Vehicle guiding method, device, equipment, storage medium and product

Abstract

The invention discloses a vehicle guiding method and device, equipment, a storage medium and a product. The method comprises the following steps: acquiring main road vehicle information and ramp vehicle information of a target road section; determining a main road congestion condition according to the main road vehicle information, and determining a ramp congestion condition according to the ramp vehicle information; according to the main road congestion condition and the ramp congestion condition, whether a rightmost lane of the main road is reserved or not is judged; and sending corresponding guide information to the main road vehicle of the target road section according to the judgment result. According to the method, the ramp congestion condition is reduced, the traffic efficiency is improved, and the risk of accidents is reduced.

Description

Technical Field

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

[0002] With the surge in the number of private vehicles, traffic congestion has become a major pain point for people's travel, especially at key nodes where ramps merge into the main road, which can easily cause road congestion. Using intelligent methods to guide vehicles and improve traffic efficiency has become a focus of research and practice.

[0003] Currently, most existing strategies for ramp vehicles to merge into the main road provide guidance strategies for ramp vehicles, finding a suitable merging gap for the ramp head vehicle and guiding the vehicle to merge into the main road.

[0004] However, the above scheme has a single vehicle guidance strategy, and it is difficult for ramp vehicles to efficiently find the merging gap, resulting in low efficiency of ramp vehicles merging into the main road. Summary of the Invention

[0005] The present invention provides a vehicle guidance method, device, equipment, storage medium and product, which can solve the problem of low efficiency of ramp vehicles merging into the main road.

[0006] According to one aspect of the present invention, there is provided a vehicle guiding method, comprising:

[0007] Obtain the main road vehicle information and ramp vehicle information of the target road section;

[0008] Determining a main road congestion situation based on the main road vehicle information, and determining a ramp congestion situation based on the ramp vehicle information;

[0009] Determining whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp;

[0010] Corresponding guidance information is sent to the main road vehicles of the target road section according to the judgment result.

[0011] According to another aspect of the present invention, there is provided a vehicle guiding device, comprising:

[0012] The vehicle information acquisition module is used to obtain the main road vehicle information and ramp vehicle information of the target road section;

[0013] a road congestion analysis module, configured to determine a main road congestion situation based on the main road vehicle information, and determine a ramp congestion situation based on the ramp vehicle information;

[0014] A lane reservation module, configured to determine whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp;

[0015] The vehicle guidance information module is used to send corresponding guidance information to the main road vehicles of the target section according to the judgment result.

[0016] According to another aspect of the present invention, an electronic device is provided, comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle guidance method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle guidance method according to any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle guiding method according to any embodiment of the present invention is implemented.

[0022] The vehicle guidance solution provided by the embodiment of the present invention obtains the main road vehicle information and ramp vehicle information of the target road section, determines the main road congestion situation according to the main road vehicle information, and determines the ramp congestion situation according to the ramp vehicle information, and judges whether to reserve the rightmost lane of the main road according to the main road congestion situation and the ramp congestion situation, and sends corresponding guidance information to the main road vehicles of the target road section according to the judgment result, thereby solving the problem of low efficiency of ramp vehicles merging into the main road. By analyzing the main road congestion situation and the ramp congestion situation, it is judged whether to reserve the rightmost lane of the main road, and different processing strategies are used according to the judgment result to send corresponding guidance information to the main road vehicles of the target road section. By dynamically adjusting the main road rightmost lane reservation strategy, the efficiency of ramp vehicles in finding merging gaps is improved, ramp congestion is reduced, and traffic efficiency is improved.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a flow chart of a vehicle guidance method provided according to the first embodiment of the present invention;

[0026] Figure 2 This is a flow chart of a vehicle guidance method provided according to a second embodiment of the present invention;

[0027] Figure 3 This is a flow chart of a vehicle guidance method provided according to a third embodiment of the present invention;

[0028] Figure 4 This is a flow chart of a vehicle guidance method provided according to a fourth embodiment of the present invention;

[0029] Figure 5 This is a structural diagram of a vehicle guiding device provided according to a fifth embodiment of the present invention;

[0030] Figure 6 It is a structural diagram of an electronic device for implementing the vehicle guidance method according to an embodiment of the present invention. DETAILED DESCRIPTION

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

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

[0033] Example 1

[0034] Figure 1 A flowchart of a vehicle guidance method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where a ramp vehicle merges into a main road. The method can be executed by a vehicle guidance device, which can be implemented in the form of hardware and / or software. The vehicle guidance device can be configured in an electronic device, which is configured as a roadside device. Figure 1 As shown, the method includes:

[0035] S101: Obtain main road vehicle information and ramp vehicle information of a target road section.

[0036] In this embodiment, the target road section can be understood as the road section within the control range of the roadside equipment. In the intelligent transportation system, the roadside equipment, as basic transportation infrastructure, carries multiple tasks such as perception, communication, calculation, and decision-making. It includes but is not limited to roadside units (RSUs), image acquisition devices, and radar devices. The main road vehicle information of the target road section can include at least one of the following information: whether there is a vehicle on the main road, the speed of the vehicle on the main road, and the position of the vehicle on the main road. The ramp vehicle information can include at least one of the following information: whether there is a vehicle on the ramp, whether the ramp vehicle is the lead vehicle, and the speed of the ramp vehicle.

