is greater than the second preset speed, the service vehicle is reminded to start; or, when the speeds of the third queue vehicles are less than or equal to the second preset speed and the red light countdown is less than the preset duration, the service vehicle is reminded to end the red light; If not, when the red light countdown is less than the preset time, the service vehicle is reminded to start.

7. A vehicle starting guidance device at an intersection, characterized in that: include: A determination module, used to determine a service vehicle that is stationary within a preset range of the intersection; The determination module is further used to determine queue dissipation information of the service vehicle; The guidance module is used to guide the service vehicle to start according to the queue elimination information of the service vehicle.

8. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the intersection vehicle starting guidance method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the intersection vehicle starting guidance method as described in any one of claims 1-6.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method for guiding vehicle starting at an intersection according to any one of claims 1 to 6 is implemented.

Images