Vehicle passage guidance method, device, and vehicle

Abstract

The application provides a vehicle passing guidance method and device and a vehicle, and relates to the technical field of intelligent transportation. The method is applied to a vehicle that reaches an area without effective traffic rules and meets one or more of vehicle location requirements, vehicle reputation value requirements and vehicle type requirements. The method comprises the following steps: acquiring traffic situation information of a target area; generating a first candidate passing rule based on the traffic situation information and pre-stored passing constraint information; broadcasting the first candidate passing rule to other vehicles within a preset range around the vehicle, and receiving feedback information of the other vehicles on the first candidate passing rule; determining a consensus passing rule of the target area according to the feedback information and the first candidate passing rule, and broadcasting the consensus passing rule to instruct vehicles in the target area to travel according to the consensus passing rule. Thus, in the scene where traffic control is lacking, the vehicle autonomous cooperative passing is realized, and the dependence on central infrastructure is reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a vehicle traffic guidance method, device and vehicle. Background Technology

[0002] With the development of autonomous driving and vehicle-to-everything (V2X) technologies, the level of intelligence in traffic management is constantly improving.

[0003] In related technologies, traffic management mainly relies on central infrastructure, such as traffic lights, central cloud servers, or roadside units, for unified traffic scheduling. However, if the central infrastructure fails and cannot function properly, such as due to traffic light malfunctions, network outages, or sudden accidents, traffic chaos may ensue.

[0004] Therefore, how to reduce reliance on central infrastructure and achieve autonomous and collaborative vehicle passage in scenarios lacking traffic control has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a vehicle traffic guidance method, device, and vehicle to enable autonomous and coordinated vehicle traffic in scenarios lacking traffic control.

[0006] In a first aspect, embodiments of this application provide a vehicle traffic guidance method applied to vehicles, wherein the vehicles are vehicles that have arrived at a target area and meet preset requirements, the target area is an area without effective traffic rules, and the preset requirements include one or more of vehicle location requirements, vehicle credit value requirements, and vehicle type requirements; the method includes: Obtain traffic situation information for the target area; Based on the traffic situation information and the pre-stored traffic constraint information, a first candidate traffic rule is generated; The first candidate traffic rule is broadcast to other vehicles within a preset range around the vehicle, and feedback information from other vehicles regarding the first candidate traffic rule is received. Based on the feedback information and the first candidate traffic rules, a consensus traffic rule for the target area is determined, and the consensus traffic rule is broadcast to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

[0007] Based on the above technical content, the embodiments of this application are executed by vehicles arriving in areas without effective traffic rules and meeting preset requirements. This approach offers higher reliability and scenario adaptability in scenarios where central infrastructure is not deployed or has failed. The preset requirements constrain the qualifications of the executing vehicles. Vehicle location requirements ensure the executing vehicles have a good field of vision; vehicle reputation requirements enhance decision-making credibility; and vehicle type requirements prioritize the emergency passage needs of special vehicles such as ambulances and fire trucks, thereby improving the quality of the generated first candidate traffic rules. Furthermore, when generating the first candidate traffic rules, real-time traffic situation information is collected to ensure the generated rules accurately reflect traffic demand. Pre-stored traffic constraint information ensures the generated rules comply with basic traffic regulations and safety requirements, further enhancing the reliability of the first candidate traffic rules. Furthermore, by utilizing a multi-vehicle collaborative decision-making mechanism, the first candidate traffic rule is broadcast to other vehicles, and a consensus traffic rule is determined based on feedback from other vehicles. This consensus traffic rule satisfies the traffic needs of most vehicles in the area, improving its acceptability and willingness to implement it, and avoiding resistance and violations caused by unfair rules. In summary, compared with existing technologies that rely on central infrastructure for traffic scheduling, the above method effectively reduces dependence on central infrastructure and achieves autonomous collaborative traffic flow in scenarios lacking traffic control.