[0037] For example, information can be collected using sensing devices such as image acquisition devices or radar devices. The collected information can then be used to determine the main road vehicle information and ramp vehicle information for the target road section. For example, an image acquisition device can be installed on a roadside device and used as a sensing device to obtain vehicle information for the target road section. For example, the vehicle information collected by the sensing device is transmitted to the RSU, which analyzes and processes the vehicle information, formulates a corresponding guidance strategy, and transmits it to the corresponding vehicle to achieve vehicle guidance.

[0038] S102: Determine a main road congestion situation based on main road vehicle information, and determine a ramp congestion situation based on ramp vehicle information.

[0039] For example, the main road congestion situation can be determined based on the number of vehicles on the main road of the target section, the distance between adjacent vehicles, and the speed of each vehicle; the ramp congestion situation can be determined based on the number of vehicles on the ramp of the target section, the distance between adjacent vehicles, and the speed of each vehicle.

[0040] Exemplarily, the number of vehicles on the main road and ramp of the target road section at the current moment is obtained according to the image acquisition device of the roadside equipment, and the average vehicle distance between vehicles on the main road is calculated. The congestion situation of the main road is determined according to the number of vehicles on the main road and / or the average vehicle distance on the main road; the average vehicle distance between vehicles on the ramp is calculated, and the congestion situation of the ramp is determined according to the number of vehicles on the ramp and / or the average vehicle distance on the ramp.

[0041] S103: Determine whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp.

[0042] In this embodiment, corresponding lane reservation rules can be formulated based on the combination of different main road congestion conditions and different ramp congestion conditions. After obtaining the actual main road congestion conditions and ramp congestion conditions, it is determined whether to reserve the rightmost lane of the main road based on the lane reservation rules.

[0043] Exemplarily, a main road congestion threshold and a ramp congestion threshold are set respectively, and the main road congestion situation at the current moment is compared with the main road congestion threshold, and the ramp congestion situation at the current moment is compared with the ramp congestion threshold to determine whether the rightmost lane of the main road needs to be reserved at the current moment.

[0044] S104: Send corresponding guidance information to the main road vehicles of the target road section according to the judgment result.

[0045] In this embodiment, the judgment result may be whether lane change is possible under the current road congestion or whether the rightmost lane is reserved, and the guidance information may be at least one of the target lane for lane change, vehicle speed information, and lane change time.

[0046] An embodiment of the present invention provides a vehicle guidance method that solves the problem of low efficiency of ramp vehicles merging into the main road. By obtaining main road vehicle information and ramp vehicle information of a target road section, the main road congestion situation is determined based on the main road vehicle information, and the ramp congestion situation is determined based on the ramp vehicle information. According to the main road congestion situation and the ramp congestion situation, it is judged whether to reserve the rightmost lane of the main road. According to the judgment result, corresponding guidance information is sent to the main road vehicles of the target road section, thereby realizing dynamic adjustment of the main road lane reservation strategy, improving the efficiency of ramp vehicles in finding merging gaps, reducing ramp congestion, and improving traffic efficiency.

[0047] Example 2

[0048] Figure 2 This is a flow chart of a vehicle guidance method provided in the second embodiment of the present invention. This embodiment is refined based on the above embodiment. Figure 2 As shown, the method includes:

[0049] S201: Obtain main road vehicle information and ramp vehicle information of a target road section.

[0050] S202. Calculate an average headway time of main road vehicles based on the main road vehicle information to obtain a main road congestion coefficient. Calculate an average headway time of ramp vehicles based on the ramp vehicle information to obtain a ramp congestion coefficient.

[0051] In this embodiment, the headway can be understood as the time interval between the headways of two consecutive vehicles in the same lane passing the same section. The congestion coefficient is calculated using the average headway:

[0052]

[0053] The congestion coefficient of each lane is expressed using TPI, h i represents the headway between the i-th vehicle and the previous vehicle, and N is the total number of vehicles in the same lane observed on the target road section.

[0054] S203: Determine whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp.

[0055] In this embodiment, the calculated main road congestion coefficient is used to represent the main road congestion situation, and the calculated ramp congestion coefficient is used to represent the ramp congestion situation. Based on the relationship between the real-time congestion coefficients of the main road and the ramp and the preset threshold, it is determined whether to reserve the rightmost lane of the main road.

[0056] For example, the main road congestion coefficient calculated based on the average headway time is 2.1, indicating that the main road is currently "congested"; the ramp congestion coefficient calculated based on the average headway time is 3.0, indicating that the ramp is currently "congested". At this time, there are many vehicles on both the main road and the ramp, but the right of way is with the main road vehicles. When there are many vehicles, lane changes are very likely to cause accidents, so the rightmost lane of the main road is not reserved; if the main road congestion coefficient calculated based on the average headway time is 9.0, indicating that the main road is currently "smooth", and the ramp vehicle congestion coefficient calculated based on the average headway time is 5.0, indicating that the ramp is currently "slow", then the main road vehicle congestion situation is much better than the ramp situation, so the main road vehicles can be guided to reserve the rightmost lane of the main road to facilitate ramp vehicles to merge into the main road.

[0057] Optionally, the determination of whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp includes the following A1 to A4:

[0058] A1. When the main road congestion coefficient is less than a first preset threshold value and the ramp congestion coefficient is less than a second preset threshold value, determine not to reserve the rightmost lane of the main road.

