Vehicle control method, device, equipment and medium

Abstract

The invention provides a vehicle control method, device and equipment and a medium, which are used for improving the reliability of driving a vehicle into a toll station and leaving in an auxiliary driving mode, so that the driving safety is improved. The method comprises the following steps: determining a first number corresponding to lanes in a target toll station; wherein the first number indicates the number of vehicles, and the first distance between the vehicles and the toll gate in each lane is smaller than or equal to a first distance threshold value; determining first time corresponding to the toll gate based on the first number; wherein the first time comprises second time required for avoiding the vehicle when the vehicle to be controlled changes the lane; and based on the first time, selecting a target lane from the lanes, and controlling the to-be-controlled vehicle to pass through the target toll station on the target lane.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment and medium. Background Art

[0002] At the toll booths entering or leaving the highway, the road is usually widened and divided into multiple lanes to facilitate the passage of vehicles. When a vehicle needs to enter or leave the highway, it must pass through the toll booth. In the related art, when a vehicle needs to pass through a toll booth at a highway intersection, if the vehicle is in assisted driving, the driver is prompted in advance to take over the driving of the entire vehicle so that the vehicle is under the full control of the driver. With the popularization of new energy vehicles, users' demand for assisted driving scenarios is getting higher and higher. There is an urgent need for a vehicle control method that allows vehicles to safely pass through highway toll booths in assisted driving mode. Summary of the Invention

[0003] Based on this, it is necessary to provide a vehicle control method, device, equipment and medium to address the above technical problems, so as to improve the reliability of the vehicle entering and leaving the toll station in the assisted driving mode, thereby improving driving safety.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0005] Determining a first number corresponding to lanes in a target toll station; wherein the first number indicates the number of vehicles whose first distance from a toll gate in each lane is less than or equal to a first distance threshold;

[0006] Determining a first time corresponding to the toll gate based on the first number; wherein the first time includes a second time required for avoiding a vehicle when the vehicle to be controlled changes lanes;

[0007] Based on the first time, a target lane is selected from the lanes, and the vehicle to be controlled is controlled to pass through the target toll station in the target lane.

[0008] In some embodiments, determining a first number corresponding to lanes in a target toll station includes:

[0009] In response to a second distance between the vehicle to be controlled and the target toll booth being less than a preset second distance threshold, the first number is determined.

[0010] In some embodiments, selecting a target lane from the lanes and changing lanes to the target lane includes:

[0011] The second lane with the smallest first time is selected as the target lane.

[0012] In some embodiments, the first number includes a first data point and a plurality of second data points, the first data point corresponding to a first lane in which the vehicle to be controlled is located, and the second data points corresponding to the second lane;

[0013] The determining, based on the first number, a first time corresponding to the toll gate includes:

[0014] In response to the first data point being different from any of the second data points, determining the second time;

[0015] determining, based on the second data point, a third time required for the vehicle to be controlled to enter the second lane and reach the toll gate in the second lane;

[0016] The sum of the second time and the third time is determined to be the first time.

[0017] In some embodiments, determining the second time includes:

[0018] Determining a first initial position of the vehicle to be controlled in a third lane; wherein the third lane is located between the first lane and the second lane;

[0019] Determining a first number of vehicles to be avoided entering the third lane based on a first vehicle speed of the vehicle to be controlled, the first initial position, and information about vehicles in the third lane; wherein the vehicle information includes position information and speed information of the vehicles in the third lane;

[0020] determining a second number of vehicles to be avoided entering the second lane based on a second initial position of the vehicle to be controlled in the second lane;

[0021] The second time is determined based on the first number to avoid and the second number to avoid.

[0022] In some embodiments, the second time includes a first waiting period for passing through the third lane and a second waiting period for entering the second lane;

[0023] The determining, based on the second initial position of the vehicle in the second lane, a second number of vehicles to be avoided entering the second lane includes:

[0024] The second number to be avoided is determined based on the first segment required to pass through the third lane and a second initial position of the vehicle entering the second lane.

[0025] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0026] A lane module, configured to determine a first number corresponding to lanes in a target toll station, wherein the first number indicates the number of vehicles having a first distance from a toll gate in each lane that is less than or equal to a first distance threshold;

[0027] a time module, configured to determine a first time corresponding to the toll gate based on the first number; wherein the first time includes a second time required for the to-be-controlled vehicle to avoid the vehicle when the to-be-controlled vehicle changes lanes;

[0028] A selection module is used to select a target lane from the lanes based on the first time, and control the vehicle to be controlled to pass through the target toll station on the target lane.

