Charging channel selection method and selection device

Abstract

The embodiment of the invention provides a charging channel selection method and device, and the method comprises the steps: recognizing a target charging channel of which the passing time is shorter than the passing time of a current charging channel under the condition that a vehicle queues for payment at the current charging channel; detecting whether the vehicle meets a preset channel replacement condition according to the current position of the target charging channel; and when it is detected that the preset channel replacement condition is met, the vehicle is controlled to change the lane to the target charging channel so as to carry out queuing payment. Therefore, according to the method, after the vehicle enters the charging channel and queues, the target charging channel with shorter passing time is continuously identified, and when a certain channel changing condition is met, the vehicle is changed to the target charging channel for queuing payment, so that the vehicle passing time is effectively shortened, the traffic throughput of a traffic system is improved, the method is more intelligent and reliable, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a toll lane selection method, a toll lane selection device, an electronic device, a computer-readable storage medium, and a vehicle. Background Technology

[0002] In road traffic tolling scenarios, vehicle traffic efficiency is directly related to the rational selection of toll lanes.

[0003] In related technologies, after a toll lane has been selected, the lane with the shortest queue is selected as the best alternative toll lane for the vehicle, and the position of the vehicle entering the best alternative toll lane is calculated so that the vehicle can change lanes.

[0004] However, this method only focuses on the static instantaneous information of the shortest queue in the toll lane, without considering other key dynamic factors that affect traffic efficiency. This leads to one-sided decision-making, with problems such as decisions deviating from the actual traffic efficiency target, lane-changing behavior exacerbating congestion, and inability to adapt to the needs of dynamic traffic scenarios. As a result, the user experience is not good and urgently needs to be addressed. Summary of the Invention

[0005] This application provides a toll lane selection method, a toll lane selection device, an electronic device, a computer-readable storage medium, and a vehicle, aiming to improve the technical problem in related technologies where lane-changing decisions deviate from actual traffic efficiency targets, thereby shortening vehicle travel time, increasing traffic system throughput, and improving passenger comfort and driving safety.

[0006] The first aspect of this application provides a toll lane selection method, including the following steps: when a vehicle is queuing to pay in the current toll lane, identifying a target toll lane whose passage time is less than that of the current toll lane; detecting whether the vehicle meets preset lane changing conditions based on the current position of the target toll lane; and if the preset lane changing conditions are met, controlling the vehicle to change lanes to the target toll lane to queue for payment.

[0007] According to the toll lane selection method in this application embodiment, when a vehicle is queuing to pay in the current toll lane, once a target toll lane with a shorter travel time is identified, the system further detects whether the vehicle meets certain lane-changing conditions. If the vehicle meets the lane-changing conditions, it effectively controls the vehicle to change lanes to the target toll lane, so as to achieve queuing and payment in a shorter travel time. This effectively shortens the vehicle's travel time, increases the throughput of the traffic system, is more intelligent and reliable, effectively meets the user's needs, improves the user experience, and enhances passenger comfort and driving safety.

[0008] In addition, the toll lane selection method according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, detecting whether a vehicle meets preset lane changing conditions based on the current position of the target toll lane includes: obtaining the number of lanes crossed between the current toll lane and the target toll lane based on the current position; generating a lane changing planning trajectory for the vehicle if the number of lanes crossed is less than the preset number of lanes crossed; detecting whether the vehicle meets preset lane changing conditions based on the lane changing planning trajectory; and determining that the vehicle meets preset lane changing conditions if the vehicle meets preset lane changing conditions.

[0009] Through the aforementioned technical means, the embodiments of this application can provide a decision-making basis for subsequent lane-changing operations, improve the accuracy of lane-changing decisions, and add a dual verification step of lane-changing planning trajectory and detection of preset lane-changing conditions. Only when both criteria are met is it determined that the lane-changing conditions are satisfied. Logically, this reduces the risks of collisions and congestion caused by blind lane changes, conforms to road traffic rules, reduces the risk of multi-lane lane-changing accidents, focuses on the specific scenario of toll lane changing, and specifically solves the lane switching needs in densely trafficked areas such as highways and toll stations. By pre-screening scenarios with fewer lanes crossed, it prioritizes planning low-complexity lane changes, which can not only help vehicles quickly match the target toll lane, but also reduce the impact of lane-changing hesitation or operational errors on the traffic order of toll stations, ensure traffic order compliance, and improve the efficiency of adapting to toll scenarios.

[0010] According to one embodiment of this application, identifying a target toll lane whose travel time is less than that of the current toll lane includes: calculating the actual distance between the vehicle and the toll window; and, if the actual distance is greater than a preset lane-changing distance, entering a lane selection mode to calculate the travel time of each toll lane and determine the target toll lane.

[0011] Through the aforementioned technical means, this application embodiment can filter out channels with a shorter passage time than the current toll lane and identify them as switchable target toll lanes. This avoids vehicle congestion caused by initial lane congestion, reduces the passage time of individual vehicles, and improves the overall vehicle flow rate in the toll area, alleviating congestion and improving overall traffic efficiency. Furthermore, it can dynamically filter out channels with shorter passage times, guiding vehicles to idle or low-load channels, making the traffic flow distribution of each toll lane more balanced, making full use of the capacity of each channel, avoiding idle channel resources, and improving the resource utilization rate of the overall toll system.

