Passage control, prompting, display method and related device

Abstract

A toll control, prompting, display method and related device are disclosed, which are applied to the field of intelligent driving. After the intelligent driving system is started, the intelligent driving system determines a charging lane of a toll station as a target lane, and instructs the vehicle to pass through the target lane based on the type of the target lane. The type of the charging lane at least includes a manual lane and an ETC lane. In this way, the intelligent driving system can realize the passing of the vehicle in the charging lane of different types in the toll station scene, which not only reduces the driving burden of the user, but also helps to improve the passing efficiency of the vehicle in the toll station scene.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and in particular to a traffic control, prompting, and display method and related device. Background Technology

[0002] In highway tollbooth scenarios, there are various types of toll lanes, such as manual lanes, electronic toll collection (ETC) lanes, and hybrid lanes. Currently, in highway tollbooth scenarios, when a vehicle enters a toll lane, the vehicle's intelligent driving system disengages, and the user (e.g., the driver) takes control of the vehicle to enter the toll lane. This increases the driver's workload, and the slow reaction speed of manual driving reduces traffic efficiency. Summary of the Invention

[0003] This application discloses a traffic control, prompting, and display method and related device, which can enable vehicles to pass through multiple types of lanes in toll station scenarios through an intelligent driving system, thereby improving vehicle traffic efficiency and enhancing the user's vehicle experience.

[0004] Firstly, this application provides a traffic control method applied to an intelligent driving system. The traffic control method includes: firstly, initiating the process at a first moment; then, determining the toll lane into which the vehicle enters the toll station as the target lane; and finally, instructing the vehicle to proceed through the target lane according to its type. The toll lane types include manual lanes and ETC lanes.

[0005] Here, the intelligent driving system can be a computer system capable of providing driving assistance or advanced driving assistance. In this solution, the intelligent driving system encompasses different levels of non-human driving systems, such as assisted driving and autonomous driving. In some solutions, "billing" can be replaced with "charging," and "lane" can be replaced with "channel."

[0006] In the above method, the intelligent driving system is activated. In the toll station scenario, the intelligent driving system can automatically make a decision on the target lane for passing through the toll station and instruct the vehicle to pass through the target lane. There is no need for the intelligent driving system to exit or downgrade, which greatly reduces the driving burden of the user and also enables vehicles to pass through multiple types of lanes in the toll station scenario, thus improving the traffic efficiency of vehicles in the tolling scenario.

[0007] In one possible implementation of the first aspect, the traffic control method further includes: acquiring lane selection setting information; then determining the toll lane into which the vehicle enters the toll station as the target lane, including: determining the toll lane into which the vehicle enters the toll station as the target lane based on the lane selection setting information. The lane selection setting information is used to indicate the target type of the set toll lane, which is a manual lane, an ETC lane, or an automatic lane.

[0008] For example, when the target type is automatic, it may be the system's default setting, or it may be that the user has no preference for other types and sets the target type to automatic. In this case, the intelligent driving system can determine the target lane based on a preset strategy.

[0009] By implementing the above method, the target type indicated by the lane selection setting information provides a reference for the intelligent driving system to select the toll station lane. For example, prioritizing the selection of the toll lane of the target type as the target lane is beneficial to improving the processing efficiency of the intelligent driving system.

[0010] In one possible implementation of the first aspect, obtaining the lane selection setting information includes: determining the lane selection setting information based on settings input by the user or system default settings.

[0011] When the lane selection information is derived from user input, it reflects the user's preference for the type of toll lane. The intelligent driving system can then prioritize selecting the toll lane corresponding to the user's chosen lane type, aligning with user preferences and increasing user engagement. Even when the lane selection information comes from the system's default settings, the intelligent driving system can still flexibly determine the target lane based on this information.

[0012] In one possible implementation of the first aspect, traffic control further includes: acquiring road detection information; then, based on lane selection setting information, determining the toll lane into which the vehicle enters the toll station as the target lane, including: determining the target lane from multiple toll lanes based on the lane selection setting information and the road detection information. The road detection information includes the identification information of the multiple toll lanes at the toll station, the type of each toll lane, and the current usage status of each toll lane.

[0013] By implementing the above method, the road detection information can reflect the actual lane conditions at the toll station. The actual lane conditions at the toll station may not match the lane selection settings, such as the absence of a toll lane of the target type or the current unavailable lane. In this way, the intelligent driving system can make scientific lane selection by comprehensively considering the user's lane selection preferences and the actual lane conditions at the toll station, thereby improving the accuracy of the lane selection decision for the target lane.

[0014] In one possible implementation of the first aspect, the road detection information comes from cloud devices and / or the detection results of the vehicle's sensors.

[0015] By implementing the above methods, road detection information can come from map information of toll stations built by cloud devices. These cloud devices can provide vehicles with comprehensive, accurate, and timely map services, allowing the intelligent driving system to obtain road detection information in advance, thus providing sufficient decision-making time. Road detection information can also be obtained through sensor fusion detection, reflecting the actual road conditions around the toll station, which helps improve the accuracy and applicability of the intelligent driving system's lane selection results.

[0016] In one possible implementation of the first aspect, determining a target lane from multiple toll lanes based on lane selection settings information and road detection information includes: when the target type indicated by the lane selection settings information is automatic, determining the preferred type of the target lane as a manual lane when it is determined that the vehicle is not equipped with ETC or the vehicle's equipped ETC is unavailable; or, when it is determined that the vehicle's equipped ETC is available, determining the preferred type of the target lane as an ETC lane; and determining the target lane from multiple toll lanes based on the preferred type of the target lane and the road detection information.

[0017] By implementing the above method, when the target type indicated by the lane selection setting information is automatic, the intelligent driving system first determines the preferred type of the target lane based on whether the vehicle is equipped with ETC and the status of ETC. Then, it selects the passage lane by combining the preferred type of the target lane and the actual lane conditions of the toll station. This helps to improve the accuracy and applicability of the lane selection results of the intelligent driving system.

[0018] In one possible implementation of the first aspect, the traffic control further includes: when the vehicle is a first distance from the toll station, controlling the display of first intelligent driving information, which is used to indicate that the vehicle is about to enter the target lane.

[0019] Here, the intelligent driving system indirectly controls the display of the first intelligent driving information. The intelligent driving system can instruct the vehicle's infotainment system to display the first intelligent driving information, which is then displayed via a display device. Similarly, the intelligent driving system also indirectly controls the display of the second and third intelligent driving information, toll booth information, etc.

[0020] For example, the distance between a vehicle and a toll station refers to the longitudinal distance between the vehicle's location and the toll station's location. Longitudinal distance refers to the direction extending along the road, which is also the vehicle's direction of travel. The location of the toll station can be, for example, the coordinates of the toll station sign, the starting point of the toll plaza, the toll booth, or the toll island. In some solutions, the toll station's location can be the location information recorded in a map navigation system.

[0021] By implementing the above method, the intelligent driving system instructs the vehicle to display the first intelligent driving information. The first intelligent driving information is strongly coupled with the lane type, enabling the user to perceive in advance the type of the toll lane the vehicle has entered.

[0022] In one possible implementation of the first aspect, instructing a vehicle to travel from the target lane according to the type of the target lane includes: when the type of the target lane is a manual lane, when the vehicle is at a second distance from the toll station, controlling the display of second intelligent driving information, the second intelligent driving information being used to confirm whether to take over the vehicle, the second distance being less than the first distance; if no takeover instruction is received, instructing the vehicle to enter the target lane and brake to a target position, the target position being a manual toll payment position.

[0023] When implementing the above method, if the target lane is a manual lane, as the distance between the vehicle and the toll station decreases from a first distance to a second distance, the intelligent driving system displays second intelligent driving information to proactively inquire whether the user wants to take over the vehicle. This optimizes the user's takeover preparation and the smoothness of the switching operation, achieving a second-level prompt based on the first intelligent driving information. Even without user intervention, the intelligent driving system can still instruct the vehicle to proceed to the manual toll payment location in the target lane, demonstrating proactive adaptation to manual toll payment scenarios. This implementation method is applicable to L2-level intelligent driving systems, allowing users to participate in the intelligent driving process, increasing user awareness of the vehicle's intelligent driving behavior, providing clear behavioral guidance, and improving human-machine collaboration.

[0024] In one possible implementation of the first aspect, the traffic control method further includes: receiving control information from a user during the process of the vehicle braking to a stop, the control information being used to instruct the vehicle to perform lateral control and / or longitudinal control; instructing the vehicle to enter the target lane and brake to the target position, including: instructing the vehicle to enter the target lane and brake to the target position in conjunction with the user's control information.

[0025] Implementing the above method, the driving trajectory planned by the intelligent driving system may be more biased towards the center line of the lane compared to the toll booth, and / or the distance between the target location under this trajectory and the toll booth may be slightly larger. In this case, the user can intervene in the vehicle's steering wheel and / or braking system to adjust the vehicle's driving trajectory. The adjusted trajectory deviates further from the lane center line and is closer to the toll booth, making it easier for the user to interact with the toll booth from inside the vehicle and complete manual payment more quickly. In this application scenario, the intelligent driving system does not exit; the vehicle is in a human-machine co-driving state and can be controlled simultaneously by both the intelligent driving system and the user.

[0026] In one possible implementation of the first aspect, the lateral displacement of the vehicle controlled by lateral movement is less than a first threshold, and / or the longitudinal displacement of the vehicle controlled by longitudinal movement is less than a second threshold.

[0027] For example, lateral displacement refers to the lateral deviation of a vehicle relative to the lane centerline or the initial driving trajectory planned by the intelligent driving system, while longitudinal displacement refers to the longitudinal deviation of a vehicle relative to the lane centerline or the initial driving trajectory planned by the intelligent driving system. Here, longitudinal refers to the direction along the road centerline or the length of the road, while lateral refers to the direction perpendicular to the road centerline, i.e., the width of the road. In road engineering and related fields, longitudinal and lateral are commonly used terms to describe the different directional characteristics of a road.

[0028] By implementing the above method, and through the user's intervention in the lateral and / or longitudinal control of the vehicle, fine-tuning of the vehicle's driving trajectory and target position are achieved.

[0029] In one possible implementation of the first aspect, the traffic control method further includes: instructing the display of first intelligent driving information and / or second intelligent driving information in at least one of the following ways:

[0030] Voice broadcast;

[0031] Alarm sound effects play; and,

[0032] The indicator light is flashing.

[0033] Through the above implementation methods, the intelligent driving prompts in ETC lanes and manual lanes can be differentiated. The intelligent driving prompts indicated by the intelligent driving system in manual lanes are more diverse and richer. Based on the distance between the vehicle and the toll station, it can also implement graded prompts, allowing users to perceive the intelligent driving behavior of their own vehicle from multiple dimensions such as vision, hearing and touch.

[0034] In one possible implementation of the first aspect, instructing a vehicle to travel from the target lane according to the type of the target lane includes: when the type of the target lane is a manual lane, when the vehicle is at a second distance from the toll station, instructing the display of third intelligent driving information and instructing the vehicle to enter the target lane and stop at the target position, wherein the third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, the target position is a manual payment position, and the second distance is less than the first distance.

[0035] When implementing the above method, if the target lane is a manual lane, as the distance between the vehicle and the toll station decreases from the first distance to the second distance, the intelligent driving system displays third intelligent driving information to inform the user of the vehicle's current intelligent driving behavior. This requires no user intervention or instruction to the vehicle for auditory prompts, reducing interference with the user. This implementation method is applicable to Level 3 and above intelligent driving systems, weakening user involvement in the driving process under intelligent driving and reducing the risk of human-machine interaction.

[0036] In one possible implementation of the first aspect, the access control method further includes:

[0037] Obtain map information of toll booths from cloud devices;

[0038] Based on the map information of the toll station, the instructions indicate how to display the toll station on the navigation interface in at least one of the following ways;

[0039] Showing the building outline of the toll station;

[0040] Displays multiple toll lanes at the toll plaza;

[0041] Displays the type of each of the multiple toll lanes;

[0042] The booth displays the manual toll lane type of toll lane;

[0043] Displays the usage status of each of the multiple toll lanes;

[0044] Display the gate corresponding to each toll lane; and

[0045] Displays the current raising / lowering status of the gate arm for each turnstile.

[0046] The display of toll booths is not based on a direct presentation of their true appearance, but rather a non-realistic display, or a virtualized display effect, such as different size ratios or missing details.

[0047] For example, the architectural outline of a toll plaza includes the overall shape of the toll plaza and the outlines of key components (such as toll islands, canopies, etc.). Displaying toll lanes includes lane lines and overhead signs for the toll lanes; furthermore, it may include signage for the toll lanes. The type of toll lane can be a manual lane, an ETC lane, a manual / ETC lane (i.e., a hybrid lane as described above), or other types. As an example, the usage status of toll lanes includes closed and open; the intelligent driving system can indicate different usage statuses using different colors for easy differentiation.

[0048] By implementing the above method, the intelligent driving system instructs the vehicle to display the toll station on the navigation interface, which helps to clearly present the distribution of toll lanes at the toll station, such as the number and location of at least one type of toll lane, including manual lanes, ETC lanes, and mixed lanes. Combined with the display of intelligent driving guidance lines, users can quickly and intuitively understand the toll lane that the intelligent driving system has selected to pass through.

[0049] Secondly, this application provides a traffic guidance method applied to an intelligent driving system. The traffic guidance method includes: first, obtaining lane selection setting information; determining the toll lane the vehicle will enter at the toll station as the target lane based on the lane selection setting information; and instructing the vehicle to provide intelligent driving guidance as it travels through the target lane. Here, the lane selection setting information is used to indicate the target type of the set toll lane, which can be a manual lane, an ETC lane, or an automatic lane.