[0059] Wherein, the first preset threshold is greater than or equal to the second preset threshold.

[0060] In this embodiment, the first and second preset thresholds can be understood as fixed thresholds pre-set based on the congestion coefficient, reflecting the congestion conditions of the main road and ramp, respectively. These thresholds can be adjusted in practice to improve traffic efficiency. The values ​​of the first and second preset thresholds directly affect whether vehicles on the main road need to reserve the rightmost lane. To ensure smooth travel of vehicles on the main road, reduce the number of lane changes, and mitigate the risk of accidents, the value of the first preset threshold is preferably set to be greater than or equal to the second preset threshold.

[0061] When the main road congestion coefficient is less than the first preset threshold and the ramp congestion coefficient is less than the second preset threshold, it indicates that both the main road and the ramp are currently congested. To ensure the right of way of vehicles on the main road and reduce the number of lane changes, the rightmost lane of the main road is not reserved.

[0062] A2. When the main road congestion coefficient is less than the first preset threshold and the ramp congestion coefficient is greater than or equal to the second preset threshold, determine not to reserve the rightmost lane of the main road.

[0063] In this embodiment, when the main road congestion coefficient is less than the first preset threshold and the ramp congestion coefficient is greater than or equal to the second preset threshold, it means that the main road is currently congested and the ramp situation is better, so there is no need to reserve the rightmost lane of the main road.

[0064] A3. When the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is less than the second preset threshold, determine to reserve the rightmost lane of the main road.

[0065] In this embodiment, when the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is less than the second preset threshold, it indicates that the main road condition is relatively good, while the ramp is currently congested. Therefore, the main road vehicles can be guided to reserve the rightmost lane to leave more merging space for ramp vehicles.

[0066] A4. When the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is greater than or equal to the second preset threshold, determine not to reserve the rightmost lane of the main road.

[0067] In this embodiment, when the main road congestion coefficient is greater than or equal to the first preset threshold, and the ramp congestion coefficient is greater than or equal to the second preset threshold, it indicates that the conditions of both the main road and the ramp are relatively good, so there is no need to reserve the rightmost lane of the main road.

[0068] S204: Send corresponding guidance information to the main road vehicles of the target road section according to the judgment result.

[0069] The embodiment of the present invention characterizes the road congestion situation by adding a congestion coefficient, converting the complex road congestion situation into a comparable and quantifiable numerical value, making the comparison of congestion situations between different roads more intuitive; by calculating the average headway time of main road vehicles based on the main road vehicle information to obtain the main road congestion coefficient, and calculating the average headway time of ramp vehicles based on the ramp vehicle information to obtain the ramp congestion coefficient, further reflecting the traffic flow information of each lane and more intuitively reflecting the congestion situation of each lane; by comparing the relationship between the main road congestion coefficient and the first preset threshold, and comparing the relationship between the ramp congestion coefficient and the second preset threshold, the lane reservation rule is refined, and the dynamic adjustment of the reservation strategy for the rightmost lane of the main road is achieved; by sending corresponding guidance information to the main road vehicles on the target section based on the judgment result, the main road vehicles are guided, thereby leaving a merging gap for ramp vehicles, and further improving the efficiency of ramp vehicles merging into the main road.

[0070] Example 3

[0071] Figure 3 This is a flow chart of a vehicle guidance method provided by the third embodiment of the present invention. This embodiment is refined based on the above embodiment. Figure 3 As shown, the method includes:

[0072] S301: Obtain main road vehicle information and ramp vehicle information of a target road section.

[0073] S302. Calculate the average headway time of main road vehicles based on the main road vehicle information to obtain the main road congestion coefficient, and calculate the average headway time of ramp vehicles based on the ramp vehicle information to obtain the ramp congestion coefficient.

[0074] Specifically, the main road vehicles include networked main road vehicles and / or non-networked main road vehicles.

[0075] In this embodiment, a connected main road vehicle can be understood as a main road vehicle equipped with communication equipment and capable of receiving guidance information from intelligent roadside unit devices such as RSU. A non-connected main road vehicle can be understood as a main road vehicle that is not equipped with communication equipment and is unable to receive guidance information from intelligent roadside unit devices such as RSU. In actual road traffic, it cannot be guaranteed that all vehicles are equipped with intelligent communication equipment to receive guidance information. In this embodiment of the present invention, the impact of non-connected vehicles (including non-connected main road vehicles and non-connected ramp vehicles) needs to be considered. For example, non-connected vehicles also need to be included when calculating the average headway time of each lane.

[0076] S303: Based on the congestion conditions of the main road and the ramp, determine not to reserve the rightmost lane of the main road.

[0077] In this embodiment, it is assumed that based on the congestion conditions of the main road and the ramp, according to the established lane reservation rule, a determination result is obtained that the rightmost lane of the main road is not to be reserved.

[0078] S304: Determine first lane change information for each connected main road vehicle on the target road section based on the first constraint condition with the goal of minimizing the first objective function.

[0079] The first objective function is determined based on the traffic flow difference between lanes of the main road and the number of lane changes of vehicles on the main road.

[0080] In this embodiment, minimizing the first objective function based on the first constraint condition can be understood as optimizing the distribution of vehicles on the main road based on the constraint condition, minimizing the difference in traffic flow between lanes of the main road and the number of lane changes of vehicles on the main road.