[0012] According to one embodiment of this application, calculating the passage time of each toll lane includes: detecting at least one of the number of vehicles queuing and the queue length of each toll lane, and obtaining the lane type of each toll lane; determining the passage time of each toll lane based on the lane type and at least one of the number of vehicles queuing and the queue length.

[0013] Through the above-mentioned technical means, the embodiments of this application can realize differentiated and accurate calculation of the passage time of different channels, providing a reliable basis for subsequent channel replacement decisions. Based on accurate passage time and reliable replacement decisions, channel resource allocation can be further optimized, vehicle queuing and congestion can be reduced, necessary channel types can be reasonably retained during off-peak traffic, resource waste can be avoided, and ultimately the overall vehicle passage time can be shortened, user experience can be improved, and the operation and management costs of toll stations can be reduced.

[0014] According to one embodiment of this application, the toll lane selection method further includes: detecting whether the current toll lane is invalid; if the current toll lane is detected to be invalid, identifying the toll lane with the shortest passage time from the valid toll lanes other than the current toll lane, and controlling the vehicle to change lanes to the toll lane with the shortest passage time.

[0015] Through the aforementioned technical means, the embodiments of this application can ensure the smooth progress of the subsequent payment process, avoiding the predicament of vehicles being unable to pay and being stuck in a waiting state due to lane failure. From a mechanism perspective, it ensures that the subsequent payment process is not interrupted and maintains the overall stability of the lane operation. When a lane fails, instead of randomly selecting a backup lane, it prioritizes identifying the non-failed lane with the shortest passage time, which can minimize the waiting time after a vehicle changes lanes. This not only improves the passage efficiency of individual vehicles but also indirectly alleviates the congestion pressure of the entire toll collection scenario. The handling method is more intelligent and can handle sudden situations at any time. For vehicle users, there is no need to manually observe and judge the passage status of other lanes, reducing the user's decision-making cost and operational burden, avoiding time waste or operational errors caused by improper manual lane selection, and improving the smoothness of the payment process.

[0016] According to one embodiment of this application, the toll lane selection method further includes: if there is no expiring toll lane, issuing a driver takeover prompt.

[0017] Through the aforementioned technical means, the embodiments of this application can avoid the risk of vehicles becoming uncontrollable due to the lack of available toll lanes. If the driver is not prompted to take over, the vehicle may blindly stay in the toll area, attempt invalid passage, or deviate from the route. The takeover prompt can hand over the decision-making power to the human, avoiding safety hazards such as collisions with toll facilities and traffic congestion. At the same time, it covers the extreme but critical scenario of all toll lanes failing, making up for the functional limitations of relying solely on the vehicle to automatically identify available lanes, improving the overall functional integrity, and following the logic of autonomous driving as an auxiliary and human takeover as a supplement. The prompt is only triggered when the vehicle has no available lanes, which neither redundantly interferes with the driver nor delays decision-making, thus balancing the boundaries between automation and human intervention.

[0018] A second aspect of this application provides a toll lane selection device, comprising: an identification module, configured to identify a target toll lane whose passage time is shorter than that of the current toll lane when a vehicle is queuing to pay toll in the current toll lane; a detection module, configured to detect whether the vehicle meets preset lane changing conditions based on the current position of the target toll lane; and a control module, configured to control the vehicle to change lanes to the target toll lane for queuing to pay toll when the preset lane changing conditions are detected.

[0019] According to the toll lane selection device of this application embodiment, when a vehicle is queuing to pay in the current toll lane, the identification module identifies a target toll lane with a shorter travel time than the current toll lane. The detection module detects whether the vehicle meets preset lane-changing conditions based on its current position in the target toll lane. If the control module detects that the preset lane-changing conditions are met, it controls the vehicle to change lanes to the target toll lane for queuing and payment. Therefore, when a vehicle is queuing to pay in the current toll lane, once a target toll lane with a shorter travel time is identified, the device further detects whether the vehicle meets certain lane-changing conditions. If the conditions are met, the device effectively controls the vehicle to change lanes to the target toll lane, enabling queuing and payment in a shorter time. This effectively shortens vehicle travel time, increases traffic system throughput, is more intelligent and reliable, effectively meets user needs, improves user experience, and enhances passenger comfort and driving safety.

[0020] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described toll lane selection method.

[0021] The electronic device according to the embodiments of this application can implement the above-mentioned toll lane selection method when the processor executes a computer program. Based on the above-mentioned toll lane selection method, the vehicle travel time is shortened, the traffic system throughput is increased, it is more intelligent and reliable, and the user experience is improved.

[0022] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described toll lane selection method.

[0023] According to embodiments of this application, a computer-readable storage medium storing a computer program thereon implements the above-described toll lane selection method when executed by a processor. Based on the above-described toll lane selection method, vehicle travel time is shortened, traffic system throughput is increased, the system is more intelligent and reliable, and the user experience is improved.

[0024] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the above-described toll collection channel selection method.

[0025] According to the computer program product of the embodiments of this application, when the computer program is executed, it implements the above-mentioned toll lane selection method. Based on the above-mentioned toll lane selection method, the vehicle travel time is shortened, the traffic system throughput is increased, it is more intelligent and reliable, and the user experience is improved.

[0026] A fifth aspect of this application provides a vehicle including a toll lane selection device, or an electronic device, or a computer-readable storage medium.