[0050] Here, please refer to the description of the corresponding content in the first aspect above for the intelligent driving system.

[0051] In the above method, the lane selection information provides a reference for the intelligent driving system to select the toll station's passage lane, helping the system quickly make a lane selection decision for the target lane. During the process of enabling vehicles to travel in different types of lanes, the system can also provide intelligent driving prompts. For different types of lanes, considering the need for interaction between manual lanes and toll booths, intelligent driving systems of the same level can provide differentiated prompts; for the same type of lane, such as manual lanes, intelligent driving systems of different levels can also provide differentiated prompts to meet the different user participation needs of different intelligent driving systems, thus improving the user's vehicle experience.

[0052] In one possible implementation of the second aspect, the route selection settings information comes from user-input settings or system default settings.

[0053] Implementing the above method allows users to independently set their preferred lane type at toll stations, or, if the user does not set a preference, to use the system's default lane type for lane selection.

[0054] In one possible implementation of the second aspect, the passage prompting method further includes: when the intelligent driving system is started, if it is detected that the vehicle's navigation path passes through a toll station and the current user of the vehicle is different from the historical user, instructing the vehicle to prompt whether to set the target type of the toll lane; the above-mentioned acquisition of lane selection setting information includes: determining the lane selection setting information based on the settings input by the user.

[0055] By implementing the above method, in scenarios where user preferences change, the intelligent driving system can proactively instruct the vehicle to prompt whether to execute the lane selection preference settings, eliminating the need for users to manually browse and search for the corresponding function keys in the human-machine interface to enter the toll station lane selection interface to set their lane selection preferences, thus improving the user experience.

[0056] In one possible implementation of the second aspect, instructing the vehicle to provide intelligent driving prompts includes: when the vehicle is a first distance from the toll station, controlling the display of first intelligent driving information, wherein the first intelligent driving information is used to indicate that the vehicle is about to enter the target lane.

[0057] In one possible implementation of the second aspect, instructing the vehicle to provide intelligent driving prompts further includes: when the target lane is a manual lane, and the vehicle is at a second distance from the toll station, controlling the display of second intelligent driving information, which is used to confirm whether to take over the vehicle, and the second distance is less than the first distance.

[0058] By implementing the above method, as the vehicle gradually moves towards the toll station, in the manual lane, the intelligent driving system can sequentially instruct the vehicle to provide the first intelligent driving information and the second intelligent driving information. The second intelligent driving information prompts the user in advance whether to take over the vehicle, providing clear and explicit guidance to the user, improving the cooperation between the user and the intelligent driving system, and also realizing the advance planning of human-machine collaboration.

[0059] In one possible implementation of the second aspect, instructing the vehicle to provide intelligent driving prompts further includes: instructing the prompting of first intelligent driving information and / or second intelligent driving information through at least one of the following methods:

[0060] Voice broadcast;

[0061] Alarm sound effects play; and,

[0062] The indicator light is flashing.

[0063] For example, compared to the prompts of the first intelligent driving information, the prompts of the second intelligent driving information are higher in at least one of the following: the frequency of voice broadcast, the level of alarm sound effect, and the flashing frequency of the indicator light. By distinguishing the prompt effects at different distances, users can perceive the distance to the toll station.

[0064] By implementing the above methods, intelligent driving prompts can take the form of a combination of visual and auditory modules, achieving diversification.

[0065] In one possible implementation of the second aspect, instructing the vehicle to provide intelligent driving prompts further includes: instructing the display of at least one of the following trajectories:

[0066] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0067] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0068] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0069] During vehicle operation, the system displays multiple driving trajectories listed above. For example, the first driving trajectory is the initial trajectory planned by the intelligent driving system, the second driving trajectory is a driving trajectory generated by user intervention, and the third driving trajectory is a fusion trajectory obtained based on the first driving trajectory provided by the intelligent driving system and the second driving trajectory obtained by user intervention. In this way, the system provides users with more transparent and intuitive driving information, helping them to better understand the decisions of the intelligent driving system and the impact of their own intervention on driving.

[0070] In one possible implementation of the second aspect, instructing the vehicle to provide intelligent driving prompts further includes: when the target lane is a manual lane, controlling the display of third intelligent driving information when the vehicle is at a second distance from the toll station, wherein the third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, and the second distance is less than the first distance.

[0071] By implementing the above method, as the vehicle gradually moves towards the toll station, the intelligent driving system can also sequentially instruct the vehicle to display the first and third intelligent driving information in the manual lane, without user intervention. This is applicable to L3 and above intelligent driving systems, weakens user participation in the intelligent driving process, reduces interference to users, and expands the boundaries of intelligent driving capabilities.

[0072] In one possible implementation of the second aspect, the third intelligent driving information is continuously displayed until the vehicle comes to a stop at the target location, which is the manual payment location.

[0073] By implementing the above method, the third-party intelligent driving information can be continuously displayed before the vehicle comes to a stop at the target position to inform the user that the vehicle is accelerating and braking to a stop, thereby increasing the user's perception of intelligent driving behavior during the intelligent driving process.

[0074] In one possible implementation of the second aspect, the toll station prompting method further includes: obtaining map information of the toll station from a cloud device; instructing the vehicle to provide intelligent driving prompts, and further includes:

[0075] Based on map information about toll booths, the instructions indicate how to display toll booths on the navigation interface using at least one of the following methods:

[0076] Showing the building outline of the toll station;

[0077] Displays multiple toll lanes at the toll plaza;

[0078] Displays the type of each of the multiple toll lanes;

[0079] The booth displays the manual toll lane type of toll lane;

[0080] Displays the usage status of each of the multiple toll lanes;

[0081] Display the gate corresponding to each toll lane; and

[0082] Displays the current raising / lowering status of the gate arm for each turnstile.

[0083] For the beneficial effects of the features not mentioned in the second aspect above, please refer to the description of the beneficial effects of the corresponding features in the first aspect, which will not be repeated here.

[0084] Thirdly, this solution provides a display method, which includes: first, displaying a toll station lane selection interface, which includes multiple touch components, one of which indicates a type of toll lane. The types indicated by these multiple touch components include manual lanes and ETC lanes, or include manual lanes, ETC lanes, and automatic lanes; then, in response to user input settings, generating and storing lane selection setting information. The lane selection setting information indicates the target type of the set toll lane, and is used by the intelligent driving system to determine that the toll lane the vehicle enters at the toll station is the target lane.

[0085] The above method provides a human-machine interface for setting lane selection type preferences, which intuitively presents the touch component indicating the type of toll lane. It supports users to set the target type themselves and obtains lane selection setting information based on the user's input settings. The lane selection setting information can assist the intelligent driving system in quickly deciding the target lane that the vehicle should pass through in the toll station scenario, which is conducive to improving the vehicle's traffic efficiency.

[0086] In one possible implementation of the third aspect, the toll station lane selection interface also includes a user field, which indicates the user who is making the toll station lane selection settings.

[0087] Considering that different users may use the vehicle and different users may have different lane selection preferences, a user field is added to the lane selection interface at the toll station to facilitate users to enter their own user information, so that the intelligent driving system can identify the user from which the vehicle comes based on the lane selection settings.

[0088] In one possible implementation of the third aspect, displaying the toll station lane selection interface includes: displaying the toll station lane selection interface in response to a user-inputted lane selection setting command.

[0089] For example, the lane selection instruction can be a user's voice command, a user-input operation command, or it can be generated based on the user's operation of the lane selection prompt key. The lane selection prompt key can be displayed on the display interface by the vehicle's infotainment system in response to an instruction from the intelligent driving system. The vehicle's infotainment system only displays the toll station lane selection interface in specific scenarios.

[0090] In one possible implementation of the third aspect, the display method further includes: displaying first intelligent driving information when the vehicle is a first distance away from the toll station, wherein the first intelligent driving information is used to indicate that the vehicle is about to enter the target lane.

[0091] By implementing the above method, the first intelligent driving information is presented intuitively and clearly, enabling users to perceive in advance the type of toll lane the vehicle enters.

[0092] For the beneficial effects of the features not mentioned in the third aspect below, please refer to the description of the beneficial effects of the corresponding features in the first or second aspects, which will not be repeated here.

[0093] In one possible implementation of the third aspect, the display method further includes: when the target lane is a manual lane, displaying second intelligent driving information when the vehicle is at a second distance from the toll station. The second intelligent driving information is used to confirm whether to take over the vehicle, and the second distance is less than the first distance.

[0094] In one possible implementation of the third aspect, the display method further includes: prompting the first intelligent driving information and / or the second intelligent driving information through at least one of the following methods:

[0095] Voice broadcast;

[0096] Alarm sound effects play; and,

[0097] The indicator light is flashing.

[0098] In one possible implementation of the third aspect, the display method further includes: displaying at least one of the following trajectories:

[0099] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0100] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0101] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0102] In one possible implementation of the third aspect, the display method further includes: when the target lane is a manual lane, displaying third intelligent driving information when the vehicle is at a second distance from the toll station, wherein the third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, and the second distance is less than the first distance.

[0103] In one possible implementation of the third aspect, the third intelligent driving information is continuously displayed until the vehicle comes to a stop at the target location, which is the manual payment location.

[0104] In one possible implementation of the third aspect, the display method further includes: displaying the toll station on the navigation interface based on the toll station's map information using at least one of the following methods:

[0105] Showing the building outline of the toll station;

[0106] Displays multiple toll lanes at the toll plaza;

[0107] Displays the type of each of the multiple toll lanes;

[0108] The booth displays the manual toll lane type of toll lane;

[0109] Displays the usage status of each of the multiple toll lanes;

[0110] Display the gate corresponding to each toll lane; and

[0111] Displays the current raising / lowering status of the gate arm for each turnstile.

[0112] Fourthly, this application provides a control device, which is an intelligent driving system or included in an intelligent driving system. The control device includes a processing unit, which performs the following actions: activating at a first moment; determining that the toll lane the vehicle enters at the toll station is the target lane; and instructing the vehicle to pass through the target lane according to the type of the target lane. The toll lane type includes manual lanes and ETC lanes.

[0113] In one possible implementation of the fourth aspect, the control device further includes a communication unit for acquiring lane selection setting information; the processing unit is specifically used to: determine, based on the lane selection setting information, the toll lane into which the vehicle enters the toll station as the target lane. The lane selection setting information is used to indicate the target type of the set toll lane, which may be a manual lane, an ETC lane, or an automatic lane.

[0114] In one possible implementation of the fourth aspect, the communication unit is specifically used to obtain user input settings or system default settings; the processing is specifically used to determine channel selection settings information based on the user input settings or system default settings.

[0115] In one possible implementation of the fourth aspect, the communication unit is further used to acquire road detection information; the processing unit is specifically used to: determine the target lane from multiple toll lanes based on the lane selection setting information and the road detection information. The road detection information includes the identification information of the multiple toll lanes at the toll station, the type of each toll lane, and the current usage status of each toll lane.

[0116] In one possible implementation of the fourth aspect, the road detection information comes from cloud devices and / or the detection results of the vehicle's sensors.

[0117] In one possible implementation of the fourth aspect, the processing unit is specifically used to: determine the preferred type of the target lane as a manual lane when the target type indicated by the lane selection setting information is automatic, or when it is determined that the vehicle is not equipped with ETC or the vehicle's equipped ETC is unavailable; or, when it is determined that the vehicle's equipped ETC is available, determine the preferred type of the target lane as an ETC lane; and determine the target lane from multiple toll lanes based on the preferred type of the target lane and road detection information.

[0118] In one possible implementation of the fourth aspect, the processing unit is further configured to: control the display of first intelligent driving information when the vehicle is a first distance away from the toll station, the first intelligent driving information being used to indicate that the vehicle is about to enter the target lane.

[0119] In one possible implementation of the fourth aspect, the processing unit is specifically used to: when the target lane is a manual lane, and the vehicle is at a second distance from the toll station, control the display of second intelligent driving information, which is used to confirm whether to take over the vehicle, and the second distance is less than the first distance; if the communication unit does not receive a takeover instruction, instruct the vehicle to enter the target lane and brake to the target position, which is a manual toll payment position.

[0120] In one possible implementation of the fourth aspect, the communication unit is further configured to: receive control information from the user during the vehicle's braking process, the control information being used to instruct the vehicle to perform lateral control and / or longitudinal control; the processing unit is specifically configured to: combine the user's control information to instruct the vehicle to enter the target lane and brake to the target position.

[0121] In one possible implementation of the fourth aspect, the lateral displacement of the vehicle controlled by lateral movement is less than a first threshold, and / or the longitudinal displacement of the vehicle controlled by longitudinal movement is less than a second threshold.

[0122] In one possible implementation of the fourth aspect, the processing unit is further configured to: prompt the first intelligent driving information and / or the second intelligent driving information in at least one of the following ways:

[0123] Voice broadcast;

[0124] Alarm sound effects play; and,

[0125] The indicator light is flashing.

[0126] In one possible implementation of the fourth aspect, the processing unit is specifically used to: when the target lane is a manual lane, when the vehicle is at a second distance from the toll station, display third intelligent driving information and instruct the vehicle to enter the target lane and stop at the target position. The third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, the target position is a manual payment position, and the second distance is less than the first distance.