[0029] In some embodiments, the lane module is specifically configured to determine a first number corresponding to lanes in the target toll station in response to a second distance between the vehicle to be controlled and the target toll station being less than a preset second distance threshold.

[0030] In some embodiments, the selection module is specifically configured to select the second lane with the smallest first time as the target lane.

[0031] In some embodiments, the first number includes a first data point and multiple second data points, the first data point corresponds to the first lane where the vehicle to be controlled is located, and the second data point corresponds to the second lane; the time module is specifically used to determine the second time in response to the first data point being different from any of the second data points; based on the second data point, determine the third time required for the vehicle to be controlled to enter the second lane and reach the toll gate in the second lane; and determine the sum of the second time and the third time as the first time.

[0032] In some embodiments, the time module is also used to determine a first initial position of the vehicle to be controlled in the third lane; wherein the third lane is located between the first lane and the second lane; based on the first vehicle speed of the vehicle to be controlled, the first initial position, and the vehicle information in the third lane, a first number of vehicles to be avoided entering the third lane is determined; wherein the vehicle information includes position information and speed information of the vehicle in the third lane; based on the second initial position of the vehicle to be controlled in the second lane, a second number of vehicles to be avoided entering the second lane is determined; and based on the first number of vehicles to be avoided and the second number of vehicles to be avoided, the second time is determined.

[0033] In some embodiments, the second time includes a first waiting segment required to pass through the third lane and a second waiting segment required to enter the second lane; the time module is further used to determine the second number to avoid based on the first waiting segment required to pass through the third lane and the second initial position of the vehicle entering the second lane.

[0034] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor, wherein when the processor executes the computer program, the method described in the first aspect and any one of the embodiments thereof is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in the first aspect and any one of the embodiments thereof is implemented.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method described in the first aspect and any one of the embodiments thereof.

[0037] In the vehicle control method provided by the present invention, by determining the number of vehicles (i.e., a first number) at a target toll station that are less than a first distance threshold from the toll gate, the second time required for the controlled vehicle to change lanes to avoid the vehicle in each lane is determined, thereby obtaining a first time including the second time. This first time represents the time required for the controlled vehicle to pass through the toll gate from each lane and has a high degree of accuracy. Therefore, the target lane selected based on this first time has a high degree of reliability, thereby enabling the controlled vehicle to efficiently travel through the toll gate in the target lane under assisted driving mode.

[0038] Other features and advantages of the present application will be described in the following description and, in part, will become apparent from the description or may be learned through practice of the present application. The objectives and other advantages of the present application may be achieved and obtained through the structures particularly pointed out in the written description, claims, and drawings. It should be understood that the above general description and the detailed description that follow are merely exemplary and explanatory and do not limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0040] Figure 1 1 is a flow chart of a vehicle control method according to an embodiment;

[0041] Figure 2 A schematic diagram of vehicle distribution on each lane in a target toll station in one embodiment;

[0042] Figure 3 A schematic diagram of a vehicle to be controlled changing lanes to the second lane in a target toll station in one embodiment;

[0043] Figure 4 is a structural block diagram of a vehicle control device in one embodiment;

[0044] Figure 5 FIG. 1 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0046] It should be noted that the diagrams provided in the present embodiment are only schematic illustrations of the basic concept of the present application. The diagrams only show the components related to the present application rather than the number, shape and size of the components when actually implemented. The type, quantity and ratio of each component can be changed at will during actual implementation, and the component layout pattern may also be more complicated. The structures, ratios, sizes, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the restrictive conditions that can be implemented in this application. Therefore, they have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in this application without affecting the effect and purpose that can be achieved by this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this application. The change or adjustment of their relative relationship should also be considered as the scope of the implementation of this application without substantial change in the technical content.

[0047] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places herein does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] As used herein, unless the context clearly indicates otherwise, the terms "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include additional steps or elements.

[0049] The definition of inclusion herein, such as the terms “having”, “may have”, “include” or “may include” as used herein, indicates the existence of the corresponding functions, operations, elements, etc. herein, and does not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that the terms “including” or “having” as used herein indicate the existence of the features, numbers, steps, operations, elements, components or their combination described in the specification, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, components or their combination.