[0027] The vehicle according to the embodiments of this application is equipped with a corresponding toll lane selection device, or electronic device, or computer-readable storage medium, which can realize the above-mentioned toll lane selection method. Based on the above-mentioned toll lane selection method, the vehicle travel time is shortened, the traffic system throughput is increased, and the system is more intelligent and reliable, thereby improving the user experience. Attached Figure Description

[0028] Figure 1 This is a flowchart of a toll lane selection method provided in some embodiments of this application; Figure 2 is a schematic diagram of vehicle queuing situations at different toll lanes in some embodiments of this application; Figure 3 This is a flowchart of a toll lane selection method provided in some specific embodiments of this application; Figure 4 This is a block diagram of a toll lane selection device provided in some embodiments of this application; Figure 5 This is a block diagram of an electronic device provided in some embodiments of this application. Detailed Implementation

[0029] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0030] The toll lane selection method of this application embodiment will be described in detail below with reference to the accompanying drawings.

[0031] Please refer to Figure 1 The toll lane selection method provided in this application includes the following steps: S1: When a vehicle is queuing to pay in the current toll lane, identify the target toll lane whose passage time is shorter than that of the current toll lane.

[0032] Specifically, once a vehicle has calculated the shortest travel time and is queuing to pay at a toll lane, the system calculates the complete travel time of all other or adjacent toll lanes in real time. It then compares the travel time of these other lanes with the real-time travel time of the vehicle's current lane to accurately identify the target toll lane with the shortest travel time, ensuring a significant reduction in total time after switching. The complete travel time includes the queuing time of vehicles ahead and the vehicle's own payment processing time. This mechanism not only helps individual vehicles avoid unnecessary waiting but also guides vehicles to efficient lanes, balancing traffic density across lanes and preventing some lanes from becoming congested while others remain idle. This improves the overall traffic efficiency of the entire toll collection scenario (such as highway toll stations and parking lot exits). The core prerequisite is the real-time acquisition of data such as the number of vehicles queuing at each lane, average payment efficiency, and lane opening status to ensure the accuracy and operability of the identification results.

[0033] Compared to related technologies that select the shortest queue in a toll lane as the best alternative toll lane for vehicles, this application's embodiment selects the toll lane with a shorter travel time as the target toll lane. This avoids the pitfall of "short queues leading to low efficiency," improves vehicle throughput, optimizes overall traffic flow distribution, reduces waiting expectation deviations, lowers user anxiety, and enhances user experience. By dynamically predicting the actual throughput of each lane through algorithms, it essentially upgrades from single-indicator judgment to multi-factor intelligent decision-making, reflecting the intelligent leap of traffic management from experience-driven to data-driven, and achieving dynamic balance and self-optimization of global traffic flow.

[0034] S2 detects whether the vehicle meets the preset lane change conditions based on the current location of the target toll lane.

[0035] Specifically, the core of detecting whether a vehicle meets the preset lane switching conditions based on the current location of the target toll lane is to make a comprehensive judgment by combining the real-time spatial location information of the target toll lane with multiple key factors.

[0036] For example, first, determine the lateral distance between the target toll lane and the vehicle's current toll lane, as well as the front and back positions of the longitudinal queue. Simultaneously, obtain real-time information on the lane line type (such as solid or dashed lines), the presence of construction barriers or obstacles, and other road environment information. Then, combine this with the vehicle's current speed, remaining queue distance, minimum safe distance required for lane changing, and the movement trend of the target toll lane queue (such as whether it is stationary or moving slowly). By comparing this with preset lane change judgment criteria (including lane conditions that allow lane changes, safe distance thresholds, and maximum time limits for lane changes), the system automatically verifies whether the vehicle can safely and efficiently change lanes and enter the target toll lane queue without affecting the normal passage of other vehicles or violating traffic rules. This accurately determines whether the vehicle meets all the requirements for lane changing.

[0037] In addition, the preset channel replacement conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0038] Compared to related technologies that do not consider the conditions for vehicles to change lanes, the embodiments of this application can detect whether a vehicle meets the preset lane changing conditions based on the current location of the target toll lane. This can break the fixed allocation restrictions, improve the flexibility of lane allocation, optimize the overall traffic efficiency, and enhance the user experience and adaptability.

[0039] S3, when it detects that the preset lane changing conditions are met, controls the vehicle to change lanes to the target toll lane in order to queue for payment.

[0040] Specifically, when a vehicle passes through a comprehensive detection system combining onboard perception, road monitoring equipment, and real-time traffic data, and is confirmed to meet the preset lane-changing conditions, the vehicle lane-change control process is initiated. First, the system accurately locates the entrance area of ​​the target toll lane. Combining real-time traffic information such as the distance between the current lane and the target lane, vehicle speed, and traffic density, a safe and efficient lane-change path is planned. Simultaneously, the onboard warning system transmits the lane-change intention to surrounding vehicles to prevent collisions and other traffic accidents. During the lane-change process, the system continuously and dynamically adjusts the vehicle's steering, speed, and following distance to ensure the vehicle smoothly and safely enters the queue of the target toll lane. Then, it automatically completes the payment operation according to the toll lane's toll collection process, ultimately achieving the goal of shortening travel time and improving payment efficiency.

[0041] Therefore, in this embodiment, when a vehicle is queuing to pay in the current toll lane, once a target toll lane with a shorter travel time is identified, the system further detects whether the vehicle meets certain lane-changing conditions. If the conditions are met, the system effectively controls the vehicle to change lanes to the target toll lane, enabling queuing and payment in a shorter time. This effectively shortens vehicle travel time, increases the throughput of the traffic system, and is more intelligent and reliable. It effectively meets user needs, improves user experience, and enhances passenger comfort and driving safety.