[0127] In one possible implementation of the fourth aspect, the communication unit is further configured to obtain map information of the toll station from a cloud device; the processing unit is further configured to: based on the map information of the toll station, instruct the toll station to be displayed on the navigation interface in at least one of the following ways;

[0128] Showing the building outline of the toll station;

[0129] Displays multiple toll lanes at the toll plaza;

[0130] Displays the type of each of the multiple toll lanes;

[0131] The booth displays the manual toll lane type of toll lane;

[0132] Displays the usage status of each of the multiple toll lanes;

[0133] Display the gate corresponding to each toll lane; and

[0134] Displays the current raising / lowering status of the gate arm for each turnstile.

[0135] Fifthly, this application provides a control device, which is an intelligent driving system or included in an intelligent driving system. The control device includes: a communication unit for acquiring lane selection setting information; and a processing unit for determining, based on the lane selection setting information, the toll lane into which the vehicle enters the toll station as the target lane, and instructing the vehicle to provide intelligent driving prompts while the vehicle is traveling through the target lane. Here, the lane selection setting information is used to indicate the target type of the set toll lane, which may be a manual lane, an ETC lane, or an automatic lane.

[0136] In one possible implementation of the fifth aspect, the route selection settings information comes from user-input settings or system default settings.

[0137] In one possible implementation of the fifth aspect, the processing unit is further configured to: when the intelligent driving system is started, detect that the vehicle's navigation path passes through a toll station and that the current user of the vehicle is different from the historical user, instruct the vehicle to prompt whether to set the target type of the toll lane; the communication unit is specifically configured to acquire the settings input by the user, and the processing unit is configured to determine the lane selection setting information based on the settings input by the user.

[0138] In one possible implementation of the fifth aspect, the processing unit is specifically used to: control the display of first intelligent driving information when the vehicle is a first distance away from the toll station, wherein the first intelligent driving information is used to indicate that the vehicle is about to enter the target lane.

[0139] In one possible implementation of the fifth aspect, the processing unit is further specifically used to: when the target lane is a manual lane, and the vehicle is at a second distance from the toll station, control the display of second intelligent driving information, which is used to confirm whether to take over the vehicle, and the second distance is less than the first distance.

[0140] In one possible implementation of the fifth aspect, the processing unit is further specifically configured to: instruct the prompting of the first intelligent driving information and / or the second intelligent driving information in at least one of the following ways:

[0141] Voice broadcast;

[0142] Alarm sound effects play; and,

[0143] The indicator light is flashing.

[0144] In one possible implementation of the fifth aspect, the processing unit is further specifically configured to: instruct the display of at least one of the following trajectories:

[0145] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0146] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0147] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0148] In one possible implementation of the fifth aspect, the processing unit is further specifically used to: when the target lane is a manual lane, control the display of third intelligent driving information when the vehicle is at a second distance from the toll station, wherein the third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, and the second distance is less than the first distance.

[0149] In one possible implementation of the fifth aspect, the third intelligent driving information is continuously displayed until the vehicle comes to a stop at the target location, which is the manual payment location.

[0150] In one possible implementation of the fifth aspect, the communication unit is further configured to obtain map information of the toll station from a cloud device; the processing unit is further configured to: based on the map information of the toll station, instruct the toll station to be displayed on the navigation interface in at least one of the following ways:

[0151] Showing the building outline of the toll station;

[0152] Displays multiple toll lanes at the toll plaza;

[0153] Displays the type of each of the multiple toll lanes;

[0154] The booth displays the manual toll lane type of toll lane;

[0155] Displays the usage status of each of the multiple toll lanes;

[0156] Display the gate corresponding to each toll lane; and

[0157] Displays the current raising / lowering status of the gate arm for each turnstile.

[0158] Sixthly, this application provides a control device, which is a vehicle-mounted system or included in a vehicle-mounted system. The control device includes: a display unit for displaying a toll station lane selection interface, the toll station lane selection interface including multiple touch components, one touch component for indicating a type of toll lane, the types indicated by the multiple touch components including manual lanes and ETC lanes, or including manual lanes, ETC lanes, and automatic type; and a processing unit for generating lane selection setting information and storing the lane selection setting information in response to user input settings obtained through a communication unit. The lane selection setting information is used to indicate the target type of the set toll lane, and the lane selection setting information is used by the intelligent driving system to determine that the toll lane into which the vehicle enters the toll station is the target lane.

[0159] In one possible implementation of the sixth aspect, the toll station lane selection interface also includes a user field, which indicates the user who is making the toll station lane selection settings.

[0160] In one possible implementation of the sixth aspect, the display unit is specifically used to: display the toll station lane selection interface in response to a lane selection setting instruction input by the user obtained through the communication unit.

[0161] In one possible implementation of the sixth aspect, the display unit is further configured to: display first intelligent driving information when the vehicle is a first distance from the toll station, wherein the first intelligent driving information is used to indicate that the vehicle is about to enter the target lane.

[0162] In one possible implementation of the sixth aspect, the display unit is further configured to: when the target lane is a manual lane and the vehicle is at a second distance from the toll station, display second intelligent driving information, which is used to confirm whether to take over the vehicle, and the second distance is less than the first distance.

[0163] In one possible implementation of the sixth aspect, the processing unit provides prompts for the first intelligent driving information and / or the second intelligent driving information in at least one of the following ways:

[0164] Voice broadcast;

[0165] Alarm sound effects play; and,

[0166] The indicator light is flashing.

[0167] In one possible implementation of the sixth aspect, the display unit is further configured to: display at least one of the following trajectories:

[0168] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0169] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0170] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0171] In one possible implementation of the sixth aspect, the display unit is further configured to: when the target lane is a manual lane, display third intelligent driving information when the vehicle is at a second distance from the toll station, wherein the third intelligent driving information is used to indicate that the vehicle is decelerating and stopping, and the second distance is less than the first distance.

[0172] In one possible implementation of the sixth aspect, the third intelligent driving information is continuously displayed until the vehicle comes to a stop at the target location, which is the manual payment location.

[0173] In one possible implementation of the sixth aspect, the display unit is further configured to: display the toll station on the navigation interface based on the toll station's map information, using at least one of the following methods:

[0174] Showing the building outline of the toll station;

[0175] Displays multiple toll lanes at the toll plaza;

[0176] Displays the type of each of the multiple toll lanes;

[0177] The booth displays the manual toll lane type of toll lane;

[0178] Displays the usage status of each of the multiple toll lanes;

[0179] Display the gate corresponding to each toll lane; and

[0180] Displays the current raising / lowering status of the gate arm for each turnstile.

[0181] In a seventh aspect, this application provides a control device, which includes at least one processor and a communication interface for providing information input and / or output to the at least one processor. The control device may be a chip or an integrated circuit, used to implement the methods of the first aspect or any possible implementation of the first aspect, and / or to implement the methods of the second aspect or any possible implementation of the second aspect, and / or to implement the methods of the third aspect or any possible implementation of the third aspect.

[0182] Eighthly, this application provides a vehicle that includes a control device in any possible implementation of at least one of the fourth, fifth, and sixth aspects described above, or includes a control device in the seventh aspect.

[0183] Ninthly, this application provides a computer-readable storage medium including computer instructions that, when executed by a processor, implement the method in the first aspect or any possible implementation of the first aspect, and / or implement the method in the second aspect or any possible implementation of the second aspect, and / or implement the method in the third aspect or any possible implementation of the third aspect.

[0184] In a tenth aspect, this application provides a computer program product that, when executed by a processor, implements the method described in the first aspect or any possible embodiment of the first aspect, and / or implements the method in the second aspect or any possible implementation of the second aspect, and / or implements the method in the third aspect or any possible implementation of the third aspect.

[0185] For example, the computer program product may be a software installation package. Attached Figure Description

[0186] Figure 1 This is a schematic diagram of a toll station scenario provided in an embodiment of this application;

[0187] Figure 2 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0188] Figure 3 This is a structural block diagram of an intelligent driving device provided in an embodiment of this application;

[0189] Figure 4A This is a schematic diagram of a toll station lane selection interface provided in an embodiment of this application;

[0190] Figure 4B This is a schematic diagram of another toll station lane selection interface provided in the embodiments of this application;

[0191] Figure 4C This is a schematic diagram of another toll station lane selection interface provided in the embodiments of this application;

[0192] Figure 5 This is a schematic diagram of an interface for prompting users to select lanes at toll stations, provided in an embodiment of this application.

[0193] Figure 6 This is a flowchart of a passage control method provided in an embodiment of this application;

[0194] Figure 7A This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application;

[0195] Figure 7B This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application;

[0196] Figure 8 This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application;

[0197] Figure 9 This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application;

[0198] Figure 10 This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application;

[0199] Figure 11 This is a schematic diagram of a toll station display on a display interface provided in an embodiment of this application;

[0200] Figure 12 This is a flowchart of a passage prompting method provided in an embodiment of this application;

[0201] Figure 13 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Detailed Implementation

[0202] In this scheme, prefixes such as "first" and "second" are used solely to distinguish different descriptive objects and do not impose any restrictions on the position, order, priority, quantity, or content of the described objects. For example, if the described object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the modified "fields" are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the described object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority of the "levels." Furthermore, the number of described objects is not limited by prefixes; it can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device," then "first device" and "second device" can be the same device, devices of the same type, or devices of different types. Similarly, if the object being described is "information," then "first information" and "second information" can be information with the same content or information with different content. In summary, the use of prefixes to distinguish the objects being described in the embodiments of this application does not constitute a limitation on the objects being described. The description of the objects being described is based on the claims or the context of the embodiments, and should not constitute an unnecessary limitation due to the use of such prefixes.

[0203] To facilitate understanding, the relevant terms that may be involved in the embodiments of this application will be introduced below.

[0204] (1) Intelligent driving system, also known as intelligent driving system, refers to a computer system that uses data collected by a perception system (such as multiple sensors) to identify or detect objects, calculates and analyzes the results, and controls the terminal or assists human drivers or other decision-making agencies in controlling the terminal.

[0205] For example, an intelligent driving system integrates an intelligent driving algorithm, which is an algorithm that can process data to form output results. The output results (also known as control information) can be directly used to control the vehicle, and / or used to assist other decision-making structures (such as human drivers) in controlling the vehicle.

[0206] The Society of Automotive Engineers (SAE) provides a classification standard for driving automation, including driving levels L0 to L5.

[0207] Level 0 is no automation, where the human driver has full control of the vehicle and can receive warnings or assistance from the driving system during driving, such as automatic emergency braking (AEB), blind spot monitoring (BSM), or lane departure warning (LDW).

[0208] Level 1 is driving assistance, where driving operations are jointly performed by the human driver and the driving system. The driving system can provide driving assistance based on the driving environment, such as steering wheel or acceleration / deceleration operations. Other driving operations are performed by the human driver, such as adaptive cruise control (ACC) or lane keep assist / support (LKA / LKS).

[0209] Level 2 is partial automation, providing driving support for various aspects of steering and acceleration / deceleration based on the driving environment. Other driving actions are performed by the human driver, such as the following function which combines adaptive cruise control (ACC) and lane keep assistance (LKA).

[0210] Level 3 is conditional automation, where the driving system can perform all driving operations, but the human driver needs to respond to the driving system's requests at appropriate times; that is, the human driver needs to be prepared to take over the driving system.

[0211] Level 4 is a highly automated system where all driving operations can be completed by the driving system. The human driver does not necessarily need to respond to the driving system's requests. For example, when road and environmental conditions permit (such as closed parks, highways, city roads, or fixed driving routes), the human driver does not need to take over driving.

[0212] Level 5 is fully automated, meaning that driving operations under various road and environmental conditions that a human driver can handle can be completed autonomously by the driving system.

[0213] As can be seen, at levels L0 to L2, the driving system primarily provides support to the driver, who still needs to supervise driving and perform steering, braking, or acceleration as needed to ensure safety. At levels L3 to L5, the driving system can perform all driving operations in place of the driver. At level L3, the driver must be prepared to take over driving. At levels L4 and L5, the driving system can achieve full driving under partial and all conditions, respectively, and the driver can choose whether to take over.

[0214] The above classification is an example. It may change as technology evolves or as regulations differ in different countries or regions. For instance, the vehicle automation classification proposed by China's Ministry of Industry and Information Technology includes six levels of vehicle driving automation. Levels 0-2 are driving assistance, where the system assists humans in performing dynamic driving tasks, but the driver remains the primary driver. Levels 3-5 are autonomous driving, where the system performs dynamic driving tasks in place of the human under designed operating conditions; when the function is activated, the system is the primary driver. The names and definitions of each level are as follows:

[0215] Level 0 driving automation (emergency assistance) systems cannot continuously perform lateral or longitudinal motion control of the vehicle in dynamic driving tasks, but they have the ability to continuously perform partial target and event detection and response in dynamic driving tasks.

[0216] Level 1 driving automation (partial driver assistance) systems continuously perform lateral or longitudinal motion control of the vehicle in dynamic driving tasks under their design operating conditions (or design operating range, ODD), and have the ability to detect and respond to some targets and events in accordance with the lateral or longitudinal motion control of the vehicle being performed.

[0217] Level 2 driving automation (combined driver assistance) systems continuously perform lateral and longitudinal motion control of the vehicle in dynamic driving tasks under their design operating conditions, and have the ability to detect and respond to some targets and events in accordance with the lateral and longitudinal motion control of the vehicle being performed.

[0218] Level 3 driving automation (conditionally automated driving) systems continuously perform all dynamic driving tasks under their designed operating conditions;

[0219] Level 4 driving automation (highly automated driving) systems continuously perform all dynamic driving tasks and automatically execute minimum risk strategies under their designed operating conditions;

[0220] The Level 5 driving automation (fully automated driving) system continuously performs all dynamic driving tasks and automatically executes the least risk strategy under any drivable conditions.