[0050] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. In the embodiments of the present application, the use of prefixes such as ordinal numbers to distinguish description objects does not constitute a restriction on the described objects. For the statement of the described + object, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of such prefixes. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0051] In order to enable the vehicle to pass through the highway toll station efficiently and safely in the driving mode dominated by the auxiliary driving mode, the embodiment of the present application provides a vehicle control, please refer to Figure 1 , the method comprises the following implementation steps:

[0052] Step 101: Determine a first number corresponding to lanes in a target toll station.

[0053] The first number indicates the total number of vehicles whose first distance from the toll gate in each lane is less than or equal to the first distance threshold. Each lane in the target toll station has a corresponding first number.

[0054] Specifically, the first number may indicate the traffic volume in the lane of the target toll station.

[0055] The target toll station is a toll station at a highway intersection where the vehicle to be controlled intends to enter or exit.

[0056] Each lane has a toll gate. If the target toll station has multiple lanes, then the target toll station will have multiple toll gates corresponding to the lanes. When a controlled vehicle needs to enter or exit the expressway, it can calculate or settle the expressway toll at a toll gate in a lane of the corresponding toll station to enter or exit the expressway.

[0057] The target toll booth may be determined by one or more of a navigation map, lidar data, or an image of the road ahead.

[0058] In one embodiment, the first number of vehicles to be controlled may be determined based on a second distance between the vehicle to be controlled and the target toll station. Specifically, in response to the second distance between the vehicle to be controlled and the target toll station being less than a preset second distance threshold, the first number corresponding to the lanes in the target toll station is determined.

[0059] Furthermore, in response to the second distance being less than a second distance threshold, the method further includes: causing the vehicle to be controlled to travel at a speed less than a preset first vehicle speed threshold.

[0060] In one embodiment, the first distance threshold is greater than or equal to the second distance. Specifically, the first distance threshold y1 can be derived based on the second distance d. Thus, if the vehicle to be controlled enters a lane, vehicles whose first distance to the toll gate in that lane is less than or equal to the first distance are considered to affect the time it takes for the vehicle to be controlled to pass through the toll gate.

[0061] The first distance threshold y1 can be calculated according to the following formula: y1 = k × d. The unit of d1 is m, and k is a preset coefficient. Optionally, 1≤k≤5.

[0062] Furthermore, the first number can be obtained by interacting with an image capture device used to capture images of vehicles in each lane of the target toll station. The image capture device can be located at a predetermined position above the target toll station. Thus, at least the number of vehicles in each lane can be obtained from the images captured by the image capture device.

[0063] Alternatively, the first number can be obtained by reading vehicle information contained in the real-time navigation information, where the vehicle information corresponds to the first number.

[0064] Step 102: Determine a first time corresponding to the toll gate based on the first number.

[0065] The first time includes at least a second time that the vehicle to be controlled needs to wait for to avoid the vehicle in order to change lanes.

[0066] Specifically, the first time is the time required for the vehicle to be controlled to travel from the first lane where the vehicle is located to the toll gate in each lane.

[0067] The aforementioned second time may also be referred to as avoidance time or vehicle avoidance time.

[0068] When a controlled vehicle attempts to enter a target toll booth, the lane corresponding to its original trajectory is typically not the optimal choice. Therefore, a first time must be determined to select the target lane. Specifically, prior to step 102, a third time required for the controlled vehicle to reach the toll booth in the first lane can also be determined based on the first number. Because the controlled vehicle does not need to change lanes in the first lane, this third time does not include the second time compared to the first time.

[0069] The first lane is the lane where the vehicle to be controlled is located, that is, the lane of the target toll station where the vehicle to be controlled is located when it is at the first distance, or the lane closest to the lane in the target toll station.

[0070] Furthermore, for ease of understanding and description, the lane where the vehicle to be controlled is located is referred to as the first lane, and the lane where the toll gate through which the vehicle to be controlled is located is referred to as the second lane. Thus, the first lane can also be the second lane. The first lane can also not be the second lane. The following describes an embodiment where the first lane and the second lane are not the same lane:

[0071] If the first lane and the second lane are not adjacent, the lane between the first lane and the second lane is recorded as the third lane. In this way, each lane of the target toll station may include the first lane, the second lane and the third lane.