[0081] Specifically, the first objective function can be expressed by the following expression:

[0082]

[0083] In the formula, N max is the first preset maximum value, N min is the first preset minimum value, and the difference between the two is used to represent the traffic flow difference of each lane. α is a preset fixed weight value, which represents the weight of the lane change cost (for example, it can be set to 0.5). i is the vehicle number, j is the lane number, the leftmost lane is numbered 0, the rightmost lane is numbered m, n is the total number of vehicles num_vehicles minus 1 (to ensure that the vehicle number starts from 0), m is the total number of lanes num_vehicles minus 1 (to ensure that the lane number starts from 0), r ij Indicates whether vehicle i selects lane j. A value of 1 indicates that vehicle i selects lane j, and a value of 0 indicates that vehicle i does not select lane j. II(·) is an indicator function. It takes 1 when the condition is true, and 0 otherwise. initial_lane[] is an array that records the original lane information of the current vehicle. vehicles_type[] is an array that records whether the current vehicle is a connected main road vehicle. It can only take the values ​​0 and 1.

[0084] Specifically, the first constraint can be expressed by the following expression:

[0085] n' j =initial_count j -leaving_count j +entering_count j (3)

[0086]

[0087] In the formula, n' j Represents the number of vehicles in lane j after lane change, initial_count j Represents the original number of vehicles in lane j, leaving_count j Represents the number of vehicles leaving lane j, entering_count j represents the number of vehicles entering lane j, r ik Indicates whether vehicle i selects lane k. Since initial_lane_distribution[i] == j means that vehicle i is driving in lane j, it is necessary to ensure that k is not equal to j when calculating the number of vehicles leaving lane j. vehicles_type[i] == 1 means that vehicle i is a connected main road vehicle. initial_lane_distribution[] is an array that records the lane information of the vehicle. initial_lane_distribution[i] ≠ j means that when calculating the number of vehicles entering lane j, it is necessary to ensure that vehicle i is not originally driving in lane j.

[0088] Specifically, the first constraint conditions include the following B1 to B5:

[0089] B1. For each lane of the main road, the number of vehicles after lane change is greater than or equal to a first preset minimum value and less than or equal to a first preset maximum value.

[0090] For example, the constraint condition can be expressed by the following expression:

[0091] N min ≤n' j ≤N max (6)

[0092] In this embodiment, the first preset minimum value and the first preset maximum value can be understood as the minimum threshold and the maximum threshold of the total number of vehicles in the current lane at the current moment. By presetting the first preset minimum value and the first preset maximum value, the total number of vehicles in each lane of the main road is ensured to be within a reasonable range.

[0093] B2. Connected vehicles in the leftmost lane must maintain their current lane or change lanes to the right.

[0094] For example, the constraint condition can be expressed by the following expression:

[0095]

[0096] In the formula, current_lane[] is an array that records the lane number of the vehicle. Lane numbers can be numbered from left to right starting from 0. Use r i,0The value of represents whether vehicle i keeps driving in the leftmost lane, using r i,1 The value of represents whether vehicle i changes lanes to the right.

[0097] B3. Connected vehicles in the rightmost lane must maintain their current lane or change lanes to the left.

[0098] For example, the constraint condition can be expressed by the following expression:

[0099]

[0100] In the formula, m represents the rightmost lane number, and r is used i,m The value of represents whether vehicle i keeps driving in the rightmost lane, using r i,m-1 The value of represents whether vehicle i changes lanes to the left.

[0101] B4. Connected vehicles in the middle lane maintain their current lane and change lanes to the left or right.

[0102] For example, the constraint condition can be expressed by the following expression:

[0103]

[0104] In the formula, the value of current_lane[i] represents the road number that vehicle i is currently traveling on, and r current_lane[i] The value of represents whether vehicle i keeps driving on the current road. current_lane[i]-1 The value of represents whether vehicle i changes lanes to the left, using r current_lane[i]+1 The value of represents whether vehicle i changes lanes to the right.

[0105] B5. Non-connected main road vehicles must maintain their current lane.

[0106] In this embodiment, when establishing the model, non-networked main road vehicles are uniformly set to maintain driving on the current road. Generally, the above constraints need to be met at the same time.

[0107] S305: Send guidance information to the connected main road vehicle based on the first lane change information.

[0108] In this embodiment, the first lane change information may be at least one of information such as whether to change lanes, a target lane to change to, and a recommended vehicle speed.

[0109] An embodiment of the present invention is an application scenario in which the rightmost lane of the main road is not reserved. By determining the first lane change information of each network main road vehicle in the target road section based on the first constraint condition and with the goal of minimizing the first objective function, it is achieved that when the judgment result is that the rightmost lane of the main road is not reserved, guidance information for the networked main road vehicles is generated, the traffic flow of each lane of the main road is balanced, the number of lane changes of the main road vehicles is reduced, and the driving safety of the main road vehicles is ensured.

[0110] Example 4

[0111] Figure 4 This is a flow chart of a vehicle guidance method provided by the fourth embodiment of the present invention. This embodiment is refined based on the above embodiment. Figure 4 As shown, the method includes:

[0112] S401: Obtain main road vehicle information and ramp vehicle information of a target road section.

[0113] S402. Calculate the average headway time of main road vehicles based on the main road vehicle information to obtain the main road congestion coefficient, and calculate the average headway time of ramp vehicles based on the ramp vehicle information to obtain the ramp congestion coefficient.