[0042] In some embodiments of this application, detecting whether a vehicle meets preset lane changing conditions based on the current position of the target toll lane includes: obtaining the number of lanes crossed between the current toll lane and the target toll lane based on the current position; generating a lane-changing planning trajectory for the vehicle if the number of lanes crossed is less than the preset number of lanes crossed; detecting whether the vehicle meets preset lane-changing conditions based on the lane-changing planning trajectory; and determining that the vehicle meets preset lane-changing conditions if the vehicle meets preset lane-changing conditions.

[0043] Specifically, the core of detecting whether a vehicle meets the preset lane-changing conditions is to conduct two-layer verification based on the current location of the target toll lane to ensure the feasibility and safety of lane changing.

[0044] First, based on the vehicle's current location in the toll lane and the real-time location of the target toll lane, the number of lanes that need to be crossed between them is accurately calculated. This step is a prerequisite for determining whether a lane change is feasible. The number of lanes crossed directly affects the complexity and risk of the lane change. For example, adjacent lanes may only require crossing one lane, while lanes further apart may require crossing two or more lanes. When the calculated number of lanes crossed is less than the preset number, it indicates that the basic conditions for a lane change are met at the lane crossing level. At this point, a lane change planning trajectory for the vehicle to travel from the current lane to the target lane is generated. This trajectory comprehensively considers factors such as road width, lane markings (such as solid lines and guide strips), and the space margin of adjacent lanes to ensure the rationality and feasibility of the trajectory.

[0045] Then, based on the generated lane change planning trajectory, a comprehensive check is performed to determine whether the vehicle meets the preset lane change conditions. These preset conditions typically include whether the distance between vehicles in adjacent lanes is sufficient, whether the speed of surrounding vehicles allows for a safe lane change, and whether there is a risk of collision with other road users during the lane change. Only when all these conditions are met, i.e., the vehicle meets the preset lane change conditions, can it be determined that the vehicle as a whole meets the preset lane change conditions, providing a basis for subsequent lane change operations. If the number of lanes crossed exceeds the preset number, or if the number of lanes crossed meets the standard but the preset lane change conditions are not met, it will be determined that the lane change conditions are not met, thus avoiding traffic risks caused by forced lane changes.

[0046] In addition, the preset number of lanes to cross and the preset lane change conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0047] Therefore, this embodiment obtains the number of lanes crossed between the current toll lane and the target toll lane based on the current location. If the number of crossed lanes is less than the preset number of crossed lanes, a lane change planning trajectory for the vehicle is generated. The vehicle is then checked to see if it meets the preset lane change conditions based on the lane change planning trajectory. If the vehicle meets the preset lane change conditions, it is determined that the vehicle meets the preset lane change conditions, thus providing a decision-making basis for subsequent lane change operations and improving the accuracy of lane change decisions. This adds a dual verification step of lane change planning trajectory and detection of preset lane change conditions. Only when both criteria are met is the lane change condition determined to be met. Logically, this reduces the risks of collisions and congestion caused by blind lane changes. Focusing on the specific scenario of toll lane changes, this embodiment specifically addresses the lane switching needs in areas with high traffic flow such as highways and toll stations. By pre-screening scenarios with fewer crossed lanes, it prioritizes planning low-complexity lane changes, which not only helps vehicles quickly match the target toll lane but also reduces the impact of lane change hesitation or operational errors on the traffic flow order of toll stations, improving the efficiency of adapting to toll scenarios.

[0048] In some embodiments of this application, identifying a target toll lane whose travel time is less than that of the current toll lane includes: calculating the actual distance between the vehicle and the toll window; and, if the actual distance is greater than a preset lane-changing distance, entering a lane selection mode to calculate the travel time of each toll lane and determine the target toll lane.

[0049] Specifically, the core logic for identifying target toll lanes is to first determine whether the vehicle has the space to change lanes, and then select the optimal option by accurately calculating the traffic efficiency of each lane.

[0050] First, the system collects real-time data on the actual distance between the vehicle's current location and the corresponding toll booth window. This distance data is crucial for subsequent judgments, directly determining whether the vehicle has sufficient space and time to change lanes and enter the target lane to queue, avoiding rushed or impossible lane-changing operations due to insufficient distance. Only when the calculated actual distance is greater than the preset lane-changing distance does it mean the vehicle has sufficient buffer space for lane changing, at which point it officially enters lane selection mode. If the actual distance is less than or equal to the preset lane-changing distance, it indicates the vehicle is too close to the toll booth window, making lane-changing a high-risk and pointless operation, and the vehicle will remain in the current lane. After entering lane selection mode, roadside sensors, cameras, and other equipment collect real-time data on all toll booths, including the number of vehicles currently queuing in each booth, the distance between the vehicle in front and the toll booth window, and the average payment time for passing vehicles. Combining this data, the estimated travel time for each toll booth is accurately calculated, and booths with a travel time shorter than the current toll booth are selected as switchable target toll booths, providing a core reference for subsequent lane-changing decisions.