[0072] In one embodiment, the first time mentioned above may include the second time and the third time mentioned above. The third time is the time required for the controlled vehicle to travel to the toll gate after changing lanes and entering the second lane. The third time is obtained by:

[0073] After the controlled vehicle changes lanes and enters the second initial position in the second lane, the third time is determined as the sum of the time required for the controlled vehicle to travel toward the toll gate at the target speed while in motion, and the time required for the controlled vehicle to wait for the preceding vehicle to pass through the toll gate while in the stopped state. The aforementioned target speed in motion can be determined based on the number of preceding vehicles between the second initial position in the second lane and the toll gate.

[0074] Step 103 : Based on the first time, a target lane is selected from each lane, and the vehicle to be controlled is controlled to pass through a target toll station in the target lane.

[0075] Specifically, the first time corresponds to the second lane in each lane. To improve the driving experience, the second lane with the smallest first time can be selected as the target lane, thereby achieving a reasonable allocation of highway intersection resources.

[0076] In one embodiment, if there are two or more second lanes with equal first times, the second lane with the least number of lane changes from the first lane to the second lane is selected as the target lane.

[0077] In one embodiment, controlling the vehicle to be controlled to pass through the toll station in the target lane includes: controlling the vehicle to be controlled to change lanes to the target lane and drive to the toll gate in the target lane.

[0078] Furthermore, after reaching the toll gate in the target lane and completing the corresponding process, the system further includes: in response to a third distance between the real-time position of the vehicle to be controlled and the barrier pole located in the target lane being less than a preset third distance threshold, causing the vehicle to be controlled to move forward at a speed less than a preset second speed threshold and acquiring a set of images in front of the vehicle. Then, images in the set of images in front of the vehicle are detected to determine the state information of the barrier pole. This state information includes a first state and a second state. The first state may, for example, be a raised state.

[0079] Next, in response to the status information being a raised barrier state, based on the image acquisition data, it is determined whether the height of the barrier barrier's farthest end relative to the ground is greater than a preset height threshold. If so, the vehicle is controlled to speed up.

[0080] If not, an image in front of the vehicle is acquired after a first preset time interval, so as to determine whether the aforementioned conditions for speeding up the vehicle are met based on the newly acquired image in front of the vehicle.

[0081] In one embodiment, if the barrier pole status information is still not in the first state after a second predetermined time period, or if the height of the barrier pole's farthest end relative to the ground is less than or equal to a predetermined height threshold, the reverse indicator light is activated, and the vehicle reverses and selects an adjacent lane based on the following vehicle information. The following vehicle information includes the distance between the vehicle behind the vehicle to be controlled and the rear of the vehicle to be controlled.

[0082] In the vehicle control method provided in the embodiment of the present application, the target lane is selected by accurately estimating the first time that the vehicle to be controlled passes through the toll gate in each lane of the target toll station, so as to enable the vehicle to be controlled to pass through the highway intersection toll station in the assisted driving mode; the vehicle control method has the advantages of high reliability and high efficiency.

[0083] Furthermore, the first number may be a plurality of data points, and each lane in the target toll station uniquely corresponds to one of the plurality of data points. In one embodiment, the first number includes a first data point and a second data point. The first data point corresponds to the first lane, and the second data point corresponds to the second lane.

[0084] The first data point indicates the number of vehicles in the first lane where the vehicle to be controlled is located that are less than the first distance threshold from the toll gate in the first lane; that is, the number of vehicles ahead of the vehicle to be controlled. The second data point indicates the number of vehicles that are less than the first distance threshold from the toll gate in the second lane.

[0085] Accordingly, the first time can be determined by the following implementation: In response to the first data point being different from any second data point, the second time is determined. Then, based on the second data point, a third time is determined. This third time indicates the time required for the vehicle to be controlled to enter the second lane and reach the toll gate in the second lane. The sum of the second and third times can then be determined as the first time.

[0086] Alternatively, in response to the first data point being the same as the second data point, the second time is determined to be 0.