[0008] In one possible implementation, the passage constraint information includes passage control standards, waiting time constraints, passage time constraints, and passage safety constraints; The step of generating a first candidate traffic rule based on the traffic situation information and pre-stored traffic constraint information includes: Based on the traffic situation information, the traffic flow scenario of the target area is determined; Based on the traffic scenario and the traffic control standards, the corresponding traffic template is obtained; Based on the passage template, the waiting time constraint, the passage time constraint, and the passage security constraint, the first candidate passage rule is generated.

[0009] Based on the aforementioned technical content, this application's embodiments refine traffic constraint information into traffic control standards, waiting time constraints, passage time constraints, and traffic safety constraints, providing multi-dimensional optimization basis for rule generation. Furthermore, corresponding traffic templates are matched according to traffic scenarios and traffic control standards, enabling the generated rules to reuse classic traffic templates and improving rule generation efficiency. Further, based on the traffic templates, the passage sequence and passage time are adjusted according to waiting time constraints, passage time constraints, and traffic safety constraints, ensuring that the final generated first candidate traffic rule is both scenario-adaptable and compliant with regulations.

[0010] In one possible implementation, the traffic situation information includes the average vehicle speed, speed and direction changes, vehicle waiting time, special vehicle conditions, and traffic accident conditions in the target area. The step of determining the traffic flow scenario of the target area based on the traffic situation information includes: Based on the specific vehicle situation and the traffic accident situation, determine whether it is an emergency access route scenario; If it is not the emergency lane scenario, then the congestion level is obtained based on the average vehicle speed, the operation pattern is obtained based on the changes in vehicle speed and direction, and the queuing status is obtained based on the vehicle waiting time. The traffic scenario is determined based on the congestion level, the operational pattern, and the queuing status.

[0011] Based on the aforementioned technical content, this application's embodiments refine traffic situation information into average vehicle speed, speed and direction changes, vehicle waiting time, special vehicle conditions, and traffic accident conditions, achieving multi-dimensional perception of traffic conditions and providing rich data input for scene recognition. Furthermore, prioritizing the determination of whether a scenario qualifies as an emergency access route based on special vehicle conditions and traffic accident conditions reflects the principle of emergency priority, ensuring that the passage needs of ambulances, fire trucks, and other special vehicles can be responded to quickly. In the absence of emergency situations, traffic conditions are analyzed from three dimensions: congestion level, operational patterns, and queuing status, and traffic scenarios are determined accordingly, achieving multi-dimensional qualitative analysis of traffic conditions and providing accurate decision-making basis for subsequent rule generation.

[0012] In one possible implementation, generating the first candidate passage rule based on the passage template, the waiting time constraint, the passage time constraint, and the passage security constraint includes: Based on the access template, the basic access sequence and access path are determined; Based on the waiting time constraint, the passage time constraint, and the passage safety constraint, the basic passage sequence and passage path are adjusted to obtain the first candidate passage rule.

[0013] Based on the above technical content, this application embodiment determines the basic passage sequence and passage path through a passage template, providing an initial logical framework for rule generation. On this basis, the passage sequence and passage path are adjusted according to waiting time constraints to ensure that vehicles or directions with excessively long waits are compensated. The release time for each direction is adjusted according to the passage time constraints to match the time allocation with traffic flow. The release interval and buffer time are adjusted according to passage safety constraints to ensure the safety and controllability of the passage process. Thus, the rationality and enforceability of the first candidate passage rule are improved.

[0014] In one possible implementation, the feedback information includes either approval or disapproval information. The step of determining the consensus access rule for the target area based on the feedback information and the first candidate access rule includes: Obtain the reputation value of each other vehicle within a preset range around the vehicle, and determine the weight of the approval or disapproval information returned by each other vehicle based on the reputation value; Based on the approval information, the disapproval information, and the corresponding weights, the support rate of the first candidate passage rule is obtained; If the support rate is greater than or equal to a preset support rate threshold, then the first candidate pass rule is determined to be the consensus pass rule.