[0051] In addition, the preset lane change distance can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0052] Therefore, this embodiment calculates the actual distance between the vehicle and the toll window. When the actual distance is greater than the preset lane-changing distance, it enters the lane selection mode to calculate the travel time of each toll lane, determine the target toll lane, and thus filter out lanes with a travel time shorter than the current toll lane. These are then designated as switchable target toll lanes. This avoids vehicle congestion caused by initial lane congestion, reduces the travel time of individual vehicles, and improves the overall vehicle flow rate in the toll area, alleviating congestion and improving overall traffic efficiency. Furthermore, it can dynamically filter lanes with shorter travel times, guiding vehicles to idle or low-load lanes, making the traffic distribution of each toll lane more balanced, making full use of the capacity of each lane, avoiding idle lane resources, and improving the overall resource utilization rate of the toll system.

[0053] In some embodiments of this application, calculating the passage time for each toll lane includes: detecting at least one of the number of vehicles queuing and the queue length for each toll lane, and obtaining the lane type for each toll lane; and determining the passage time for each toll lane based on the lane type and at least one of the number of vehicles queuing and the queue length.

[0054] Specifically, the core of calculating passage time is to combine the objective attributes of toll lanes with real-time queuing status to form an accurate time estimate. First, it is necessary to obtain key basic information through vehicle-mounted sensing systems, road monitoring equipment, or toll system data interfaces. On the one hand, it is necessary to detect the real-time queuing situation of each toll lane. This can be done by either counting the number of vehicles in the queue (i.e., the total number of vehicles currently waiting to pay in the lane) or measuring the queue length (the actual distance from the entrance of the lane to the end of the queue). Either one of these methods can meet the calculation requirements, while obtaining both simultaneously can further improve the accuracy of the estimate. On the other hand, it is necessary to clarify the type of each toll lane, such as whether it is an ETC-only lane, a manual toll lane, an ETC / manual hybrid toll lane, or a dedicated lane that supports mobile payment for fast payment. The processing efficiency of a single vehicle varies significantly between different types of lanes. For example, the passage time for a single vehicle in an ETC lane is usually only 3-4 seconds, while a manual toll lane may take 10-20 seconds.

[0055] After obtaining the above information, the travel time is derived using a pre-set calculation model. The core logic of the model is to determine the baseline travel time for a single vehicle based on the lane type, and then adjust it by combining the number of vehicles in the queue or the queue length. If the number of vehicles in the queue is used as the basis, the baseline travel time for a single vehicle can be directly multiplied by the total number of vehicles. At the same time, the fluctuation error of the payment operation of the vehicle in front (such as the longer cash payment time for some vehicles) is considered and a correction coefficient is added. The average lane change time is also added to form the final travel time of the toll lane. If the queue length is used as the basis, the equivalent number of vehicles in the queue is first calculated based on the average body length of common vehicles (or the correspondence between length and traffic efficiency is directly referenced), and then the total time is calculated by combining the baseline travel time of the lane type and the average lane change time. For example, if the baseline time for a single vehicle in a manual toll lane is set at 20 seconds, and if 4 vehicles are detected queuing in that lane with no special congestion, and a correction factor of 1.1 is applied, then the estimated travel time for that lane is 20 × 4 × 1.1 = 88 seconds. If the average lane-changing time from the current lane to that manual toll lane is 30 seconds, then the total travel time for that manual toll lane is 118 seconds. In contrast, for an ETC lane with 8 vehicles queuing, the baseline time for a single vehicle is 4 seconds, and a correction factor of 1.05 is applied, resulting in a travel time of 4 × 8 × 1.05 = 33.6 seconds. If the average lane-changing time from the current lane to that ETC lane is 25 seconds, then the total travel time for that ETC lane is 58.6 seconds. This method allows for differentiated and precise calculation of travel times for different lanes, providing a reliable basis for subsequent lane replacement decisions.

[0056] In addition, the baseline time for ETC-only lanes, manual toll lanes, and ETC / manual hybrid toll lanes can be dynamically calibrated and adjusted according to different toll stations and even different windows. The average lane change time across lanes should be calculated based on the actual vehicle speed, the planned trajectory to the corresponding lane, and control parameters, etc., and no specific restrictions are imposed here.

[0057] As shown in Figure 2, for Figure 2a In the given situation, considering waiting time, although the first lane on the left has more waiting vehicles and the distance from the entrance is farther, the second lane on the left is a mixed lane for manual and ETC (Electronic Toll Collection) vehicles. The queue may include vehicles waiting to use the manual lane, which theoretically moves slower. Statistically, the first lane on the left has a shorter waiting time, therefore the first lane on the left is chosen. Figure 2b The situation is similar. Since the first lane on the left is a manual lane and the second lane on the left is a mixed manual / ETC lane, and there are ETC vehicles passing through in the mixed lane, it is assumed that the waiting time for the second lane on the left is shorter, so the second lane on the left is chosen. Figure 2c In this case, the optimal lane will be determined in real time. If a vehicle in the second lane from the left changes lanes to the third lane from the left during the queuing process, the vehicle in this case will change to the second lane from the left. Figure 2d In the case of the above, the strategy in this embodiment will also consider the distance between the vehicle and the toll station and reasonably determine whether to recommend the optimal lane. Although the third lane on the left is the shortest at this time, the vehicle has already reached the toll island and there is basically no possibility or need to change lanes. Therefore, the solution in this embodiment will maintain the current lane.

[0058] Therefore, this embodiment detects at least one of the number of vehicles queuing and the queue length at each toll lane, and obtains the lane type of each toll lane. Based on the lane type and at least one of the number of vehicles queuing and the queue length, it determines the passage time of each toll lane, thereby achieving differentiated and accurate calculation of the passage time of different lanes. This provides a reliable basis for subsequent lane replacement decisions. Based on accurate passage time and reliable replacement decisions, lane resource allocation can be further optimized, vehicle queuing congestion can be reduced, necessary lane types can be reasonably retained during off-peak traffic to avoid resource waste, and ultimately shorten the overall vehicle passage time, improve user experience, and reduce the operation and management costs of toll stations.