[0221] The aforementioned lateral control is mainly used for vehicle steering control, such as controlling the steering wheel torque or angle to control the vehicle's direction; longitudinal control is mainly used for vehicle speed control, such as controlling the brake pedal, accelerator pedal, or gear to control the vehicle's acceleration / deceleration, braking, etc.

[0222] Here, the intelligent driving system in this solution covers different levels of non-human driving systems, such as the aforementioned assisted driving and autonomous driving, namely, autonomous driving systems of Level 2 and above (including Level 2) as defined by SAE, or autonomous driving systems of Level 2 and above (including Level 2) as defined by the Ministry of Industry and Information Technology of China, or different levels of non-human driving systems updated with future standard evolution.

[0223] (2) Human-machine co-driving

[0224] Human-machine co-driving refers to a driving mode in which the driver and the autonomous driving system cooperate and coordinate with each other during driving. This mode usually combines driver participation with the assistance of automated technologies to improve driving safety, efficiency, and comfort. During human-machine co-driving, both the autonomous driving system and the driver can simultaneously control the vehicle.

[0225] The terms mentioned above may be used in the embodiments described below.

[0226] See Figure 1 , Figure 1 This is a schematic diagram of a toll station scenario provided in an embodiment of this application. Figure 1As can be seen, toll booths have various types of toll lanes, such as manual lanes, ETC lanes, and manual / ETC lanes (also known as mixed lanes). Mixed lanes are toll lanes that support both manual and ETC toll collection, facilitating the passage of different types of vehicles.

[0227] Each toll lane has a corresponding overhead sign, typically installed above the toll lane, which displays relevant information to the driver (such as the type of toll lane and its availability). In some schemes, each toll lane also has a sign, usually installed to the side of the toll lane, which may also display the toll lane type and indicate the corresponding toll lane with arrows. In this scheme, the toll lane can also be referred to as a charging lane, toll lane, or toll collection lane.

[0228] For ETC lanes, which are toll-charging lanes, there is a gate that controls the raising and lowering of the gate arm. Before a vehicle completes payment, the gate arm remains lowered, preventing passage. Once the vehicle completes automatic payment via ETC, the gate arm is raised, allowing passage.

[0229] For toll lanes of the manual or mixed type, in addition to the aforementioned turnstiles, a booth is also set up on one side of the toll lane to facilitate interaction between toll collectors and drivers. The booth serves as the toll collection area for toll collectors. Before a vehicle completes payment, the turnstile arm remains lowered, preventing vehicle passage. Once the driver completes payment at the booth, the toll collector raises the turnstile arm via the turnstile, allowing the vehicle to pass.

[0230] To address the technical problem of increased driver workload and low traffic efficiency caused by drivers controlling vehicles to enter toll lanes in current toll station scenarios, this solution provides a communication system, traffic control, and traffic prompting method. It enables vehicles to pass through multiple types of lanes in toll station scenarios through intelligent driving systems, which helps improve traffic efficiency and enhance the user's driving experience.

[0231] The components of a communication system are described below. (See also...) Figure 2 , Figure 2 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application. Figure 2 As shown, the communication system 10 includes an intelligent driving device, which can be a vehicle equipped with an autonomous driving system. In the following description, the intelligent driving device may also be referred to simply as a vehicle.

[0232] For example, a vehicle can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, etc.), an industrial vehicle (such as environmental protection vehicles, trailers, tractors, etc.), an engineering vehicle (such as excavators, bulldozers, cranes, etc.), or an agricultural equipment (such as lawnmowers, harvesters, etc.). Furthermore, depending on the power source, a vehicle can be a new energy vehicle or a traditional vehicle. Traditional vehicles refer to fuel-powered vehicles, such as gasoline vehicles and diesel vehicles. New energy vehicles can include electric vehicles (EVs), hybrid electric vehicles (HEVs), range-extended electric vehicles (REEVs), plug-in hybrid electric vehicles (PHEVs), fuel cell vehicles, or other new energy vehicles.

[0233] In some solutions, the communication system 10 also includes cloud devices. A cloud device is a device with computing capabilities; it may be, for example, a server deployed on the network side (such as a map server or a map provider's server), or a component or chip within that server. Cloud devices can be deployed in a cloud environment or an edge environment. In some solutions, a cloud device may be a single computing device or a computing system composed of multiple computing devices.

[0234] For example, the intelligent driving device communicates wirelessly with the cloud device. The intelligent driving device can obtain map information of the toll station from the cloud device and determine the toll lane into which the vehicle enters the toll station as the target lane based on the map information.

[0235] Figure 2 The communication system shown can be applied to a variety of application scenarios, such as the following: mobile internet (MI), self-driving, transportation safety, internet of things (IoT), and smart city.

[0236] Figure 2The communication system shown can be applied to various network types, such as one or more of the following: SparkLink, Long Term Evolution (LTE) networks, 5th generation mobile communication technology (5G), wireless local area networks (e.g., Wi-Fi), Bluetooth (BT), Zigbee, or vehicular short-range wireless communication networks, etc.

[0237] Figure 2 This is merely an illustrative architecture diagram; the methods provided in this solution can be applied to... Figure 2 The communication system shown.

[0238] The following are examples of intelligent driving devices where this solution may be applied. For example, see... Figure 3 , Figure 3 This is a structural block diagram of an intelligent driving device provided in an embodiment of this application. Figure 3 As shown, the intelligent driving device 100 includes a perception system 120, a display device 130, and a computing platform 150.

[0239] The perception system 120 includes several sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 120 may include a positioning system, such as a Global Navigation Satellite System (GNSS), Global Positioning System (GPS), or BeiDou Navigation Satellite System. Alternatively, the perception system 120 may include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera. Furthermore, the perception system 120 may also include sensors for monitoring steering, such as yaw rate sensors, lateral acceleration sensors, and steering wheel angle sensors; sensors for monitoring braking, such as pedal displacement sensors; and sensors for monitoring systems inside the cabin, such as fuel gauges, oil temperature gauges, and in-vehicle air quality monitors.

[0240] The display devices 130 in the cockpit of the intelligent driving equipment 100 are divided into two categories: the first category is the vehicle-mounted display screen, and the second category is the projection display screen.

[0241] Among them, the in-vehicle display screen is a physical display screen (or physical screen) and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays, central control screens, and button panels. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), such as the central control screen being an HMI.

[0242] Projection displays can be, for example, head-up displays (HUDs). HUDs, also known as head-up display systems, are primarily used to display driving information such as speed and navigation on a display device in front of the driver (e.g., on the windshield). This reduces driver eye movement time, avoids pupil dilation caused by eye shifts, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems.

[0243] Some or all of the functions of the intelligent driving device 100 can be controlled by the computing platform 150. The computing platform 150 may include at least one processor, such as processor 151, processor 152, ..., processor 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the above units. In addition, a processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0244] In addition, the computing platform 150 may also include a memory that provides storage space for data such as instructions and computer programs. Some or all of the processors 151 to 15n can access the data in the memory to perform corresponding functions. The memory may be one or a combination of random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read-only memory (CD-ROM). The memory may exist independently or be integrated within the processor.

[0245] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: LiDAR, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyzes and processes this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving.

[0246] At different levels of autonomous driving (or intelligent driving), based on artificial intelligence algorithms and information acquired by multiple sensors, intelligent driving systems can achieve different levels of driving assistance. The classification of intelligent driving system levels can be found in the descriptions of the corresponding terms mentioned above, and will not be repeated here. For example, the functions that an intelligent driving system can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward intersection traffic warning / braking, rear intersection traffic warning / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It can be understood that the above functions can have specific modes at different levels of intelligent driving; the higher the level of the intelligent driving system, the more intelligent the corresponding mode.

[0247] For example, the computing platform 150 includes an integrated hardware and software platform for supporting intelligent driving, namely an in-vehicle computing platform (also known as an intelligent driving system), such as a mobile data center (MDC); an integrated hardware and software platform for supporting body control and chassis control (also known as a vehicle control system), such as a vehicle domain controller (VDC) or a vehicle control unit (VCU); and an integrated hardware and software platform for providing in-vehicle multimedia services (such as at least one of head-up display, instrument panel display, and entertainment system), such as a cockpit domain controller (CDC). In some solutions, when the functions of VDC, MDC, and CDC are integrated and deployed, the computing platform 150 may also be referred to as a central computing unit. For example, the intelligent driving system is deployed on the MDC, or on a computing platform that integrates the functions of the MDC, or on the central computing unit.

[0248] In some embodiments, the intelligent driving device 100 also includes a communication interface for providing information input or output to the processor in the computing platform 150. Alternatively, the communication interface can be used to receive and / or send data to externally transmitted data, and can be a wired link interface including an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0249] here, Figure 3 This is merely an example of a functional block diagram for an intelligent driving device. In practical applications, components in the vehicle can be added or removed as needed. For example, the intelligent driving device 100 may also include peripheral devices such as microphones, speakers, and status lights. The microphone can collect voice commands or other audio input from the vehicle user, the speaker can output audio to the user, and the status lights can be used to indicate the vehicle's driving status and the functional status of various devices within the vehicle. In other embodiments, the intelligent driving device 100 also includes a power system, a control system, and a power supply. The power system provides power to the vehicle, the control system includes a steering unit, throttle, and braking unit, and the power supply provides power to the components within the vehicle. In this embodiment, at least one processor in the computing platform 150 can be configured to call program code and data in memory to execute the methods described in the embodiments below, for example... Figure 6 The access control method shown in the embodiment Figure 12 The access prompt method shown in the embodiments, etc.

[0250] This solution allows users to pre-select toll lanes, generating lane selection information. This information indicates the target type of the toll lane and assists the autonomous driving system in determining the toll lane the vehicle should use upon entering the toll station. The following section describes the display method on the vehicle's infotainment system side provided by this solution.

[0251] In one implementation, the vehicle-mounted system displays a toll station lane selection interface via a display device. This interface includes multiple touch-sensitive components, one of which indicates the type of toll lane. The types indicated by these touch-sensitive components include manual lanes and ETC lanes, or a combination of manual lanes, ETC lanes, and automatic lanes. In response to user input, the system generates lane selection setting information and stores it in memory. Some solutions also support user-interactive voice settings for the toll lane type.

[0252] Here, the lane selection settings reflect the user's preference for the type of toll lane. Users can pre-configure these settings so that the vehicle can easily access them at any time during the journey to make a lane selection decision for entering the toll station.

[0253] For example, a user can be a driver, a passenger, or the owner of the vehicle.

[0254] For example, the setting for receiving user input can be: a setting for receiving user input via at least one of screen, button, keyboard, and voice input.

[0255] Taking voice input as an example, voice input can be a user inputting voice commands such as "select the toll lane type as manual lane" or "set the toll lane type as manual lane" (i.e., user input settings). The voice commands contain keywords such as "type" and "lane", which can realize the preference settings of the toll lane type.

[0256] As an example, when a user inputs information on a screen, lane selection setting information is generated in response to the user's input settings. This includes: generating lane selection setting information in response to the user's operation on a target touch component among multiple touch components. In this case, the lane selection setting information indicates that the type of the toll lane selected by the user is the target type indicated by the target touch component. For example, if the target touch component indicates a manual lane, the target type is a manual lane; if the target touch component indicates an ETC lane, the target type is an ETC lane; if the target touch component indicates an automatic type, the target type is an automatic type.

[0257] The following is based on Figure 4AThis demonstrates how users select and set their billing type via a touchscreen. Here, "touchscreen" is an example of a screen; it could be the aforementioned in-vehicle display or a projection display.

[0258] See Figure 4A , Figure 4A This is a schematic diagram of a toll station lane selection interface provided in an embodiment of this application. Figure 4A The displayed interface is a human-computer interaction interface. Figure 4A The toll booth lane selection interface shown displays multiple touch controls, including those indicating manual lanes and those indicating ETC lanes. For any touch control, when it is displayed in a dark color, it indicates that the type of toll lane indicated by the touch control has been selected by the user; when it is displayed in a light color, it indicates that the type of toll lane indicated by the touch control has not been selected by the user. Figure 4A The toll station lane selection interface also displays "Clear" and "Save" buttons. The "Clear" button is used to cancel the user's current setting of the toll lane type, and the "Save" button is used to save the user's current setting of the toll lane type.

[0259] For example, suppose the user clicks Figure 4A In response to this operation, the status display of the "Manual Lane" touch component in the interface shown changes from light to dark. When the user clicks the "Save" button, lane selection settings information is generated. The lane selection settings information is used to indicate to the user that the target type of the toll lane entering the toll station is manual lane.

[0260] The above Figure 4A This is merely an example of a display interface provided for setting the type of toll lane, and is not intended to limit the display interface to only one type. Figure 4A The format shown can also be other display interfaces that allow users to set the type of toll lane. In some solutions, Figure 4A The interface shown can also display more or less information than currently displayed, and the touch components may also have different styles. For example, Figure 4A The interface shown may also display more touch components, or it may display a traffic efficiency priority switch. When the traffic efficiency priority switch is on, it may affect the computing device's lane selection decision for the toll lane.

[0261] Depend on Figure 4A It can be seen that the lane selection interface at the toll station may have been part of the intelligent driving settings interface during its design. The intelligent driving settings interface may also include... Figure 4A Other settings not shown (such as lane change preference settings, lane change confirmation settings, target speed offset settings, etc.). In some schemes, the toll station lane selection interface can also be displayed as a separate interface.