[0114] Specifically, the main road vehicles include networked main road vehicles and / or non-networked main road vehicles.

[0115] S403: Determine to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp.

[0116] In this embodiment, it is assumed that a judgment result of reserving the rightmost lane of the main road is obtained based on the main road congestion situation and the ramp congestion situation, and corresponding guidance information is sent to the main road vehicles according to this scenario.

[0117] S404: Determine second lane change information for each connected main road vehicle on the target road section based on the second constraint condition with the goal of minimizing the second objective function.

[0118] The second objective function is determined based on the traffic flow difference of lanes other than the rightmost lane of the main road and the number of lane changes of vehicles on the main road.

[0119] In this embodiment, specifically, the second objective function can be expressed by the following expression:

[0120]

[0121] In the formula, N max is the second preset maximum value, which may be equal to or different from the first preset maximum value. minis the second preset minimum value, which can be equal to or different from the first preset minimum value. The difference between the two is used to represent the traffic difference in each lane. α is a preset fixed weight value, which represents the weight of the lane change cost (for example, it can be set to 0.5). i is the vehicle number, j is the lane number, the leftmost lane is numbered 0, the rightmost lane is numbered m, n is the total number of vehicles num_vehicles minus 1 (to ensure that the vehicle number starts from 0), and m is the total number of lanes num_lanes minus 1 (to ensure that the lane number starts from 0).

[0122] r ij Indicates whether vehicle i selects lane j. A value of 1 indicates that vehicle i selects lane j, and a value of 0 indicates that vehicle i does not select lane j. II(·) is an indicator function. It takes 1 when the condition is true, and 0 otherwise. initial_lane[] is an array that records the original lane information of the current vehicle. vehicles_type[] is an array that records whether the current vehicle is a connected main road vehicle. It can only take the values ​​0 and 1.

[0123] Specifically, the second constraint can be expressed by the following expression:

[0124] n' j =initial_count j -leaving_count j +entering_count j (11)

[0125]

[0126] Specifically, the second constraint conditions include the following C1 to C6:

[0127] C1. For each lane of the main road except the rightmost lane, the number of vehicles after lane change is greater than or equal to a second preset minimum value and less than or equal to a second preset maximum value.

[0128] For example, the constraint condition can be expressed by the following expression:

[0129] N min ≤n' j ≤N max (14)

[0130] In this embodiment, the second preset minimum value may be equal to or different from the first preset minimum value, and the second preset maximum value may be equal to or different from the first preset maximum value. By presetting the second preset minimum value and the second preset maximum value, the total number of vehicles in each lane of the main road is ensured to be within a reasonable range.

[0131] C2. The connected main road vehicle in the leftmost lane maintains the current lane or changes lanes to the right.

[0132] For example, the constraint condition can be expressed by the following expression:

[0133]

[0134] C3. The connected main road vehicle in the rightmost lane changes lanes to the left.

[0135] For example, the constraint condition can be expressed by the following expression:

[0136]

[0137] In this embodiment, the rightmost lane of the main road needs to be reserved, so the connected main road vehicles in the rightmost lane can only change lanes to the left.

[0138] C4. Connected main road vehicles moving from the second lane on the left to the third lane on the right maintain their current lane and change lanes to the left or right.

[0139] For example, the constraint condition can be expressed by the following expression:

[0140]

[0141] In this embodiment, the second lane on the left to the third lane on the right can be understood as a lane interval. If the total number of lanes on the road does not meet the interval requirements (for example, the total number of lanes is less than 4), the lane interval is invalidated to avoid affecting other constraints.

[0142] C5. Connected main road vehicles in the second lane on the right maintain their current lane or change lanes to the left.

[0143] For example, the constraint condition can be expressed by the following expression:

[0144]

[0145] In this embodiment, the rightmost lane of the main road needs to be reserved, so the connected vehicle in the second lane from the right can only stay in the current lane or change lanes to the left.

[0146] C6. Non-connected main road vehicles maintain their current lane.

[0147] In this embodiment, when establishing the model, non-networked main road vehicles are uniformly set to maintain driving on the current road. Generally, the above constraints need to be met at the same time.

[0148] S405: Send guidance information to vehicles on the main road of the network based on the second lane change information.

[0149] In this embodiment, the second lane change information may be at least one of information such as whether to change lanes, a target lane to change to, and a recommended vehicle speed.

[0150] The embodiment of the present invention is an application scenario for reserving the rightmost lane of the main road. By minimizing the second objective function based on the second constraint condition, the second lane change information of each network main road vehicle in the target section is determined. When the judgment result is that the rightmost lane of the main road is reserved, guidance information for the networked main road vehicles is generated, further improving the strategy for guiding the main road vehicles. While ensuring that the rightmost lane of the main road is reserved, the traffic flow of each lane of the main road is balanced, the number of lane changes of the main road vehicles is reduced, thereby ensuring the driving safety of the main road vehicles. At the same time, merging space is reserved for ramp vehicles, thereby improving the efficiency of ramp vehicles merging into the main road.

[0151] Based on any of the above embodiments, optionally, the following D1 to D5 are further included:

[0152] D1. Determine the current ramp vehicle, wherein the ramp vehicles other than the first ramp vehicle are sequentially determined as the current ramp vehicles according to the driving order.