[0059] In some embodiments of this application, the toll lane selection method further includes: detecting whether the current toll lane is invalid; if the current toll lane is invalid, identifying the toll lane with the shortest travel time from the valid toll lanes other than the current toll lane, and controlling the vehicle to change lanes to the toll lane with the shortest travel time.

[0060] Specifically, the current failure detection and emergency lane-changing mechanism for toll lanes is a key supplementary process to ensure the continuity of vehicle traffic and avoid payment delays.

[0061] First, multi-dimensional monitoring is used to determine whether the current toll lane is in a malfunctioning state. Monitoring targets include the operational status of the toll collection equipment, on-site traffic order, and the availability of payment services. For example, the communication interface of the equipment is used to detect whether the ETC reader / writer, toll terminal, and payment module are malfunctioning. Vehicle sensing systems or road monitoring are used to confirm whether there are any vehicle malfunctions blocking the lane, traffic accidents, or other situations causing the queue to completely stop. Simultaneously, feedback from the toll collection system is used to determine whether the lane has been temporarily suspended, such as due to staff leaving their posts or equipment being shut down for maintenance. As long as any of the failure criteria are met, the emergency lane switching process is triggered. Furthermore, all of the above failure criteria can be set by those skilled in the art according to actual circumstances, and no specific restrictions are imposed here.

[0062] Once it is confirmed that the current toll lane is invalid, it is excluded first. The optimal option is then selected from all remaining operational toll lanes. The core selection criterion at this point is the shortest passage time, ensuring that vehicles complete payment and passage as quickly as possible. According to the preset passage time calculation logic, combined with the real-time number of vehicles queuing, queue length, and lane type of each operational lane, the estimated passage time for each lane is accurately calculated. Then, the target lane with the shortest passage time is selected by comparison and sorting.

[0063] Once the target lane is determined, the vehicle lane change control process is initiated. First, the safety and feasibility of the lane change are re-verified by considering the location of the target lane, the current traffic density, the vehicle's own driving status, and whether the planned trajectory of the vehicle during the lane change process will cross solid lines and guide strips. This avoids forced lane changes in congested or poor visibility conditions. After confirming safety and feasibility, the vehicle's automatic driving control system (such as coordinated control of steering, throttle, and brakes) or by sending clear lane change instructions to the driver (such as navigation prompts and audible and visual warnings) guides the vehicle to smoothly and orderly change lanes from the currently invalid lane to the selected lane with the shortest travel time. The vehicle then integrates into the queue of that lane, ensuring the smooth progress of the subsequent payment process and minimizing the time loss caused by the invalidation of the original lane.

[0064] Therefore, this embodiment detects whether the current toll lane is malfunctioning. If a malfunction is detected, it identifies the toll lane with the shortest travel time from the available lanes and controls the vehicle to change lanes to the lane with the shortest travel time. This ensures the smooth progress of the subsequent payment process and avoids vehicles being unable to pay or stuck in a waiting situation due to lane malfunction. The mechanism ensures that the subsequent payment process is not interrupted and maintains the overall stability of the lane operation. When a lane malfunctions, instead of randomly selecting a backup lane, it prioritizes identifying the available lane with the shortest travel time, which can minimize the waiting time after changing lanes. This not only improves the passage efficiency of individual vehicles but also indirectly alleviates the congestion pressure of the entire toll collection scenario. For vehicle users, there is no need to manually observe and judge the passage status of other lanes, reducing the user's decision-making cost and operational burden, avoiding time waste or operational errors caused by improper manual lane selection, and improving the smoothness of the payment process.

[0065] In some embodiments of this application, the toll lane selection method further includes: issuing a driver takeover prompt if there is no expiring toll lane.

[0066] Specifically, after completing the failure status detection of all toll lanes, if it is determined that all lanes are in a failure state (i.e., no lane can provide normal payment and passage services), the driver takeover prompt mechanism will be triggered immediately. The purpose of this is to return vehicle control to the driver in extreme emergency scenarios, avoiding operational stagnation due to the lack of available lanes, while ensuring driving safety and flexibility in traffic decisions. Scenarios where all toll lanes are unavailable may include various situations: for example, a sudden and complete power outage at the toll station causing all toll collection equipment to malfunction; all lanes being completely congested due to vehicle malfunctions or traffic accidents and unable to be cleared in the short term; or a system-wide failure preventing payment settlement. In this case, the system has no suitable target lanes available for lane changing, and continuing to maintain the automatic lane selection mode is meaningless and may pose risks due to unknown road conditions. Therefore, the vehicle issues takeover commands to the driver through multiple prompts. For example, on the one hand, a clear text prompt is displayed on the in-vehicle central control screen, stating that all toll lanes are out of service and requesting immediate takeover, accompanied by audible and visual alarms such as beeping and flashing dashboard warning lights to attract the driver's attention. On the other hand, if the vehicle supports voice interaction, it can also clearly inform the driver of the current situation and takeover requirements via voice broadcast, ensuring the driver is quickly informed. After the prompt is issued, the system will temporarily suspend automatic lane changing, lane selection, and other related operations. Once the driver confirms takeover, the driver can make their own decisions based on the actual situation, such as choosing to stop in a safe area and wait for the toll station to resume service, or taking other traffic control measures as instructed by on-site staff, thus maximizing the ability to cope with extreme emergencies.