[0087] Furthermore, the second time includes a first waiting period for passing through the third lane and a second waiting period for entering the second lane. Figure 2 ★ represents the vehicle to be controlled. When changing lanes from the first lane to the second lane, the vehicle to be controlled must sequentially change lanes through the third lane, and then change lanes into the third lane adjacent to the second lane. This second time includes the time it takes for the vehicle to cross the lane dividing line from one lane after the lane change indicator illuminates, and for the vehicle to fully enter the lane on the other side of the lane dividing line, as well as the avoidance time required to achieve the lane change. This avoidance time is the time the vehicle to be controlled waits in its lane for the vehicle on the other side of the lane dividing line to pass.

[0088] Furthermore, Figure 3 The vehicles shown by the solid line in the middle represent the distribution of vehicles in each lane at the target toll station at the target time. The target time is the time after the first number is determined. For example, t′ = t + ΔT; where t′ is the target time, t is the time when the first number is determined, and ΔT is a preset value. ΔT can be 5 seconds, 15 seconds, or 30 seconds. This distribution information can be obtained by estimating the speed of vehicles in each lane based on the traffic flow in each lane and the position information of each vehicle based on the speed. Figure 3 The vehicle shown in the middle dashed line represents the possible position of the vehicle to be controlled when entering the corresponding lane (hereinafter referred to as the first initial position); the initial position of the vehicle to be controlled in other lanes Figure 3 Not shown in the figure.

[0089] The following provides an example to illustrate the determination of the second time. Figure 3 :like Figure 3As shown, a first initial position of the vehicle to be controlled in the third lane can be determined. Then, based on information about vehicles in the third lane, a first number of vehicles to be avoided entering the third lane can be determined. The vehicle information includes position information and speed information of the vehicles in the third lane.

[0090] Next, a second number of vehicles to be avoided entering the second lane can be determined based on the second initial position of the vehicle to be controlled in the second lane. Specifically, the second number of vehicles to be avoided can be determined based on the first segment required to pass through the third lane and the second initial position of the vehicle entering the second lane. More specifically, the number and position of vehicles in the second lane can be updated based on the first segment, and then the second number of vehicles to be avoided can be determined based on the second initial position of the vehicle entering the second lane. For example, the number of vehicles within a preset distance from the second initial position can be determined as the second number of vehicles to be avoided.

[0091] Finally, a second time may be determined based on the first number to avoid and the second number to avoid.

[0092] The first initial position and the second initial position are determined based on the expected initial position of the vehicle to be controlled in the first lane in the distribution information. Alternatively, the distribution information can also be directly determined based on the first number.

[0093] Since vehicles usually slow down after entering the target toll station, and the forward speeds of each vehicle are close and basically in the same speed range, in this embodiment, after determining the first number of vehicles to be avoided in the third lane and the second number of vehicles to be avoided in the second lane, the second time can be determined efficiently and accurately based on this.

[0094] Furthermore, the following example illustrates the third time required from the time the vehicle to be controlled enters the second lane to the time it reaches the toll gate in the second lane: First, based on the third data point corresponding to the third lane in the first number and the first number of vehicles to be avoided corresponding to the third lane, a first segment of the vehicle passing through the third lane is determined. Then, based on the second number of vehicles to be avoided and the first segment, the second data point corresponding to the second lane is updated and combined. Based on the second data point, the average speed of the vehicle to be controlled in the second lane can be determined.

[0095] Finally, based on the second data point and the average vehicle speed, the third time for the vehicle to be controlled is determined. Specifically, the number of vehicles preceding the vehicle to be controlled after it enters the second lane can be determined based on the second data point and the average vehicle speed. This number of vehicles preceding the vehicle is the number of vehicles between the vehicle to be controlled and the toll gate in the second lane. The third time is then determined based on the product of the time it takes for a single vehicle to pass through the toll gate and the number of vehicles preceding it. The product of the time it takes for a single vehicle to pass through the toll gate and the number of vehicles preceding it is the time the vehicle to be controlled waits for the vehicle preceding it to pass through the toll gate.

[0096] In this embodiment, the second data point is updated using the second number to be avoided and the first segment to improve the accuracy of the second data point and the average vehicle speed in the second lane, thereby improving the accuracy of the third time of the vehicle to be controlled.

[0097] Furthermore, the fourth time may be determined based on whether the lane is an ETC lane. If the vehicle to be controlled supports ETC and the second lane is an ETC lane, the first preset value is determined to be the fourth time.