[0015] Based on the above technical content, this application simplifies feedback information into two basic types: approval and disapproval, reducing the complexity of information interaction and making the negotiation process for traffic rules more efficient and clear. Furthermore, a vehicle reputation score is introduced, allowing feedback from vehicles with high reputation scores to have a greater impact during the negotiation process, thereby suppressing the influence of feedback from malicious vehicles. On this basis, a support rate is calculated based on weighted approval and disapproval information, making the negotiation results of traffic rules more reflective of the collective will of the vehicles. When the support rate reaches a preset threshold, a consensus traffic rule is determined, improving the fairness and authority of the consensus result.

[0016] In one possible implementation, determining the consensus access rule for the target area based on the feedback information and the first candidate access rule further includes: If the feedback information also includes modification information and the corresponding vehicle identification, then determine whether the identification is a preset vehicle identification. When the identity identifier is the preset vehicle identity identifier, the first candidate passage rule is adjusted according to the modification information to obtain the second candidate passage rule. The second candidate passage rule is used as the new first candidate passage rule, and the step of sending the first candidate passage rule to other vehicles within a preset range around the vehicle is re-executed to determine the consensus passage rule. When the identity identifier is not the preset vehicle identity identifier, the step of obtaining the reputation value of each other vehicle within a preset range around the vehicle is performed to determine the consensus passage rule.

[0017] Based on the above technical content, the embodiments of this application allow other vehicles to propose modifications to the first candidate traffic rules through feedback information, realizing multi-vehicle collaborative decision-making. Furthermore, the modification suggestions are classified and processed through identity identifiers. If the identity identifier determines that the modification information comes from a preset vehicle, such as an ambulance or fire truck performing an emergency mission, the first candidate traffic rules are adjusted according to the modification information, and the resulting second candidate traffic rules are negotiated with other vehicles to achieve a rapid response to emergency missions. If the identity identifier determines that the modification information does not come from a preset vehicle, the first candidate traffic rules can be temporarily left unchanged, thereby shortening the time of the consensus negotiation process.

[0018] In one possible implementation, obtaining the support rate of the first candidate passage rule based on the approval information, the disapproval information, and the corresponding weights includes: Based on the agreed information and the corresponding weights, the total agreed weight value is obtained, and based on the opposed information and the corresponding weights, the total opposed weight value is obtained. Based on the total value of approval weights and the total value of disapproval weights, the proportion of the total value of approval weights to the sum of the total value of approval weights and the total value of disapproval weights is determined as the support rate of the first candidate pass rule.

[0019] Based on the above technical content, this application embodiment calculates the influence of vehicles by summing their approval or disapproval attitudes with corresponding weights. This increases the influence of vehicles with high reputation scores and weakens the influence of vehicles with low reputation scores, thereby improving the reliability of the negotiation results. Furthermore, using the ratio of the total approval weight to the sum of the approval and disapproval weights as the support rate provides an accurate and reliable quantitative basis for consensus negotiation. Simultaneously, using this ratio as the support rate eliminates the impact of changes in the number of vehicles on the support rate, making the support rates comparable across different vehicle groups.

[0020] In one possible implementation, after broadcasting the consensus traffic rules to instruct vehicles within the target area to travel according to the consensus traffic rules, the method further includes: Detect whether there are any vehicles that are not driving in accordance with the consensus-based traffic rules; If a vehicle is found to be in violation, a warning message is sent to the vehicle, and the system monitors whether the vehicle still fails to comply with the consensus traffic rules within a preset time period after the warning message is sent. If the offending vehicle fails to comply with the consensus traffic rules within a preset time period after the alarm information is sent, then avoidance instructions will be sent to other vehicles in the target area besides the offending vehicle.