[0067] In addition, the method of driver takeover prompts can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0068] Therefore, this embodiment issues a driver takeover prompt when no available toll lane is available, thus enabling the driver to take over the vehicle. This avoids the risk of the vehicle becoming uncontrollable due to the lack of available toll lanes. Without a driver takeover prompt, the vehicle may blindly stay in the toll area, attempt invalid passage, or deviate from the route. The takeover prompt hands over the decision-making power to the human, avoiding safety hazards such as collisions with toll facilities and traffic congestion. At the same time, it covers the extreme but critical scenario of all toll lanes being unavailable, making up for the functional limitations of relying solely on the vehicle to automatically identify available lanes. This improves the overall functional integrity and follows the logic of autonomous driving as an auxiliary and human takeover as a supplement. The prompt is only triggered when there is no available lane, which neither redundantly interferes with the driver nor delays decision-making, thus balancing the boundaries between automation and human intervention.

[0069] As a specific embodiment of this application, such as Figure 3 As shown, the toll lane selection method may include the following steps: S101, when a vehicle is queuing to pay in the current toll lane, calculate the actual distance between the vehicle and the toll window of that lane.

[0070] S102, determine whether the actual distance is greater than the preset lane change distance. If yes, proceed to step S103; otherwise, proceed to step S113.

[0071] S103, enter channel selection mode.

[0072] S104, detect at least one of the following for each toll lane: the number of vehicles queuing and the queue length, and obtain the lane type for each toll lane.

[0073] S105. Calculate the passage time for each toll lane based on its lane type, the number of vehicles in queue, or the queue length.

[0074] S106: Identify the target toll lane whose passage time is less than that of the current toll lane from all toll lanes.

[0075] S107, Determine if the current toll collection channel is invalid. If yes, proceed to step S114; otherwise, proceed to step S108.

[0076] S108, obtain the current position of the target toll lane and calculate the number of lanes crossed between the current toll lane and the target toll lane.

[0077] S109, determine whether the number of lanes crossed is less than the preset number of lanes crossed. If yes, proceed to step S110; otherwise, proceed to step S106.

[0078] S110 generates the vehicle's lane change planning trajectory.

[0079] S111, determine whether the vehicle meets the preset lane change conditions based on the trajectory. If yes, proceed to step S112; otherwise, proceed to step S106.

[0080] S112, if a vehicle meets the preset lane change conditions, control the vehicle to change lanes to the target toll lane to queue for payment.

[0081] S113, maintain the current queue status.

[0082] S114: Identify the lane with the shortest passage time from among the non-expired toll lanes other than the current lane.

[0083] In summary, the toll lane selection method according to the embodiments of this application identifies a target toll lane with a shorter travel time when a vehicle is queuing to pay in the current toll lane. Based on the current position of the target toll lane, the method checks whether the vehicle meets preset lane-changing conditions. If the preset lane-changing conditions are met, the method controls the vehicle to change lanes to the target toll lane for queuing and payment. Therefore, when a vehicle is queuing to pay in the current toll lane, once a target toll lane with a shorter travel time is identified, the method further checks whether the vehicle meets certain lane-changing conditions. If these conditions are met, the method effectively controls the vehicle to change lanes to the target toll lane, enabling queuing and payment in a shorter time. This effectively shortens vehicle travel time, increases traffic system throughput, is more intelligent and reliable, effectively meets user needs, improves user experience, and enhances passenger comfort and driving safety.

[0084] Figure 4 A block diagram illustrating a toll lane selection device provided in some embodiments of this application.

[0085] like Figure 4 As shown in the figure, this application embodiment also provides a toll lane selection device 200, including: an identification module 210, a detection module 220 and a control module 230.

[0086] The identification module 210 identifies a target toll lane whose travel time is shorter than that of the current toll lane when a vehicle is queuing to pay in the current toll lane. The detection module 220 detects whether the vehicle meets the preset lane-changing conditions based on its current position in the target toll lane. The control module 230 controls the vehicle to change lanes to the target toll lane to queue for payment when the preset lane-changing conditions are met.

[0087] According to one embodiment of this application, the detection module 220 detects whether a vehicle meets the preset lane changing conditions based on the current position of the target toll lane. Specifically, it is used to: obtain the number of lanes crossed between the current toll lane and the target toll lane based on the current position; generate a lane changing planning trajectory for the vehicle if the number of lanes crossed is less than the preset number of lanes crossed; and detect whether the vehicle meets the preset lane changing conditions based on the lane changing planning trajectory. If the vehicle meets the preset lane changing conditions, it is determined that the vehicle meets the preset lane changing conditions.

[0088] According to one embodiment of this application, the identification module 210 identifies a target toll lane whose passage time is less than that of the current toll lane. Specifically, it is used to: calculate the actual distance between the vehicle and the toll window; and when the actual distance is greater than the preset lane change distance, enter the lane selection mode to calculate the passage time of each toll lane and determine the target toll lane.

[0089] According to one embodiment of this application, the identification module 210 calculates the passage time of each toll lane, specifically for: detecting at least one of the number of vehicles queuing and the queue length of each toll lane, and obtaining the lane type of each toll lane; and determining the passage time of each toll lane based on the lane type and at least one of the number of vehicles queuing and the queue length.