[0098] Alternatively, if the vehicle to be controlled supports ETC and the second lane is not an ETC lane, the second preset value is determined to be the fourth time. The second preset value corresponds to the time required for the toll gate staff to issue or receive the card, so the second preset value is slightly larger than the first preset value.

[0099] Alternatively, if the vehicle to be controlled does not support ETC and the second lane is not an ETC lane, the second preset value is determined to be the fourth time.

[0100] An embodiment is provided below to illustrate the determination at the first time: in response to the vehicle to be controlled supporting ETC, determining that the lane type is a fourth data point of ETC.

[0101] In response to the number of fourth data points in at least one lane whose lane type is ETC being less than a first quantity threshold, only the first time corresponding to the lane whose lane type is ETC is determined.

[0102] For example, the first number threshold may be 5 vehicles. The time for each vehicle to pass through the ETC gate is T ETC =5s; the first sub-segment in the first segment is T 1 The first sub-segment may indicate the time required when there is no vehicle to avoid, that is, the product of the number of lane changes and a preset first empirical value.

[0103] Assume that the number of vehicles ahead of the vehicle to be controlled after it enters the second lane is N 1 Calculate the extra time T for each vehicle to change lanes and avoid each vehicle in order to enter the second lane. 2 (The scheduled avoidance time for each vehicle is 5 seconds), assuming that the total number of vehicles to be avoided (i.e. the sum of the first number to be avoided and the second number to be avoided) is N 2 ; The first time T corresponding to each second lane G The calculation method of T is as follows: G =N 1 ×T ETC +T 1 +N 2 ×T 2 .

[0104] Alternatively, in response to the fourth data point in the lane whose lane type is ETC being greater than or equal to the first quantity threshold, the first time corresponding to each lane (including the lane whose lane type is non-ETC and the lane whose lane type is ETC) is determined.

[0105] Furthermore, the first time may include a second time, a third time, and a fourth time. The fourth time is the time required to complete the corresponding process after the vehicle to be controlled arrives at the toll gate, for example, the time to collect the card, the time to return the card, etc.

[0106] However, if it is a holiday, the free channel does not require vehicles to stop at the toll gate, that is, the fourth time is 0.

[0107] In one embodiment, in response to the target toll station including a toll-free lane, the first time is determined based on the second time, the third time, and the fourth time. This can improve the accuracy of the first time by further refining the factors affecting the vehicle passing through the target toll station, thereby facilitating the selection of a more reliable target lane.

[0108] Exemplarily, the second time, the third time, and the fourth time may be determined by looking up a table to obtain the first time.

[0109] In one embodiment, the first time T can be determined in combination with the state of the vehicle to be controlled. G The state of the vehicle to be controlled may include the state of the vehicle on the road and the state of the vehicle off the road. The second segment may include the first time corresponding to the state of the vehicle on the road. And the first time corresponding to the next road

[0110] Specifically, the time it takes for a single vehicle on a lane of a corresponding lane type to pass through a toll gate can be determined based on the vehicle's status. 上 、T 下 They respectively represent the time it takes for a vehicle to pass through the toll gate when getting on the road and the time it takes for a vehicle to pass through the toll gate when getting off the road.

[0111] Assume that after entering the second lane, the number of vehicles in front of the vehicle to be controlled (i.e. the number of vehicles between the vehicle to be controlled and the toll gate) is N 1 ; The first sub-segment in the first segment is T 1 The first sub-segment may indicate the time required when there is no vehicle to avoid, that is, the product of the number of lane changes and a preset first empirical value.

[0112] Calculate the extra time T for each vehicle to change lanes and avoid each vehicle in order to enter the second lane. 2 (The scheduled avoidance time for each vehicle is 5 seconds), assuming that the total number of vehicles to be avoided (i.e. the sum of the first number to be avoided and the second number to be avoided) is N 2 ; The first time can be calculated based on the following formula:

[0113]

[0114] Furthermore, lanes with non-ETC lane types are divided into self-service lanes and manual lanes.

[0115] According to the lane type being the self-service lane and the state being on the road, the fourth time corresponding to card retrieval is 10 seconds. According to the lane type being the manual lane and the state being on the road, the fourth time corresponding to card retrieval is 20 seconds. 上 = 10s, manual lane T 上 =20s.