[0262] In some possible embodiments, the multiple touch components in the toll plaza lane selection interface, in addition to the touch components indicating manual lanes and ETC lanes described above, may also include touch components indicating automatic lane types. In this case, the toll plaza lane selection interface can be as follows: Figure 4B As shown. Compared to Figure 4A It can be seen that Figure 4B The interface shown has added a new touch component called "Auto Type".

[0263] For example, when the target type indicated by the selected lane setting information is automatic, the computing device can flexibly determine the type of toll lane to be used according to a preset strategy. For instance, the preset strategy could be that, when the vehicle is equipped with ETC and the ETC is in a usable state (usable, for example, the ETC is activated and has no outstanding fees), the priority of the toll lane type could be: ETC lane > mixed lane > manual lane. Another example is that the preset strategy could prioritize vehicle traffic efficiency when determining the toll lane type.

[0264] It is understandable that the above Figure 4A as well as Figure 4B The displayed interface allows users to set their preferred type of toll lane, which is user-friendly and enhances the user experience and engagement.

[0265] In some schemes, considering that different users may have different lane selection preferences, the toll station lane selection interface may also include a user field. The user field is used to indicate the user who is setting the toll station lane selection this time. In this case, the toll station lane selection information obtained based on the user settings includes the user's identification information and the correspondence between the target type of the toll lane set by the user.

[0266] See Figure 4C , Figure 4C This is a schematic diagram of another toll station lane selection interface provided in the embodiments of this application. Figure 4C The tollbooth lane selection interface shown includes not only multiple touch-sensitive components but also the aforementioned user items. The multiple touch-sensitive components can be found in [link to relevant documentation]. Figure 4B The description of the multiple touch components shown includes a user item with a text prompt for "User" and an input box for receiving user identification information input by the user.

[0267] For example, in Figure 4CIn the process, the user enters "ID1314" in the input box of the user field and selects the touch component of "Manual Lane" so that the touch component is dark (i.e. selected state). Then the user clicks the "Save" button. In response to this operation, the lane selection setting information is generated. The lane selection setting information includes the correspondence between the user "ID1314" and the type of toll lane "Manual Lane", which means that the user "ID1314" prefers the "Manual Lane" toll station lane selection type.

[0268] Compared to the above Figure 4A or Figure 4B The tollbooth lane selection interface shown is shown below. Figure 4C The toll lane selection interface shown is an independent human-computer interaction interface, used only to implement the function of toll station lane selection settings.

[0269] In one implementation, the vehicle-mounted system displays a toll station lane selection interface, including: responding to a lane selection setting command input by the user, the vehicle-mounted system displays the toll station lane selection interface. For example, the lane selection setting command can be a voice command from the user, an operation command input by the user, or a command generated based on the user's operation of a lane selection setting prompt key, wherein the lane selection setting prompt key is displayed on the display interface.

[0270] See Figure 5 , Figure 5 This is a schematic diagram of an interface provided in an embodiment of this application for prompting users to select lanes at toll stations. For example... Figure 5 As shown, the lane selection setting prompt is displayed as a text pop-up window. The prompt message in the lane selection setting prompt is "Click here to set your preferences in 'Intelligent Driving Settings' > 'Payable Lane Selection'".

[0271] For example, Figure 5 The lane selection prompt button shown can be used to enter the toll station lane selection interface (e.g.) Figure 4A , Figure 4B or Figure 4C The shortcut keys (shown in the display interface) respond to the user's operation of the lane selection setting prompt key. This operation can be clicking, touching, swiping, etc., and the vehicle system displays them through the display device. Figure 4A , Figure 4B or Figure 4C The tollbooth lane selection interface shown serves as a navigation tool. In some solutions, the lane selection setting prompt button can also guide users through the tollbooth lane selection process. Based on the prompt information on the button, users are guided through the steps of "Settings" → "Intelligent Driving Settings" → "Tollbooth Lane Selection" to reach the desired location. Figure 4A , Figure 4B or Figure 4C The tollbooth lane selection interface shown.

[0272] In some schemes, Figure 4A , Figure 4B or Figure 4C The lane selection settings interface shown can also be displayed in response to user voice commands. For example, when the vehicle system recognizes the user's voice command "Open toll lane selection settings interface" or "I want to select toll lanes" based on signals collected by the microphone, the vehicle system will display the information on the display device in response to the user's voice command. Figure 4A , Figure 4B or Figure 4C The tollbooth lane selection interface shown.

[0273] In practical applications, the aforementioned tollbooth lane selection settings can be configured by the user during the overall vehicle configuration process. This means the user accesses the tollbooth lane selection interface via function keys on the settings screen to make the corresponding settings. During this overall configuration process, if the user does not perform the aforementioned tollbooth lane selection settings, the lane selection information may, for example, default to setting the toll lane type to "null" or "automatic." In some solutions, the lane selection information may default to setting the toll lane type to ECT lane or manual lane, depending on the system's development and design. Thus, even if the user does not perform the aforementioned tollbooth lane selection settings, the lane selection information stored in memory can still provide a reference for the intelligent driving system's lane selection decisions.

[0274] In some solutions, the vehicle's infotainment system may also respond to instructions from the intelligent driving system and provide prompts for lane selection at toll booths.

[0275] For example, during vehicle use, if the navigation route planned by the intelligent driving system includes toll stations, and the intelligent driving system knows that the toll lane type is "empty (null)" based on the acquired lane selection setting information, the vehicle's infotainment system may receive an instruction from the intelligent driving system. In response to this instruction, the infotainment system will prompt the toll station lane selection settings, such as displaying the aforementioned lane selection setting prompt button.

[0276] For example, when the intelligent driving system is activated, if the navigation route planned by the system includes toll stations, the system can detect through the in-cabin camera that the current user (e.g., the driver, the logged-in user) is different from the previous user (e.g., the last driver, the last logged-in user). In this case, the vehicle's infotainment system may also receive an instruction from the intelligent driving system. In response to this instruction, the infotainment system will prompt the user to select a lane at the toll station, for example, by displaying the aforementioned lane selection prompt button. Thus, in some scenarios, the infotainment system can proactively prompt the user to select a lane at the toll station, eliminating the need for the user to manually navigate to the toll station lane selection interface through the human-machine interface, thereby improving the user experience.

[0277] In some possible embodiments, the number of times a user sets the lane selection may not be limited. During vehicle operation, the user can also modify the selected lane type at any time, and the newly generated lane selection information will be synchronously stored in the memory for the intelligent driving system to retrieve and use. This ensures that the intelligent driving system can respond promptly to the user's lane selection preferences at the toll station.

[0278] The access control method provided by this solution is described below in conjunction with the architecture described above. (See also...) Figure 6 , Figure 6 This is a flowchart of a passage control method provided in an embodiment of this application. Figure 6 The method shown can be applied to the aforementioned intelligent driving system, which is deployed in... Figure 2 Specifically, it can be deployed on intelligent driving equipment. Figure 3 On computing platform 150 or one or more processors in computing platform 150. Figure 6 The method shown in the embodiments includes, but is not limited to, the following steps S601-S603.

[0279] S601: Starts up at the first moment.

[0280] Here, an intelligent driving system can be a computer system capable of providing driving assistance or advanced driving assistance. For example, an intelligent driving system can be an autonomous driving system of Level 2 or above as defined by the SAE, or an autonomous driving system of Level 2 or above as defined by the Ministry of Industry and Information Technology of China.

[0281] Here, "first moment" refers to the moment the intelligent driving system is activated.

[0282] For example, the "first moment" could be the moment the user presses the start button on the intelligent driving system. In response to this press, the intelligent driving system starts. Different levels of intelligent driving systems have different start buttons. For instance, the start button for an intelligent driving system can be implemented as a software function key or a hardware button.

[0283] For example, the first moment could also be the moment when the vehicle meets the preset startup conditions; that is, the intelligent driving system starts when the vehicle meets the preset startup conditions. Exemplarily, the preset startup conditions can be operational design domain (ODD) conditions. Different levels of intelligent driving systems may have different preset startup conditions.

[0284] S602: Determine the toll lane that the vehicle enters the toll station as the target lane. The types of toll lanes include manual lanes and ETC lanes.

[0285] In one implementation, the intelligent driving system first obtains lane selection setting information, wherein the lane selection setting information is used to indicate the target type of the set toll lane, wherein the target type is a manual lane, an ETC lane, or an automatic type, then the toll lane into which the vehicle enters the toll station is determined as the target lane, including: determining the toll lane into which the vehicle enters the toll station as the target lane according to the lane selection setting information.

[0286] For example, the lane selection information can be the system's default lane selection information. In this case, the target type of the toll lane set by the system default can be one of the following: manual lane, ETC lane, or automatic lane. Alternatively, the lane selection information can also be obtained by the user through toll station lane selection. In this case, the lane selection information is used to indicate that the type of the toll lane selected by the user is the target type. Thus, when the intelligent driving system makes a lane selection decision, it can prioritize the toll lane corresponding to the target type selected by the user, fully considering user preferences and increasing user participation. Here, please refer to the foregoing description of the user's toll station lane selection settings. Figure 4A , Figure 4B , Figure 4C as well as Figure 5 The corresponding descriptions of the embodiments will not be repeated here.

[0287] As an example, the target lane type is the same as the target type. This allows for the selection of billing lanes based on user needs, which is user-friendly and improves the user experience.

[0288] In one application scenario, for Figure 4CThe tollbooth lane selection settings shown are such that when multiple different users have selected lanes at the tollbooth, the tollbooth lane selection mapping table in memory contains multiple lane selection settings, each corresponding to a user. In this case, the intelligent driving system obtains the lane selection settings information by: obtaining the identification information of the target user currently logged into the vehicle; and obtaining the lane selection settings corresponding to the target user's identification information from the tollbooth lane selection mapping table.

[0289] In another application scenario, if the target user's identification information is not found in the toll station lane selection mapping table, it means that the target user has not previously set a toll station lane. In this case, the intelligent driving system can obtain the system's default lane selection settings. Alternatively, the intelligent driving system can instruct the vehicle (e.g., the vehicle's infotainment system) to prompt the target user whether to set a toll station lane. If the target user does set a toll station lane, the intelligent driving system determines the target user's lane selection settings based on the user's input. If no settings are received from the target user's device, the intelligent driving system obtains the system's default lane selection settings.

[0290] For example, the identification information of the target user can be obtained directly from the vehicle's infotainment system by the intelligent driving system.

[0291] For example, the intelligent driving system obtains the identification information of the target user, including: the intelligent driving system obtains the identification result of the target user through camera detection; and obtains the identification information of the target user based on the identification result and user information, wherein the user information includes the correspondence between the identification result and the identification information of the target user.

[0292] For example, the toll station lane selection mapping table can be seen in Table 1 below. In Table 1, the toll station lane selection mapping table includes multiple lane selection settings. Taking the lane selection setting information "ID1XX-Manual Lane" as an example, it shows that the user "ID1XX" sets the type preference of the toll lane to "Manual Lane".

[0293] Table 1 Toll Station Lane Selection Mapping Table

[0294] 1 ID1XX manual lane 2 ID2XX ETC lane 3 ID3XX Automatic type … … …

[0295] Table 1 is merely an example of a toll station lane selection mapping table and does not limit the number of correspondences stored in the table. In practical applications, the textual content and storage method of the correspondences recorded in the toll station lane selection mapping table can also be other forms.

[0296] In another application scenario, when the intelligent driving system detects that the vehicle's navigation path includes a toll station and the current user (i.e., the target user) differs from the historical users, the intelligent driving system instructs the vehicle to prompt whether to set the target type for the toll lane; it also acquires lane selection setting information, including determining the lane selection setting information based on the user's input. In this application scenario, when the intelligent driving system recognizes a change in the vehicle's user, considering that different users may have different toll station lane selection preferences, the intelligent driving system can proactively instruct the vehicle's infotainment system to prompt the current user whether to set a toll station lane. When the user performs toll station lane selection, the intelligent driving system makes a lane selection decision based on the lane selection setting information generated from the user's input, thus improving the user experience.

[0297] For example, the current user of a vehicle can be the driver in the driver's seat, the currently logged-in user of the vehicle, etc., while the historical user can be the driver in the driver's seat when the vehicle was last driven, the logged-in user of the vehicle when the vehicle was last driven, etc.

[0298] In another implementation, the intelligent driving system also acquires road detection information, which includes the identification information of multiple toll lanes entering the toll station, the type of each toll lane, and the current usage status of each toll lane. The above-mentioned determination of the toll lane into which the vehicle enters the toll station as the target lane based on the lane selection setting information includes: determining the toll lane into which the vehicle enters the toll station as the target lane from multiple toll lanes of the toll station based on the lane selection setting information and the road detection information.

[0299] For example, the identification information of the toll lane is used to identify the toll lane, and the identification information of the toll lane may be, for example, the toll lane number. For example, the type of toll lane may be divided into manual lane, ETC lane, mixed lane (i.e., manual / ETC lane), or other types. The usage status of the toll lane may be divided into closed and open, where "closed" means that the toll lane is currently unavailable and "open" means that the toll lane is currently available. In some schemes, the usage status of the toll lane may also be divided into suspended, closed, and open.

[0300] Here, road detection information comes from cloud devices and / or the detection results of vehicle sensors.

[0301] For example, cloud-based devices pre-construct map information for each toll station. This map information includes the location of each map element, the type of each toll lane, and the usage status of each toll lane. For instance, map elements for a toll station may include the building outline, lane lines, overhead signs, markers, toll booths, turnstiles, gates, and traffic management facilities within the toll lane. The usage status of the toll lane is categorized as prohibited, suspended, and in use. In this scenario, the intelligent driving system, based on the vehicle's navigation path, learns the identification information of the target toll station. The system communicates with the cloud-based device to obtain road detection information, which can be map information of the target toll station or information derived from the target toll station. The cloud-based device provides comprehensive, accurate, and timely map services, while the intelligent driving system can obtain road detection information in advance, thus providing sufficient decision-making time.