[0090] According to one embodiment of this application, the control module 230 is further configured to: detect whether the current toll lane is invalid; if the current toll lane is invalid, identify the toll lane with the shortest passage time from the valid toll lanes other than the current toll lane, and control the vehicle to change lanes to the toll lane with the shortest passage time.

[0091] According to one embodiment of this application, the control module 230 is further configured to: issue a driver takeover prompt if there is no expiring toll lane.

[0092] It should be noted that the above explanation of the embodiments and beneficial effects of the toll lane selection method also applies to the toll lane selection device of the present invention. To avoid redundancy, it will not be elaborated in detail here.

[0093] In summary, the toll lane selection device according to the embodiments of this application identifies a target toll lane with a shorter travel time when a vehicle is queuing to pay in the current toll lane. The detection module checks whether the vehicle meets preset lane-changing conditions based on its current position in the target toll lane. If the control module detects that the preset lane-changing conditions are met, it controls the vehicle to change lanes to the target toll lane for queuing and payment. Therefore, when a vehicle is queuing to pay in the current toll lane, once a target toll lane with a shorter travel time is identified, the device further detects whether the vehicle meets certain lane-changing conditions. If these conditions are met, the device effectively controls the vehicle to change lanes to the target toll lane, enabling queuing and payment in a shorter time. This effectively shortens vehicle travel time, increases traffic system throughput, is more intelligent and reliable, effectively meets user needs, improves user experience, and enhances passenger comfort and driving safety.

[0094] Figure 5 This is a block diagram of an electronic device provided in some embodiments of this application.

[0095] like Figure 5 As shown, this application embodiment also provides an electronic device 300 including: a memory 310, a processor 320, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned toll collection channel selection method.

[0096] The electronic device according to the embodiments of this application can implement the above-mentioned toll lane selection method when the processor executes a computer program. Based on the above-mentioned toll lane selection method, the vehicle travel time is shortened, the traffic system throughput is increased, it is more intelligent and reliable, and the user experience is improved.

[0097] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described toll lane selection method.

[0098] According to embodiments of this application, a computer-readable storage medium storing a computer program thereon implements the above-described toll lane selection method when executed by a processor. Based on the above-described toll lane selection method, vehicle travel time is shortened, traffic system throughput is increased, the system is more intelligent and reliable, and the user experience is improved.

[0099] This application also provides a vehicle, including a toll lane selection device, an electronic device, or a computer-readable storage medium.

[0100] The vehicle according to the embodiments of this application is equipped with a corresponding toll lane selection device, or electronic device, or computer-readable storage medium, which can realize the above-mentioned toll lane selection method. Based on the above-mentioned toll lane selection method, the vehicle travel time is shortened, the traffic system throughput is increased, and the system is more intelligent and reliable, thereby improving the user experience.

[0101] In this application, "multiple" refers to two or more.

[0102] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0103] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0104] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0105] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0106] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for selecting toll lanes, characterized in that, Includes the following steps: When a vehicle is queuing to pay in the current toll lane, identify a target toll lane whose passage time is shorter than that of the current toll lane; Detect whether the vehicle meets the preset lane changing conditions based on the current location of the target toll lane; If the preset lane changing conditions are met, the vehicle is controlled to change lanes to the target toll lane for queuing and payment.

2. The method according to claim 1, characterized in that, The step of detecting whether the vehicle meets the preset lane-changing conditions based on the current location of the target toll lane includes: Based on the current location, obtain the number of lanes crossed between the current toll lane and the target toll lane; If the number of lanes crossed is less than the preset number of lanes crossed, a lane change planning trajectory for the vehicle is generated, and the vehicle is checked to see if it meets the preset lane change conditions based on the lane change planning trajectory. If the vehicle is detected to meet the preset lane change conditions, it is determined that the vehicle meets the preset lane switching conditions.

3. The method according to claim 1, characterized in that, The identification of target toll lanes whose passage time is less than that of the current toll lane includes: Calculate the actual distance between the vehicle and the toll window; If the actual distance is greater than the preset lane change distance, the system enters the lane selection mode to calculate the travel time for each toll lane and determine the target toll lane.

4. The method according to claim 3, characterized in that, The calculation of the passage time for each toll lane includes: Detect at least one of the number of vehicles queuing and the queue length for each toll lane, and obtain the lane type for each toll lane; The passage time for each toll lane is determined based on at least one of the lane type and the number of vehicles in the queue and the queue length.

5. The method according to claim 1, characterized in that, Also includes: Check if the current toll lane is invalid; If the current toll lane is detected to be invalid, the vehicle is controlled to change lanes to the toll lane with the shortest passage time from the remaining valid toll lanes other than the current toll lane.

6. The method according to claim 5, characterized in that, Also includes: If no valid toll lane exists, a driver takeover prompt will be issued.

7. A toll lane selection device, characterized in that, include: The identification module is used to identify a target toll lane whose passage time is shorter than that of the current toll lane when a vehicle is queuing to pay in the current toll lane. The detection module is used to detect whether the vehicle meets the preset lane changing conditions based on the current position of the target toll lane; The control module is used to control the vehicle to change lanes to the target toll lane for queuing and payment when the preset lane changing conditions are met.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the toll lane selection method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the toll lane selection method as described in any one of claims 1-6.

10. A vehicle, characterized in that, The vehicle includes a toll lane selection device as claimed in claim 7, an electronic device as claimed in claim 8, or a computer-readable storage medium as claimed in claim 9.

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