[0116] According to the lane type being the self-service lane and the status being the exit lane, the fourth time corresponding to the card return and payment is 20 seconds. According to the lane type being the manual lane and the status being the exit lane, the fourth time corresponding to the card return and payment is 30 seconds. 下 = 20s, manual lane T 下 =30s.

[0117] It should be noted that in the embodiments of the present application, the methods for determining the second time, the third time, the fourth time, the first segment and the second segment can all be implemented based on the aforementioned implementation steps in combination with a deep learning model (for example, predicting vehicle position changes, speed changes, etc.).

[0118] In each lane, all vehicles, including those to be controlled, must follow the following driving principles: Safety: Maintain a distance of at least 5 meters from the vehicle in front; Slow down upon entering the target toll booth: Control speed to no more than 20 km / h and stay centered in the lane. Furthermore, vehicles to be controlled must follow safe lane change principles when changing lanes.

[0119] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0120] Based on the same inventive concept, Figure 4As shown, the embodiment of the present application provides a vehicle control device, including: a lane module 401, a time module 402 and a selection module 403; wherein:

[0121] The lane module 401 is configured to determine a first number corresponding to lanes in a target toll station, wherein the first number indicates the number of vehicles whose first distance from the toll gate in each lane is less than or equal to a first distance threshold.

[0122] The lane module 401 is specifically used for:

[0123] In response to a second distance between the vehicle to be controlled and the target toll station being less than a preset second distance threshold, a first number corresponding to lanes in the target toll station is determined.

[0124] The time module 402 is configured to determine a first time corresponding to the toll gate based on the first number, wherein the first time includes a second time required to avoid a vehicle when the vehicle to be controlled changes lanes.

[0125] The first number includes a first data point and a plurality of second data points, wherein the first data point corresponds to the first lane where the vehicle to be controlled is located, and the second data point corresponds to the second lane; the time module 402 is specifically configured to:

[0126] In response to the first data point being different from any of the second data points, the second time is determined; based on the second data point, a third time is determined from the time the vehicle to be controlled enters the second lane to the time it reaches the toll gate in the second lane; and the sum of the second time and the third time is determined to be the first time.

[0127] The time module 402 is also used to:

[0128] Determine a first initial position of the vehicle to be controlled in a third lane; wherein the third lane is located between the first lane and the second lane; determine a first number of vehicles to be avoided entering the third lane based on a first vehicle speed of the vehicle to be controlled, the first initial position, and vehicle information in the third lane; wherein the vehicle information includes position information and speed information of vehicles in the third lane; determine a second number of vehicles to be avoided entering the second lane based on a second initial position of the vehicle to be controlled in the second lane; and determine the second time based on the first number of vehicles to be avoided and the second number of vehicles to be avoided.

[0129] The second time includes a first waiting period for passing through the third lane and a second waiting period for entering the second lane; the time module 402 is further configured to:

[0130] The second number to be avoided is determined based on the first segment required to pass through the third lane and a second initial position of the vehicle entering the second lane.

[0131] The selection module 403 is configured to select a target lane from among the lanes based on the first time, and control the vehicle to be controlled to pass through the target toll station in the target lane.

[0132] The selection module 403 is specifically used for:

[0133] The second lane with the smallest first time is selected as the target lane.

[0134] The specific definition of the vehicle control device can be found in the definition of the vehicle control method above and will not be repeated here. Each module in the above-mentioned vehicle control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0135] Based on the same inventive concept, see Figure 5 The present application also provides an electronic device. In one embodiment, the electronic device may include a memory 501, a communication module 503, and one or more processors 502 as shown in the figure.

[0136] The memory 501 is used to store computer programs executed by the processor 502. The memory 501 may mainly include a program storage area and a data storage area. The program storage area may store an operating system; the data storage area may store various operating instruction sets.

[0137] Memory 501 may be a volatile memory, such as random-access memory (RAM); a non-volatile memory, such as read-only memory, flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 501 may be a combination of the above memories.

[0138] The processor 502 may include one or more central processing units (CPUs) or digital processing units, etc. The processor 502 is configured to implement the above-mentioned vehicle control method by calling the computer program stored in the memory 501 .

[0139] The communication module 503 is used to communicate with terminal devices, site devices or other network devices.