[0302] For example, multiple sensors on a vehicle (such as cameras, LiDAR, and millimeter-wave radar) have a certain detection range. By fusing the sensor data from multiple sensors, the vehicle's sensor detection results can be obtained. For instance, a camera can capture environmental images of the toll station ahead, and image processing technology can be used to detect map elements of the toll station in the environmental images to obtain image detection results. LiDAR can emit laser beams to construct a high-precision 3D point cloud map of the toll station area. Millimeter-wave radar can detect the driving trajectory and distribution of objects around the vehicle, which can help determine the traffic status of each toll lane. Combining the sensor information from these sensors and fusing it to obtain the vehicle's sensor detection results can more accurately determine the location information, type, and usage status of each toll lane, reflecting the actual road conditions around the toll station. In some solutions, road detection information can also be obtained based on map information from the toll station from cloud devices and the vehicle's sensor detection results, thus improving the reliability and accuracy of the data in the road detection information.

[0303] In this scheme, when determining the target lane by combining lane selection settings information and road detection information, the road detection information reflects the actual toll lane conditions around the toll station. Therefore, the type of the final determined target lane may be the same as or different from the target type indicated by the lane selection settings information. It is understandable that the lane selection result of the intelligent driving system is also affected by the lane selection strategy.

[0304] For example, when the target type is a manual lane, the priority order of the lane selection type indicated by the lane selection strategy can be: manual lane > mixed lane (i.e., manual / ETC lane, a toll lane that supports both manual and ETC payment) > ETC lane. In this case, the manual lane type is called the preferred type, and the mixed lane and ETC lane types can be called the secondary types.

[0305] For example, when the target type is an ETC lane, the priority order of the lane selection type indicated by the lane selection strategy can be: ETC lane > mixed lane > manual lane. In this case, the ETC lane type is called the preferred type, and the mixed lane and manual lane types can be called the secondary types.

[0306] As an example, based on lane selection settings and road detection information, a target lane is determined from multiple toll lanes at the toll station. This includes determining whether the target type is a manual lane or an ETC lane, and if the target type is included among the multiple toll lanes, selecting one toll lane from those target type lanes as the target lane. In other words, the lane selection strategy prioritizes the target type, and the target lane can be any toll lane within that target type. Alternatively, the strategy may prioritize shortest distance, in which case the target lane can be the toll lane closest to the vehicle within the target type. Or, further, the strategy may prioritize traffic efficiency, in which case the target lane can be the toll lane with the lowest current congestion level within the target type. In some schemes, the lane selection strategy may also comprehensively consider multiple factors such as the toll lane type, traffic efficiency, and distance between the toll lane and the vehicle, scoring each target type lane and selecting the toll lane with the highest score from the results.

[0307] In some schemes, where the target type is either a manual lane or an ETC lane, and the types of the multiple toll lanes include the target type, the lane selection strategy can also involve scoring each of the multiple toll lanes to obtain a score for each toll lane. The score for each toll lane is calculated by weighting multiple factors, including the toll lane type, the toll lane's traffic efficiency, and the distance between the toll lane and the vehicle. The target lane is then determined from these multiple toll lanes based on their scores. In this case, the type of the target lane may be the same as or different from the target type.

[0308] In some schemes, the target lane type differs from the target type when determining the target lane based on lane selection information and road detection information in any of the following situations:

[0309] Scenario 1: None of the above-mentioned toll lane types are the target type; or,

[0310] Scenario 2: Based on the usage status of the toll lanes of the target type, it can be seen that all toll lanes of the target type are currently unusable.

[0311] In scenario 1, where the toll station does not have a toll lane of the target type, the intelligent driving system can select one toll lane from multiple toll lanes at the toll station as the target lane based on a preset strategy. The type of the target lane is different from the target type. For example, the preset strategy could be to select the toll lane with the highest traffic efficiency (or the lowest congestion level and shortest queue length), the toll lane closest to the vehicle, or the toll lane located in the middle. In some solutions, the preset strategy can also select the target lane based on a weighted score of factors such as the distance between the vehicle and the toll lane, the traffic efficiency of the toll lane, and the current secondary selection type.

[0312] Taking one application scenario as an example, if the target type indicated by the lane selection setting information is a manual lane, and the vehicle is heading to a toll station, based on the obtained road detection information, it is known that the multiple toll lanes of the toll station are all ETC lanes. That is, the actual lane situation of the toll station does not match the lane selection setting information. In this case, the intelligent driving system can flexibly select a suitable target lane for the vehicle based on the preset strategy to ensure that the vehicle can pass through the toll station smoothly.

[0313] For scenario 2, where the toll station has a target-type toll lane but it is currently unavailable, the intelligent driving system can first determine the currently available toll lanes among the multiple toll lanes mentioned above, and then select one toll lane as the target lane based on a preset strategy. Please refer to the description of the corresponding content in scenario 1 above for the preset strategy; it will not be repeated here.

[0314] As another example, the target lane is determined from multiple toll lanes at the toll station based on lane selection settings and road detection information, including: when the target type indicated by the lane selection settings is automatic, the intelligent driving system determines the preferred type of the target lane based on whether the vehicle is equipped with ETC and the current status of ETC; and the target lane is determined from multiple toll lanes at the toll station based on the preferred type of the target lane and road-level detection information.

[0315] For example, the intelligent driving system determines the preferred type of the target lane based on whether the vehicle is equipped with ETC and the current status of the ETC, including: if the vehicle is equipped with ETC and the ETC is available, the preferred type of the target lane is determined to be an ETC lane; if the vehicle is not equipped with ETC or the vehicle's ETC is unavailable, the preferred type of the target lane is determined to be a manual lane. Here, "ETC is available" can mean that the ETC is activated and there are no outstanding fees.

[0316] It is understandable that the preferred type of the target lane is only one of the preferred types when the intelligent driving system makes a lane selection decision. If the actual toll lane situation reflected by the road detection information is the same as the expected situation, for example, if the preferred type of the target lane is a manual lane, and the toll station has established a manual lane and the manual lane is available, then the actual type of the target lane selected by the intelligent driving system based on the preset strategy may be the same as the preferred type of the target lane. If the actual toll lane situation reflected by the road detection information is different from the expected situation, for example, if the preferred type of the target lane is a manual lane, but in reality the toll station has not established a manual lane, or the toll station has established a manual lane but the manual lane is currently unavailable, then the actual type of the target lane selected by the intelligent driving system based on the above preset strategy will be different from the preferred type of the target lane.

[0317] S603: Instruct vehicles to travel in the target lane, depending on the type of the target lane.

[0318] In one implementation, the intelligent driving system controls the vehicle indirectly, by instructing the vehicle's control system to move the vehicle from the target lane. Correspondingly, in response to the instructions of the intelligent driving system, the vehicle control system controls the vehicle to move from the target lane.

[0319] In one implementation, when the vehicle is at a first distance from the toll station, the intelligent driving system can also instruct the vehicle to display first intelligent driving information, which serves as a warning of approaching the target lane. Here, the first distance can be a factory default setting or a setting based on developer experience. The intelligent driving system indirectly controls the display of the first intelligent driving information; it can instruct the vehicle's infotainment system to display it, which in turn displays the information via a display device, such as a navigation interface. Similarly, the intelligent driving system also indirectly controls the display of the following information: second intelligent driving information, third intelligent driving information, toll station information, etc.

[0320] For example, the distance between a vehicle and a toll station refers to the longitudinal distance between the vehicle's location and the toll station's location. Longitudinal distance refers to the direction extending along the road, which is also the vehicle's direction of travel. For example, the location of the toll station can be the coordinates of the toll station sign, the starting point of the toll plaza, the toll booth, or the toll island. In some solutions, the toll station's location can be the location information recorded in a map navigation system. The toll station's location can be derived from the toll station's map information.

[0321] For example, when the target lane is an ETC lane, the First Intelligent Driving Information display can be as follows: Figure 7A As shown. Figure 7A This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application. Figure 7A The displayed interface (e.g., a navigation interface) can be a human-computer interaction interface. Figure 7A In some systems, when a vehicle is about to enter the ETC lane, the vehicle's infotainment system displays the first intelligent driving information on the display device. This information serves as a notification that the vehicle is about to enter the ETC lane. Figure 7A The displayed interface also shows intelligent driving guidance lines, which can be represented by gray stripes, for example. These lines indicate a driving trajectory planned by the intelligent driving system. In some solutions, intelligent driving guidance lines may also be indicated by other styles, such as solid lines with arrows.

[0322] For example, when the target lane is a manual lane, the display of the first intelligent driving information can be as follows: Figure 7B As shown. Figure 7B This is a schematic diagram of intelligent driving prompts on a display interface provided in an embodiment of this application. Figure 7B The displayed interface can be a human-computer interaction interface. Figure 7B When a vehicle is at the first distance from the toll station, the first intelligent driving information is displayed, which is used to indicate that it is about to enter the manual lane. Figure 7B The displayed interface also shows intelligent driving guidance lines, toll booths, etc.

[0323] Figure 7A as well as Figure 7B This is merely an example of how primary intelligent driving information is displayed on the interface for different target lane types; the display interface could be a map navigation interface. In some solutions, Figure 7A or Figure 7B The interface shown can also display more or less information than currently available, such as adding information like the remaining distance of the vehicle from the toll station and the vehicle's current speed.

[0324] In one implementation, depending on the type of the target lane, the system instructs the vehicle to proceed through the target lane. This includes: when the target lane is a manual lane, and the vehicle is at a second distance from the toll station, displaying second intelligent driving information to confirm whether to take over the vehicle; if no takeover instruction is received, instructing the vehicle to enter the target lane and stop at the target location, which is the manual toll payment location. Here, the second distance is less than the first distance. That is, when the target lane is a manual lane, as the distance between the vehicle and the toll station decreases from the first distance to the second distance, the intelligent driving system displays second intelligent driving information to proactively inquire whether the user wants to take over the vehicle, optimizing the user's takeover preparation and the continuity of the switching operation, achieving a two-level prompt based on the first intelligent driving information. Even if the user does not take over the vehicle, the intelligent driving system can still instruct the vehicle to proceed to the manual toll payment location in the target lane.

[0325] For example, the above implementation can be applied to L2 level intelligent driving systems, allowing users to participate in the intelligent driving process, increasing users' awareness of the vehicle's intelligent driving behavior, providing clear behavioral guidance, and helping to improve human-machine collaboration.

[0326] For example, within a preset time range from the start of displaying the second intelligent driving information, if the intelligent driving system receives feedback from the user confirming that they will not take over the vehicle, the intelligent driving system can determine that no takeover instruction has been received. Alternatively, if the intelligent driving system has not received feedback from the user since the start of displaying the second intelligent driving information and for a preset time period, the intelligent driving system determines that no takeover instruction has been received.

[0327] The above-mentioned display of the second intelligent driving information can be found in [reference]. Figure 8 As shown. Figure 8 This is a schematic diagram illustrating intelligent driving prompts on a display interface, as provided in an embodiment of this application. Figure 8 The displayed interface (e.g., a navigation interface) can be a human-computer interaction interface. Figure 8 In the current scenario, the target lane where the vehicle is located is a manual lane. When the vehicle is at the second distance from the toll booth, the vehicle system displays the second intelligent driving information through the display device. The second intelligent driving information is displayed in the form of a pop-up window. In addition to the text prompt "Do you want to take over driving to the toll booth?", the pop-up window also has two function buttons "Yes" and "No", which allow the user to give feedback on the second intelligent driving information. If no feedback is received from the user within a certain period of time, the second intelligent driving information will no longer be displayed.

[0328] Depend on Figure 8 It can also be seen that while the vehicle's infotainment system displays the second intelligent driving information, it also displays the vehicle's intelligent driving guidance lines (such as those represented by gray stripes), toll booths, etc. Figure 8This is just one example of how secondary intelligent driving information is displayed on the display interface. In some solutions, the display interface for secondary intelligent driving information may also show more or less information than currently displayed.

[0329] In some possible embodiments, the intelligent driving system may also instruct the display of first intelligent driving information and / or second intelligent driving information in at least one of the following ways:

[0330] Voice broadcast;

[0331] Alarm sound effects play; and,

[0332] The indicator light is flashing.

[0333] For example, as a vehicle approaches a toll station, at least one of the following can be increased: the frequency of the voice announcement, the level of the alarm sound effect, and the flashing frequency of the indicator light. Here, the level of the alarm sound effect indicates the urgency of the alarm sound; the higher the level of the alarm sound effect, the greater the urgency of the alarm sound effect.

[0334] For example, when the target lane is an ETC lane, in concise prompt mode, when the vehicle is at the first distance from the toll station, the intelligent driving system can only instruct the vehicle to display the first intelligent driving information and / or indicate the display duration of the first intelligent driving information. In detailed prompt mode, when the vehicle is at the first distance from the toll station, in addition to instructing the vehicle to display the first intelligent driving information and / or indicating the display duration of the first intelligent driving information, the intelligent driving system can also instruct the vehicle to verbally announce the first intelligent driving information and / or play a warning sound effect. The warning sound effect level can be, for example, the first level as described below. Here, whether the prompt mode is concise or detailed can be the system's default setting or a setting entered by the user.