[0153] In this embodiment, the current ramp vehicle can be a connected ramp vehicle, i.e., a ramp vehicle equipped with communication equipment that can receive guidance information from intelligent roadside units (RSUs). The ramp vehicles are sorted according to their driving order. Except for the first ramp vehicle, all other vehicles can be identified as the current ramp vehicle. The first vehicle identified as the current ramp vehicle is the second connected ramp vehicle.

[0154] D2. Searching for a target merging gap corresponding to the current ramp vehicle in the traffic flow of the rightmost lane of the main road, wherein the searched merging gap is a merging gap that is not locked by the ramp vehicle ahead of the current ramp vehicle.

[0155] In this embodiment, the locked merging gap can be understood as the merging gap currently allocated to other connected vehicles. Since road conditions change in real time, the locked merging gap also changes in real time according to the calculation model.

[0156] D3. Determine a first estimated vehicle speed corresponding to the current ramp vehicle according to the target merging gap.

[0157] In this embodiment, for example, the difference between the time taken for the first vehicle on the main road to arrive at the merging point and the time taken for the second vehicle on the main road to arrive at the merging point is used as the total merging time t, and the total merging time t minus the vehicle merging time t1 is the time t2 that the current ramp vehicle can travel. The first estimated vehicle speed can be obtained based on the distance s between the merging point and the current ramp vehicle and the time t2 that the current ramp vehicle can travel.

[0158] D4. Determine a second estimated vehicle speed corresponding to the current ramp vehicle based on the following time distance corresponding to the current ramp vehicle.

[0159] In this embodiment, for example, the following time distance of the ramp vehicle is 1.5 seconds, and the speed obtained by dividing the distance between the current ramp vehicle and the vehicle before the ramp by 1.5 seconds is used as the second estimated vehicle speed.

[0160] D5. Determine a recommended vehicle speed based on the minimum value of the first estimated vehicle speed and the second estimated vehicle speed, and send the recommended vehicle speed to the current ramp vehicle.

[0161] In this embodiment, the first estimated vehicle speed and the second estimated vehicle speed include but are not limited to speed and acceleration. In order to ensure the driving safety of the vehicle, it is necessary to determine the recommended vehicle speed based on the minimum value of the first estimated vehicle speed and the second estimated vehicle speed. For example, if the calculated first estimated vehicle speed is greater than the second estimated vehicle speed, if the recommended vehicle speed is determined according to the first estimated vehicle speed, it may cause the vehicle to rear-end a collision. Therefore, it is necessary to send the recommended vehicle speed to the vehicle while ensuring the driving safety of the vehicle.

[0162] In the embodiment of the present invention, on the one hand, the main road lane reservation and main road vehicle guidance strategies are dynamically adjusted to send guidance information to main road vehicles in a timely manner. On the other hand, recommended speeds are provided for ramp vehicles based on the ramp road conditions to optimize the merging gap distribution for ramp vehicles. These two aspects work together to optimize the distribution of main road traffic flow, provide more optimal merging conditions for ramp vehicles, and thus improve the efficiency of ramp vehicles merging into the main road.

[0163] In any of the above embodiments, the system can update the main road vehicle information and ramp vehicle information in real time, dynamically adjust the lane reservation status at preset time intervals, and send corresponding guidance information to the networked main road vehicles and networked ramp vehicles.

[0164] Example 5

[0165] Figure 5 This is a schematic diagram of the structure of a vehicle guiding device provided by the present invention. Figure 5 The device includes: a vehicle information acquisition module 501, a road congestion analysis module 502, a lane reservation judgment module 503 and a vehicle guidance information sending module 504.

[0166] The vehicle information acquisition module is used to obtain the main road vehicle information and ramp vehicle information of the target road section;

[0167] a road congestion analysis module, configured to determine a main road congestion situation based on the main road vehicle information, and determine a ramp congestion situation based on the ramp vehicle information;

[0168] A lane reservation judgment module is used to judge whether to reserve the rightmost lane of the main road according to the congestion situation of the main road and the congestion situation of the ramp;

[0169] The vehicle guidance information sending module is used to send corresponding guidance information to the main road vehicles of the target section according to the judgment result.

[0170] An embodiment of the present invention provides a vehicle guidance device that solves the problem of low efficiency of ramp vehicles merging into the main road. By obtaining main road vehicle information and ramp vehicle information of a target road section, the main road congestion situation is determined based on the main road vehicle information, and the ramp congestion situation is determined based on the ramp vehicle information. According to the main road congestion situation and the ramp congestion situation, it is judged whether to reserve the rightmost lane of the main road. According to the judgment result, corresponding guidance information is sent to the main road vehicles of the target road section, thereby realizing dynamic adjustment of the main road lane reservation strategy, improving the efficiency of ramp vehicles in finding merging gaps, reducing ramp congestion, and improving traffic efficiency.

[0171] Optionally, the congestion situation is characterized based on a congestion coefficient; the road congestion analysis module includes:

[0172] a main road congestion analysis unit, configured to calculate an average of the headway times of the main road vehicles based on the main road vehicle information to obtain a main road congestion coefficient;

[0173] The ramp congestion analysis unit is used to calculate the average headway time of ramp vehicles based on the ramp vehicle information to obtain the ramp congestion coefficient.