[0140] The specific connection medium between the memory 501, the communication module 503 and the processor 502 is not limited in the embodiment of the present application. Figure 5 In the embodiment, the memory 501 and the processor 502 are connected via a bus 504. Figure 5 The connections between the other components are shown in bold lines, which are only for illustration and are not intended to be limiting. The bus 504 can be divided into an address bus, a data bus, a control bus, etc. For ease of description, Figure 5 The diagram shows a single thick line, but this does not indicate that there is only one bus or one type of bus.

[0141] The memory 501 stores a computer storage medium, which stores computer-executable instructions for implementing the method for determining vehicle control according to the embodiment of the present application. The processor 502 is configured to execute the vehicle control method according to each embodiment of the computer-executable instructions.

[0142] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0143] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following steps are implemented:

[0144] Determining a first number corresponding to lanes in a target toll station; wherein the first number indicates the number of vehicles whose first distance from a toll gate in each lane is less than or equal to a first distance threshold;

[0145] Determining a first time corresponding to the toll gate based on the first number; wherein the first time includes a second time required for avoiding a vehicle when the vehicle to be controlled changes lanes;

[0146] Based on the first time, a target lane is selected from the lanes, and the vehicle to be controlled is controlled to pass through the target toll station in the target lane.

[0147] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0148] Based on the same inventive concept, an embodiment of the present application further provides a computer program product, including a computer program, which implements any of the above-mentioned vehicle control methods when executed by a processor.

[0149] The program code for executing the computer program product of the present application may be written in any combination of one or more programming languages, and the program code may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0150] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of user-operated steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0154] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Determining a first number corresponding to lanes in a target toll station; wherein the first number indicates the number of vehicles whose first distance from a toll gate in each lane is less than or equal to a first distance threshold; Determining a first time corresponding to the toll gate based on the first number; wherein the first time includes a second time required for avoiding a vehicle when the vehicle to be controlled changes lanes; Based on the first time, a target lane is selected from the lanes, and the vehicle to be controlled is controlled to pass through the target toll station in the target lane.

2. The method according to claim 1, wherein Determining a first number corresponding to lanes in the target toll station includes: In response to a second distance between the vehicle to be controlled and the target toll booth being less than a preset second distance threshold, the first number is determined.

3. The method according to claim 1, wherein The selecting a target lane from the lanes and changing lanes to the target lane includes: The second lane with the smallest first time is selected as the target lane.

4. The method according to any one of claims 1 to 3, wherein: The first number includes a first data point and a plurality of second data points, the first data point corresponds to a first lane where the vehicle to be controlled is located, and the second data points correspond to the second lane; The determining, based on the first number, a first time corresponding to the toll gate includes: In response to the first data point being different from any of the second data points, determining the second time; determining, based on the second data point, a third time required for the vehicle to be controlled to enter the second lane and reach the toll gate in the second lane; The sum of the second time and the third time is determined to be the first time.

5. The method according to claim 4, wherein The determining the second time includes: Determining a first initial position of the vehicle to be controlled in a third lane; wherein the third lane is located between the first lane and the second lane; Determining a first number of vehicles to be avoided entering the third lane based on a first vehicle speed of the vehicle to be controlled, the first initial position, and information about vehicles in the third lane; wherein the vehicle information includes position information and speed information of the vehicles in the third lane; determining a second number of vehicles to be avoided entering the second lane based on a second initial position of the vehicle to be controlled in the second lane; The second time is determined based on the first number to avoid and the second number to avoid.

6. The method according to claim 5, wherein The second time includes a first waiting period for passing through the third lane and a second waiting period for entering the second lane; The determining, based on the second initial position of the vehicle in the second lane, a second number of vehicles to be avoided entering the second lane includes: The second number to be avoided is determined based on the first segment required to pass through the third lane and a second initial position of the vehicle entering the second lane.

7. A vehicle control device, characterized in that: include: A lane module, configured to determine a first number corresponding to lanes in a target toll station, wherein the first number indicates the number of vehicles having a first distance from a toll gate in each lane that is less than or equal to a first distance threshold; a time module, configured to determine a first time corresponding to the toll gate based on the first number; wherein the first time includes a second time required for the to-be-controlled vehicle to avoid the vehicle when the to-be-controlled vehicle changes lanes; A selection module is used to select a target lane from the lanes based on the first time, and control the vehicle to be controlled to pass through the target toll station on the target lane.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and configured to run on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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