[0335] For example, when the target lane is a manual lane, in the concise prompt mode, when the vehicle is at the first distance from the toll station, the intelligent driving system can instruct the vehicle to display only the first intelligent driving information, and / or instruct the display duration of the first intelligent driving information; when the vehicle is at the second distance from the toll station, and the second distance is less than the first distance, the intelligent driving system can instruct the vehicle to display the second intelligent driving information, and / or instruct the display duration of the second intelligent driving information.

[0336] For example, when the target lane is a manual lane, in detailed prompt mode, when the vehicle is at a first distance from the toll station, the intelligent driving system can, in addition to instructing the vehicle to display the first intelligent driving information and / or indicating the display duration of the first intelligent driving information, also instruct the vehicle to voice-announce the first intelligent driving information and / or play the first-level warning sound effect; when the vehicle is at a second distance from the toll station, the second distance is less than the first distance, the intelligent driving system can, in addition to instructing the vehicle to display the second intelligent driving information and / or indicating the display duration of the second intelligent driving information, also instruct the vehicle to voice-announce the second intelligent driving information and / or play the second-level warning sound effect, where the second level is higher than the first level. Here, the playback of the warning sound effect can continue until the gate of the target lane opens.

[0337] In other words, the intelligent driving system instructs the vehicle's infotainment system to provide prompts to the user not only through visual cues, but also through at least one of auditory and tactile cues. Visual cues include one or more of interface prompts and lighting cues. Interface prompts include one or more of text prompts, graphic prompts, interface color prompts, or interface brightness prompts. Lighting cues include one or more of light brightness prompts, flashing prompts, or light illumination color prompts. Auditory cues include voice announcements and / or alarm sound effects. Tactile cues include vibration prompts and / or pressure application.

[0338] The above implementation method achieves differentiation between intelligent driving prompts in ETC lanes and manual lanes. The intelligent driving system provides more diverse and richer intelligent driving prompts in manual lanes. It can also implement graded prompts based on the distance between the vehicle and the toll station, allowing users to perceive the intelligent driving behavior of their own vehicle from multiple dimensions such as vision, hearing and touch.

[0339] As an example, the intelligent driving system instructs the vehicle to enter the target lane and stop at the target location, including: the intelligent driving system planning a first driving trajectory based on the vehicle's location information and the location information of the toll booth (i.e., the toll booth) in the target lane; and instructing the vehicle to decelerate and stop along the first driving trajectory to the target location.

[0340] In some possible embodiments, when the first driving trajectory is displayed on the interface, it may be closer to the center line of the lane than the toll booth, and / or the target position under the first driving trajectory may be slightly larger than the toll booth. If the user is not satisfied with the current lateral and / or longitudinal control of the vehicle by the intelligent driving system, in this case, the user can intervene with the vehicle's steering wheel and / or braking structure to adjust the first driving trajectory, thereby adjusting the target position. In this application scenario, the intelligent driving system is not disengaged; the vehicle is in a human-machine co-driving state and can be controlled simultaneously by both the intelligent driving system and the user.

[0341] As an example, during the process of the vehicle braking to a stop, the intelligent driving system can also receive control information from the user, which is used to instruct the vehicle to perform lateral control and / or longitudinal control; the above-mentioned instruction for the vehicle to enter the target lane and brake to the target position includes: instructing the vehicle to enter the target lane and brake to the target position in conjunction with the user's control information.

[0342] For example, the intelligent driving system, incorporating user control information, instructs the vehicle to enter the target lane and brake to the target location, including: planning a first driving trajectory based on the vehicle's environmental perception information; obtaining a second driving trajectory based on the user's control information; fusing the first and second driving trajectories to obtain a third driving trajectory; and instructing the vehicle to decelerate and brake to the target location along the third driving trajectory. In other words, the second driving trajectory is a trajectory generated by the current user intervention, reflecting the user's control over the vehicle's driving trajectory. The third driving trajectory is a fused trajectory obtained based on the first driving trajectory provided by the intelligent driving system and the second driving trajectory obtained through user intervention.

[0343] With user intervention in the lateral and / or longitudinal control of the vehicle, the third driving trajectory deviates further from the center line of the lane and is closer to the toll booth than the first driving trajectory. This makes it easier for users to interact with the toll booth from inside the vehicle, complete manual payment more quickly, and improves the efficiency of vehicle traffic.

[0344] As an example, following lateral control indicated by the user's control information, the lateral displacement of the vehicle is less than a first threshold; and / or, following longitudinal control indicated by the user's control information, the longitudinal displacement of the vehicle is less than a second threshold. Here, the first and second thresholds can be set based on experience. Here, longitudinal refers to the direction along the road centerline or the length direction of the road, while lateral refers to the direction perpendicular to the road centerline, i.e., the width direction of the road. In road engineering and related fields, longitudinal and lateral are commonly used terms to describe the different directional characteristics of a road.

[0345] For example, lateral displacement of a vehicle refers to the lateral deviation of the vehicle relative to the center line of the lane or the aforementioned first driving trajectory, while longitudinal displacement of a vehicle refers to the longitudinal deviation of the vehicle relative to the center line of the lane or the aforementioned first driving trajectory.

[0346] In some solutions, if the lateral displacement of the vehicle is greater than or equal to a first threshold, or the longitudinal displacement of the vehicle is greater than or equal to a second threshold, as indicated by the user's control information for lateral and / or longitudinal control, the intelligent driving system may not respond to the user's control information, i.e., it may continue to instruct the vehicle to decelerate and stop along the first driving trajectory. Alternatively, the intelligent driving system may respond to the user's control information to a lesser extent, for example, by adjusting the first driving trajectory to obtain a fourth driving trajectory and instructing the vehicle to decelerate and stop along the fourth driving trajectory, wherein the lateral displacement between the fourth driving trajectory and the first driving trajectory is less than the first threshold and the longitudinal displacement between the fourth driving trajectory and the first driving trajectory is less than the second threshold. Thus, when the user intervenes in the lateral and / or longitudinal control of the vehicle, fine-tuning of the vehicle's driving trajectory and target position can be achieved.

[0347] In some implementations, the intelligent driving system can also instruct the vehicle to display at least one of the following trajectories:

[0348] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0349] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0350] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0351] Thus, in the human-machine co-driving state, the display of the above-mentioned multiple driving trajectories during the vehicle's operation provides users with more transparent and intuitive driving information, helping them better understand the decisions of the intelligent driving system and the impact of their own intervention with the steering wheel on driving.

[0352] See Figure 9 , Figure 9 This is another schematic diagram illustrating intelligent driving prompts on a display interface provided in this application embodiment. Figure 9 In the diagram, a thin solid line with an arrow indicates the first driving trajectory at the current moment, a dashed line with an arrow indicates the second driving trajectory at the current moment, and a thick solid line with an arrow indicates the third driving trajectory at the current moment. The different driving trajectories are distinguished by the thickness and solidity / dashment of the lines. Figure 9 As can be seen, the third driving trajectory is the updated driving trajectory of the first driving trajectory using the second driving trajectory. Compared with the first driving trajectory, the third driving trajectory deviates further from the center line of the lane and is biased towards the toll booth in the current lane, so that users can pay manually.

[0353] here, Figure 9 This is merely one example of displaying multiple driving trajectories on a screen. In some solutions, different colors can be used to distinguish different driving trajectories, or a combination of line color, thickness, and whether the lines are solid or dashed can be used to differentiate them.

[0354] In another implementation, depending on the type of the target lane, the system instructs the vehicle to proceed through the target lane. This includes: when the target lane is a manual lane, when the vehicle is a second distance from the toll station, controlling the display of third intelligent driving information and controlling the vehicle to enter the target lane and brake to the target position. The third intelligent driving information serves to indicate that the vehicle is decelerating and braking, and the target position is a manual toll payment location. The second distance is less than the first distance. In other words, when the target lane is a manual lane, as the distance between the vehicle and the toll station decreases from the first distance to the second distance, the intelligent driving system informs the user of the vehicle's current intelligent driving behavior by indicating and / or displaying the third intelligent driving information and / or the duration of its display. This requires no user intervention and no auditory prompts from the vehicle, reducing user interference. This implementation is applicable to Level 3 and above intelligent driving systems, weakening user involvement in the driving process under intelligent driving and reducing the risk of human-machine interaction.

[0355] The above-mentioned third-party intelligent driving information can be found in [reference]. Figure 10 As shown. Figure 10 This is another schematic diagram illustrating intelligent driving prompts on a display interface provided in this application embodiment. Figure 10 The displayed interface (e.g., a navigation interface) can be a human-computer interaction interface. Figure 10 In the process, the vehicle is currently in a manual lane. When the vehicle is at the second distance from the toll booth, the vehicle system displays the third intelligent driving information through the display device. The third intelligent driving information is displayed in the form of a pop-up window, which contains the text prompt "Decelerating and stopping, the vehicle is about to reach the toll booth". The display of the third intelligent driving information can last for a certain period of time, such as 3 seconds or other durations.

[0356] Depend on Figure 10 It can also be seen that while the vehicle system displays third-party intelligent driving information through the display device, it also displays the vehicle's intelligent driving guidance lines (such as represented by gray strip shapes), toll stations, etc. Figure 10 This is just one example of how third-party intelligent driving information is displayed on the display interface. In some solutions, the display interface for third-party intelligent driving information may also show more or less information than currently displayed.

[0357] In some possible embodiments, the intelligent driving system can also obtain map information of the toll station from a cloud device, and based on the map information of the toll station, instruct the vehicle to display the toll station on the navigation interface in at least one of the following ways:

[0358] Showing the building outline of the toll station;

[0359] Displays multiple toll lanes at the toll plaza;

[0360] Displays the type of each of the multiple toll lanes;

[0361] The booth displays the manual toll lane type of toll lane;

[0362] Displays the usage status of each of the multiple toll lanes;

[0363] Display the gate corresponding to each toll lane; and

[0364] Displays the current raising / lowering status of the gate arm for each turnstile.

[0365] For map information on toll stations, please refer to the description in the relevant section of S602 above; it will not be repeated here.

[0366] It's understandable that the display of toll booths on navigation interfaces isn't a direct representation of their actual appearance, but rather a virtual one, with variations in size and proportions, or missing details. The toll booth display is based on analyzing and processing map information, transforming abstract numerical data into visual elements. Compared to the detailed architectural structure of a real toll booth, the display typically simplifies to show the building's outline, lane markings, lane type, and usage status—key features representing the facility.

[0367] For example, the display of the building outline of the toll station includes the overall shape of the toll station, the outlines of key components (such as toll islands, canopies, etc.), and the relative positional relationships between different components. Here, the toll island is the area in the toll station used to set up toll collection facilities (such as toll booths), which is generally long and narrow, parallel to the lanes in the length direction, and is used to separate different lanes.

[0368] For example, the toll lane display at the aforementioned toll plaza includes: lane lines displaying the toll lane and a sky sign for the toll lane. In some implementations, the toll lane display also includes the display of a sign for the toll lane. Please refer to the above for information on sky signs and signs. Figure 1 The descriptions of the relevant content in the embodiments will not be repeated here.

[0369] The toll lane can be a manual lane, an ETC lane, a manual / ETC lane (i.e., the aforementioned mixed lane), or other types.

[0370] For example, different colors can be used to indicate different usage states to easily distinguish the usage status of the toll lane. For instance, if the toll lane is in a closed state, a red "×" symbol can be used to mark the "closed" status on the display screen; if the toll lane is in an open state, a green "↓" symbol can be used to mark the "open" status on the display screen. The usage status of the toll lane can be displayed on the sky sign of the toll lane, and when the toll lane is in a closed state, the corresponding toll lane can be further marked as unavailable on the display screen.

[0371] In some solutions, when displaying information at toll booths, the system can also indicate the current congestion level of each toll lane and the number of vehicles queuing to pay in each lane.

[0372] For example, the display at the toll booth can be seen in [reference needed]. Figure 11 As shown, Figure 11 This is a schematic diagram illustrating the display of a toll station on a display interface, as provided in an embodiment of this application. Figure 11 The displayed interface shows the building outline of the toll station (such as the roof, toll island, etc.), the signage for each toll lane, the sky sign for each toll lane, the lane lines for each toll lane, the usage status of each toll lane, the turnstiles and gates on the toll lane, and the guard booth for the manual toll lane.

[0373] In some solutions, the display of toll booths on the navigation interface can be dynamically updated. For example, when the vehicle is far from the toll booth, the display can be simplified, such as showing only an icon or the building outline. As the vehicle approaches the toll booth, in addition to displaying the building outline, multiple toll lanes (including lane lines, signs, overhead signs, and usage status) can be further displayed. As the vehicle gets closer to the toll booth, in addition to displaying the building outline and toll lanes, the display can further show the gate corresponding to each toll lane, the current opening and closing status of each gate arm, and the booths for manual toll lanes.

[0374] For example, the above Figure 7A as well as Figure 7B The navigation interface also displays the toll station, mainly showing the building outline of the toll station, the sky sign of the toll lane, and the toll booth; Figure 8 , Figure 9 as well as Figure 10The navigation interface also displays the toll station, mainly showing the building outline, toll booth, overhead signs for the toll lanes, usage status of the toll lanes, the turnstiles corresponding to the toll lanes, and the current raising and lowering status of the turnstile arms.

[0375] In the above implementation, the intelligent driving system instructs the vehicle to display the toll station on the navigation interface, which helps to clearly present the distribution of toll lanes at the toll station, such as the number and location of at least one type of toll lane, including manual lanes, ETC lanes, and mixed lanes. Combined with the display of the intelligent driving guidance lines, users can quickly know the toll lane that the intelligent driving system has selected to pass through.