[0174] Optionally, the lane reservation judgment module includes:

[0175] a first main road lane reservation judgment unit, configured to determine not to reserve the rightmost lane of the main road when the main road congestion coefficient is less than a first preset threshold and the ramp congestion coefficient is less than a second preset threshold;

[0176] a second main road lane reservation determination unit, configured to determine not to reserve the rightmost lane of the main road when the main road congestion coefficient is less than a first preset threshold and the ramp congestion coefficient is greater than or equal to a second preset threshold;

[0177] a main road lane reservation third judgment unit, configured to determine to reserve the rightmost lane of the main road when the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is less than the second preset threshold;

[0178] a fourth main road lane reservation determination unit, configured to determine not to reserve the rightmost lane of the main road if the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is greater than or equal to the second preset threshold;

[0179] Optionally, the first preset threshold is greater than or equal to the second preset threshold.

[0180] Optionally, the main road vehicle includes a networked main road vehicle and / or a non-networked main road vehicle; and the vehicle guidance information sending module includes:

[0181] A first lane change information generating unit is configured to determine, when a determination result is that the rightmost lane of the main road is not to be reserved, first lane change information for each connected main road vehicle on the target road segment based on a first constraint condition with the goal of minimizing a first objective function;

[0182] a first guidance information sending unit, configured to send corresponding guidance information to the connected main road vehicle based on the first lane change information;

[0183] Among them, the first objective function is determined according to the flow difference of each lane of the main road and the number of lane changes of main road vehicles; wherein, the first constraint condition includes: for each lane of the main road, the number of vehicles after lane change is greater than or equal to a first preset minimum value, and less than or equal to a first preset maximum value; the connected main road vehicle in the leftmost lane maintains the current lane or changes lanes to the right; the connected main road vehicle in the rightmost lane maintains the current lane or changes lanes to the left; the connected main road vehicle in the middle lane maintains the current lane, changes lanes to the left or changes lanes to the right; the non-connected main road vehicle maintains the current lane.

[0184] Optionally, the main road vehicle includes a networked main road vehicle and / or a non-networked main road vehicle; and the vehicle guidance information sending module includes:

[0185] A second lane change information generating unit is configured to determine, when the rightmost lane of the main road is determined to be reserved, second lane change information for each connected main road vehicle on the target road segment based on a second constraint condition and with the goal of minimizing a second objective function;

[0186] A second guidance information sending unit, configured to send corresponding guidance information to the connected main road vehicle based on the second lane change information;

[0187] Wherein, the second objective function is determined based on the traffic flow difference of lanes other than the rightmost lane of the main road and the number of lane changes of main road vehicles; wherein, the second constraint condition includes: for each lane of the main road except the rightmost lane, the number of vehicles after lane change is greater than or equal to the second preset minimum value and less than or equal to the second preset maximum value; the connected main road vehicle in the leftmost lane maintains the current lane or changes lanes to the right; the connected main road vehicle in the rightmost lane changes lanes to the left; the connected main road vehicle from the second lane on the left to the third lane on the right maintains the current lane, changes lanes to the left or changes lanes to the right; the connected main road vehicle in the second lane on the right maintains the current lane or changes lanes to the left; and the non-connected main road vehicle maintains the current lane.

[0188] Optionally, the vehicle guidance device further includes:

[0189] A current ramp vehicle determination module is used to determine the current ramp vehicle, wherein the ramp vehicles other than the first ramp vehicle are sequentially determined as the current ramp vehicles in the order of travel;

[0190] a target merging gap search module, configured to search for a target merging gap corresponding to the current ramp vehicle in the traffic flow of the rightmost lane of the main road; wherein the merging gap to be searched is a merging gap that is not locked by the ramp vehicle ahead of the current ramp vehicle;

[0191] a first estimated vehicle speed calculation module, configured to determine a first estimated vehicle speed corresponding to the current ramp vehicle according to the target merging gap;

[0192] A second estimated vehicle speed calculation module, configured to determine a second estimated vehicle speed corresponding to the current ramp vehicle based on the following time distance corresponding to the current ramp vehicle;

[0193] The recommended vehicle speed sending module is configured to determine a recommended vehicle speed according to a minimum value of the first estimated vehicle speed and the second estimated vehicle speed, and send the recommended vehicle speed to the current ramp vehicle.

[0194] The vehicle guidance device provided in the embodiment of the present invention can execute the vehicle guidance method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0195] Example 6

[0196] Figure 6 A schematic diagram of an electronic device 600 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0197] like Figure 6As shown, the electronic device 600 includes at least one processor 601, and a memory connected to the at least one processor 601 in communication, such as a read-only memory (ROM) 602, a random access memory (RAM) 603, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 601 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 602 or the computer program loaded from the storage unit 608 into the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The processor 601, ROM 602 and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0198] Multiple components in the electronic device 600 are connected to the I / O interface 605, including an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0199] The processor 601 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors for running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 601 executes the various methods and processes described above, such as the vehicle guidance method.

[0200] In some embodiments, the vehicle guidance method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by processor 601, one or more steps of the vehicle guidance method described above can be performed. Alternatively, in other embodiments, processor 601 can be configured to perform the vehicle guidance method in any other suitable manner (e.g., via firmware).

[0201] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0202] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0203] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0204] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0205] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0206] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0207] An embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle guidance method provided by the above embodiment.

[0208] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0209] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle guidance method, characterized in that: Applied to roadside equipment, the method includes: Obtain the main road vehicle information and ramp vehicle information of the target road section; Determining a main road congestion situation based on the main road vehicle information, and determining a ramp congestion situation based on the ramp vehicle information; Determining whether to reserve the rightmost lane of the main road based on the congestion conditions of the main road and the ramp; Corresponding guidance information is sent to the main road vehicles of the target road section according to the judgment result.

2. The method according to claim 1, characterized in that Congestion is characterized based on the congestion coefficient; The determining of the main road congestion condition according to the main road vehicle information and the determining of the ramp congestion condition according to the ramp vehicle information include: Calculating an average of the headway times of vehicles on the main road based on the main road vehicle information to obtain a main road congestion coefficient; An average headway time of ramp vehicles is calculated based on the ramp vehicle information to obtain a ramp congestion coefficient.

3. The method according to claim 2, characterized in that The determining whether to reserve the rightmost lane of the main road according to the congestion condition of the main road and the congestion condition of the ramp includes: When the main road congestion coefficient is less than a first preset threshold value and the ramp congestion coefficient is less than a second preset threshold value, determining not to reserve the rightmost lane of the main road; When the main road congestion coefficient is less than a first preset threshold value and the ramp congestion coefficient is greater than or equal to a second preset threshold value, determining not to reserve the rightmost lane of the main road; When the main road congestion coefficient is greater than or equal to the first preset threshold and the ramp congestion coefficient is less than the second preset threshold, determining to reserve the rightmost lane of the main road; When the main road congestion coefficient is greater than or equal to the first preset threshold, and the ramp congestion coefficient is greater than or equal to the second preset threshold, determining not to reserve the rightmost lane of the main road; Wherein, the first preset threshold is greater than or equal to the second preset threshold.

4. The method according to claim 1, wherein The main road vehicles include networked main road vehicles and / or non-networked main road vehicles; The step of sending corresponding guidance information to the main road vehicle of the target road section according to the judgment result includes: If the rightmost lane of the main road is not to be reserved, determining first lane change information of each connected main road vehicle on the target road segment based on the first constraint condition with the goal of minimizing the first objective function; Sending corresponding guidance information to the connected main road vehicle based on the first lane change information; The first objective function is determined based on the traffic volume difference of each lane of the main road and the number of lane changes of vehicles on the main road; Among them, the first constraint condition includes: for each lane of the main road, the number of vehicles after lane change is greater than or equal to a first preset minimum value and less than or equal to a first preset maximum value; the connected main road vehicle in the leftmost lane maintains the current lane or changes lanes to the right; the connected main road vehicle in the rightmost lane maintains the current lane or changes lanes to the left; the connected main road vehicle in the middle lane maintains the current lane, changes lanes to the left or changes lanes to the right; and the non-connected main road vehicle maintains the current lane.

5. The method according to claim 1, wherein The main road vehicles include networked main road vehicles and / or non-networked main road vehicles; The sending of corresponding guidance information to the main road vehicle of the target road section according to the judgment result includes: If the rightmost lane of the main road is to be reserved, determining second lane change information for each connected main road vehicle on the target road segment based on the second constraint condition with the goal of minimizing the second objective function; Sending corresponding guidance information to the connected main road vehicle based on the second lane change information; The second objective function is determined based on the traffic flow difference of lanes other than the rightmost lane of the main road and the number of lane changes of vehicles on the main road; Among them, the second constraint condition includes: for each lane of the main road except the rightmost lane, the number of vehicles after lane change is greater than or equal to the second preset minimum value and less than or equal to the second preset maximum value; the connected main road vehicle in the leftmost lane maintains the current lane or changes lanes to the right; the connected main road vehicle in the rightmost lane changes lanes to the left; the connected main road vehicle from the second lane on the left to the third lane on the right maintains the current lane, changes lanes to the left, or changes lanes to the right; the connected main road vehicle in the second lane on the right maintains the current lane or changes lanes to the left; and the non-connected main road vehicle maintains the current lane.

6. The method according to claim 1, wherein Also includes: Determining a current ramp vehicle, wherein the ramp vehicles other than the first ramp vehicle are sequentially determined as the current ramp vehicles in the order of travel; Searching for a target merging gap corresponding to the current ramp vehicle in the traffic flow of the rightmost lane of the main road, wherein the merging gap to be searched is a merging gap that is not locked by a ramp vehicle ahead of the current ramp vehicle; determining a first estimated vehicle speed corresponding to the current ramp vehicle according to the target merging gap; Determining a second estimated vehicle speed corresponding to the current ramp vehicle based on the following time distance corresponding to the current ramp vehicle; A recommended vehicle speed is determined according to a minimum value of the first estimated vehicle speed and the second estimated vehicle speed, and the recommended vehicle speed is sent to the current ramp vehicle.

7. A vehicle guiding device, characterized in that: include: The vehicle information acquisition module is used to obtain the main road vehicle information and ramp vehicle information of the target road section; a road congestion analysis module, configured to determine a main road congestion situation based on the main road vehicle information, and determine a ramp congestion situation based on the ramp vehicle information; A lane reservation judgment module is used to judge whether to reserve the rightmost lane of the main road according to the congestion situation of the main road and the congestion situation of the ramp; The vehicle guidance information sending module is used to send corresponding guidance information to the main road vehicles of the target section according to the judgment result.

8. An electronic device, characterized in that: The electronic device is configured as a roadside device, and includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle guiding method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle guiding method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program which, when executed by a processor, implements the vehicle guidance method according to any one of claims 1 to 6.

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