[0376] Implementation Figure 6 In this example, the intelligent driving system enables vehicles to pass through different types of toll lanes in toll station scenarios, which helps improve traffic efficiency. Furthermore, the system allows users to independently select the type of lane in the toll station scenario. The intelligent driving system can dynamically match lane interaction needs based on user settings and actual road conditions, improving the accuracy of lane selection at toll stations and further enhancing traffic efficiency.

[0377] See Figure 12 , Figure 12 This is a flowchart of a passage prompting method provided in an embodiment of this application. Figure 12 The method shown can be applied to the aforementioned intelligent driving system, which is deployed in... Figure 2 Specifically, it can be deployed on intelligent driving equipment. Figure 3 On computing platform 150 or one or more processors in computing platform 150. Figure 12 The method shown in the embodiments includes, but is not limited to, the following steps S1101-S1103.

[0378] S1101: Obtain lane selection setting information. The lane selection setting information is used to indicate the target type of the set toll lane. The target type is manual lane, ETC lane or automatic type.

[0379] S1102: Based on the lane selection settings, determine the toll lane into which the vehicle enters the toll station as the target lane. Please refer to the preceding text for steps S1101 and S1102. Figure 6 The description of the corresponding content in S602 of the embodiment will not be repeated here.

[0380] S1103: Instruct the vehicle to provide intelligent driving prompts while it is traveling in the target lane.

[0381] In one implementation, the intelligent driving system's control of intelligent driving prompts is also an indirect control. The intelligent driving system can provide intelligent driving prompts by instructing the vehicle's infotainment system, which in turn provides intelligent driving prompts through at least one of the following: a display device, a speaker, status lights, and a vibration sensor.

[0382] In one implementation, instructing the vehicle to provide intelligent driving prompts includes: when the vehicle is at a first distance from the toll station, controlling the display of first intelligent driving information, wherein the first intelligent driving information is used to indicate that the vehicle is about to enter the target lane. This implementation is similar to the one described above. Figure 7A or Figure 7B The described embodiments are also available for reference. Figure 6 The description of the corresponding content in S603 of the embodiment will not be repeated here.

[0383] In another implementation, instructing the vehicle to provide intelligent driving prompts further includes: when the target lane is a manual lane, and the vehicle is at a second distance from the toll station, displaying second intelligent driving information to confirm whether to take over the vehicle, wherein the second distance is less than the first distance. This implementation is similar to the one described above. Figure 8 The described embodiments are also available for reference. Figure 6 The description of the corresponding content in S603 of the embodiment will not be repeated here.

[0384] Furthermore, instructing the vehicle to provide intelligent driving prompts also includes: instructing the vehicle to provide prompts for first and / or second intelligent driving information through at least one of the following methods: voice broadcast; alarm sound effect playback; and, indicator light flashing.

[0385] In one implementation, instructing the vehicle to provide intelligent driving prompts further includes: instructing the display of at least one of the following trajectories:

[0386] The first driving trajectory is the trajectory planned by the intelligent driving system to the toll booth at the toll station;

[0387] The second driving trajectory is determined based on user control information, which is used to instruct the execution of lateral and / or longitudinal control of the vehicle; and,

[0388] The third driving trajectory is the trajectory formed by merging the first and second driving trajectories.

[0389] The above implementation method is the same as the one mentioned above. Figure 9 The described embodiments are also available for reference. Figure 6 The description of the corresponding content in S603 of the embodiment will not be repeated here.

[0390] In another implementation, instructing the vehicle to provide intelligent driving prompts further includes: when the target lane is a manual lane, controlling the display of third intelligent driving information when the vehicle is at a second distance from the toll station. This third intelligent driving information is used to indicate that the vehicle is decelerating and braking to a stop, and the second distance is less than the first distance. The above implementation method is similar to the one described earlier. Figure 10 The described embodiments are also available for reference. Figure 6 The description of the corresponding content in S603 of the embodiment will not be repeated here.

[0391] For example, the third-party intelligent driving information can be continuously displayed until the vehicle comes to a stop at the target location, which is the manual payment location.

[0392] It is understandable that the above Figure 6 In embodiment S603, the intelligent driving system instructs the vehicle to display the toll station on the navigation interface based on the map information of the toll station. This also falls within the scope of the intelligent driving system instructing the vehicle to provide intelligent driving prompts.

[0393] Implementation Figure 12 In this embodiment, the intelligent driving system can not only enable vehicles to pass through different types of toll lanes in toll station scenarios, but also provide intelligent driving prompts to the vehicle during the passage process. For the same type of toll lane (e.g., manual lane), the intelligent driving prompts provided by different levels of intelligent driving systems differ. Level 2 intelligent driving systems can provide clear and explicit guidance to users using multimodal combination prompts, while Level 3 and above intelligent driving systems reduce user participation in the intelligent driving process and expand the boundaries of intelligent driving capabilities.

[0394] See Figure 13 , Figure 13 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Figure 13 In this device, the control unit 30 includes a communication unit 310 and a processing unit 312. The control unit 30 can be implemented in software or hardware.

[0395] In one implementation, the control device 30 can be the aforementioned intelligent driving system, or it can be the device where the intelligent driving system is located. When the control device 30 is the device where the intelligent driving system is located, the control device 30 can be the aforementioned... Figure 3 The computing platform 150 shown, or one or more processors in the computing platform 150.

[0396] Here, the communication unit 310 is able to obtain the aforementioned lane selection setting information, and is also able to obtain from... Figure 3The sensors in the perception system 120 shown acquire and / or process information, and the communication unit 310 can transmit the acquired information to the processing unit 312. The processing unit 312 can output corresponding instruction information to the vehicle control system (or the aforementioned control system) through the communication unit 310 to control vehicle passage; and output corresponding instruction information to the vehicle infotainment system to control at least one of the visual, auditory, and tactile cues of the vehicle infotainment system. In other words, the communication unit 310 provides information input and / or output to the processing unit 312.

[0397] As an example, processing unit 312 is used to perform the following operations: activating at a first moment; determining the toll lane into which the vehicle enters the toll station as the target lane, and instructing the vehicle to pass through the target lane according to its type. Here, the toll lane type includes manual lanes and ETC lanes. In this case, control device 30 can be used to perform... Figure 6 The method described in the embodiments. Figure 6 In this embodiment, the processing unit 312 can be used to execute S601-S603.

[0398] As another example, the communication unit 310 is used to acquire lane selection setting information; the processing unit 312 is used to determine the toll lane into which the vehicle enters the toll station as the target lane based on the lane selection setting information, and to instruct the vehicle to provide intelligent driving prompts while the vehicle is passing through the target lane. The lane selection setting information indicates the target type of the toll lane, which can be a manual lane, an ETC lane, or an automatic lane. In this case, the control device 30 can be used to execute... Figure 12 The method described in the embodiments. Figure 12 In this embodiment, the communication unit 310 can be used to execute S1101, and the processing unit 312 can be used to execute S1102 and S1102.

[0399] In another implementation, the control device 30 can be the aforementioned vehicle infotainment system, or it can be the device where the vehicle infotainment system is located. When the control device 30 is the device where the vehicle infotainment system is located, the control device 30 can be the aforementioned... Figure 3 The computing platform 150 shown, or one or more processors within the computing platform 150. In this case, the control device 30 further includes a display unit 314, which is used to display the vehicle infotainment interface or a projected interface. The control device 30 is used to implement the aforementioned display method on the vehicle infotainment system side.

[0400] For example, the display unit 314 is used to display the toll station lane selection interface, which includes multiple touch components. One touch component is used to indicate a type of toll lane. The types indicated by the multiple touch components include manual lanes and ETC lanes, or include manual lanes, ETC lanes, and automatic types. The processing unit 312 is used to generate lane selection setting information in response to user input settings and to instruct the storage of lane selection setting information. The lane selection setting information is used to indicate the target type of the set toll lane. The lane selection setting information is used by the intelligent driving system to determine that the toll lane into which the vehicle enters the toll station is the target lane.

[0401] It should be understood that the division of the units in the control device 30 described above is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits. For a description of the processor, please refer to the foregoing. Figure 3 The descriptions of the relevant content in the embodiments will not be repeated here.

[0402] As can be seen, each unit in the control device 30 above can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0403] Furthermore, the units in the control device 30 described above can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the units of the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0404] In the embodiments described above, each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant descriptions in other embodiments. Furthermore, in the embodiments of this application, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the embodiments are consistent and can be mutually referenced. Technical features from different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0405] It should be noted that those skilled in the art will recognize that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compactdisc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0406] The technical solution of this application, in essence, or the part that makes the contribution, or all or part of the technical solution, can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes several instructions to cause a device (which may be a personal computer, server, network device, robot, microcontroller, chip, robot, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

Claims

1. A traffic control method applied to an intelligent driving system, characterized in that, The method includes: Start immediately; The toll lane into which the vehicle enters the toll station is identified as the target lane. The toll lane type includes manual lanes and electronic toll collection (ETC) lanes. Based on the type of the target lane, the vehicle is instructed to proceed through the target lane. The step of instructing the vehicle to travel from the target lane according to the type of the target lane includes: When the target lane is a manual lane, and the vehicle is at a second distance from the toll station, the system displays second intelligent driving information to confirm whether to take over the vehicle. Without receiving instructions to take over, the vehicle is instructed to enter the target lane and stop at the target location, which is the manual payment location.

2. The method according to claim 1, characterized in that, The method further includes: Obtain lane selection setting information, which is used to indicate the target type of the set toll lane, wherein the target type is a manual lane, an ETC lane, or an automatic type; The determination of the toll lane into which the vehicle enters the toll station as the target lane includes: Based on the lane selection settings information, the toll lane into which the vehicle enters the toll station is determined as the target lane.

3. The method according to claim 2, characterized in that, The acquisition of the lane selection setting information includes: The lane selection settings are determined based on settings input by the user or system default settings.

4. The method according to claim 2 or 3, characterized in that, The method further includes: Obtain road detection information, which includes the identification information of multiple toll lanes at the toll station, the type of each toll lane, and the current usage status of each toll lane; The step of determining the toll lane into which the vehicle enters the toll station as the target lane based on the lane selection setting information includes: The target lane is determined from the plurality of toll lanes based on the lane selection settings information and the road detection information.

5. The method according to claim 4, characterized in that, The road detection information comes from cloud devices and / or from the detection results of the vehicle's sensors.

6. The method according to claim 4, characterized in that, Determining the target lane from the plurality of toll lanes based on the lane selection setting information and the road detection information includes: If the target type indicated by the lane selection setting information is automatic, and it is determined that the vehicle is not equipped with ETC or the vehicle's equipped ETC is unavailable, the preferred type of the target lane is determined to be manual lane; or, if it is determined that the vehicle's equipped ETC is available, the preferred type of the target lane is determined to be ETC lane. The target lane is determined from the plurality of toll lanes based on the preferred type of the target lane and the road detection information.

7. The method according to any one of claims 1-3, characterized in that, The method further includes: When the vehicle is at a first distance from the toll station, the system displays first intelligent driving information, which is used to indicate that the vehicle is about to enter the target lane.

8. The method according to any one of claims 1-3, characterized in that, The method further includes: During the process of the vehicle coming to a stop, control information is received from the user, which is used to instruct the vehicle to perform lateral control and / or longitudinal control. The instruction to the vehicle to enter the target lane and stop at the target position includes: Based on the user's control information, instruct the vehicle to enter the target lane and brake to a stop at the target location.

9. The method according to claim 8, characterized in that, The lateral displacement of the vehicle caused by the lateral control is less than a first threshold, and / or the longitudinal displacement of the vehicle caused by the longitudinal control is less than a second threshold.

10. The method according to claim 8, characterized in that, The method further includes: instructing the display of first intelligent driving information and / or second intelligent driving information in at least one of the following ways, wherein the first intelligent driving information is used to indicate that entry into the target lane is imminent: Voice broadcast; Alarm sound effects play; and, The indicator light is flashing.

11. The method according to claim 7, characterized in that, The step of instructing the vehicle to travel from the target lane according to the type of the target lane includes: When the target lane is a manual lane, and the vehicle is at a second distance from the toll station, the system displays third intelligent driving information and instructs the vehicle to enter the target lane and stop at the target location. The third intelligent driving information is used to indicate that the vehicle is decelerating and stopping. The target location is a manual payment location, and the second distance is less than the first distance.

12. The method according to any one of claims 1-3, characterized in that, The method further includes: Obtain map information of the toll station from cloud devices; Based on the map information of the toll station, the toll station is displayed on the navigation interface in at least one of the following ways; The building outline of the toll station is shown; Displays multiple toll lanes at the toll station; Displays the type of each of the plurality of toll lanes; The booth displays the manual toll lane type of toll lane; Displays the usage status of each of the multiple toll lanes; Display the gate corresponding to each toll lane; and Displays the current raising / lowering status of the gate arm for each turnstile.

13. A control device, characterized in that, The control device includes a processing unit and a communication unit, and the control device is used to implement the method as described in any one of claims 1-12.

14. A control device, characterized in that, The device includes at least one processor and an interface circuit, the processor being configured to perform instruction and / or data interaction via the interface circuit, causing the control device to perform the method as described in any one of claims 1-12.

15. A vehicle, characterized in that, The vehicle includes the control device as described in claim 13 or 14.

16. A computer-readable storage medium containing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method as described in any one of claims 1-12.

17. A computer program product containing instructions, characterized in that, When the instructions are executed by the computing device, the computing device performs the method as described in any one of claims 1-12.

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