[0021] Based on the above technical content, this application embodiment continuously monitors the consistency between vehicle behavior and consensus traffic rules to promptly detect violations and provide triggering conditions for subsequent intervention measures. Furthermore, it first sends warning messages to violating vehicles, giving them an opportunity to correct their behavior and avoiding overreaction due to misjudgment or brief violations. Then, it sets a monitoring window of a preset duration to observe whether violating vehicles correct their behavior after receiving the warning, distinguishing between unintentional violations and malicious violations. For malicious vehicles that continuously violate the rules, it sends avoidance instructions to other vehicles in the area to ensure traffic safety.

[0022] Secondly, embodiments of this application provide a vehicle traffic guidance device applied to a vehicle, wherein the vehicle is a vehicle that has arrived at a target area and meets preset requirements, and the target area is an area without effective traffic rules; the preset requirements include one or more of vehicle location requirements, vehicle credit value requirements, and vehicle type requirements; the device includes: The acquisition module is used to acquire traffic situation information of the target area; The processing module is used to generate a first candidate traffic rule based on the traffic situation information and the pre-stored traffic constraint information; The processing module is also used to broadcast the first candidate traffic rule to other vehicles within a preset range around the vehicle, and to receive feedback information from other vehicles regarding the first candidate traffic rule. The processing module is further configured to determine the consensus traffic rule for the target area based on the feedback information and the first candidate traffic rule, and broadcast the consensus traffic rule to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

[0023] Thirdly, embodiments of this application provide a vehicle including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the vehicle passage guidance method as described in any of the first aspects.

[0024] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle passage guidance method as described in any of the first aspects.

[0025] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 This is a schematic flowchart of a vehicle traffic guidance method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a vehicle traffic guidance method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle traffic guidance device provided in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application. Detailed Implementation

[0029] The present application will be described more clearly below with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the function of the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0030] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0031] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0034] Furthermore, the term "multiple" mentioned in the embodiments of this application should be interpreted as two or more.

[0035] With the development of autonomous driving and vehicle-to-everything (V2X) technologies, the level of intelligence in traffic management is constantly improving. Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication enables information exchange, laying the technological foundation for the construction of intelligent transportation systems.

[0036] In some related technologies, traffic management mainly relies on central infrastructure, such as traffic lights, central cloud servers, or roadside units, for unified traffic scheduling. For example, at intersections without traffic lights, an intersection management center is set up to centrally manage vehicles entering the communication area. The intersection management center instructs vehicles to pass by assigning priorities and passage times, or by sending dynamic traffic lights to guide the passage.

[0037] This solution enables vehicle coordination at intersections without traffic lights. However, since decision-making power is centralized at the intersection management center, it still faces the problem of network outages or unforeseen accidents causing the central infrastructure to fail, leading to traffic chaos. Therefore, reducing reliance on central infrastructure and achieving autonomous and coordinated vehicle passage in scenarios lacking traffic control has become an urgent problem to be solved.

[0038] The applicant has discovered that in related technologies, vehicles only act as information providers and command executors, without participating in the formulation of traffic rules. Traffic rules unilaterally formulated by the management center may fail to meet the traffic needs of vehicles traveling in different directions, leading to reduced acceptance of the rules by some vehicles, and even resistance and violations, affecting traffic efficiency and safety. Therefore, it is necessary to provide a vehicle traffic guidance method to achieve autonomous and collaborative vehicle traffic in scenarios lacking traffic control.

[0039] Based on the concept of consensus-building, the implementation of this application utilizes vehicles that arrive in areas without effective traffic rules and meet preset requirements to generate candidate traffic rules according to traffic situation information and pre-stored traffic constraint information. Simultaneously, these candidate traffic rules are broadcast to other vehicles within a preset radius, and feedback information from other vehicles is received. Then, based on the feedback information and the candidate traffic rules, a consensus traffic rule is determined. This allows vehicles to participate in the formulation of traffic rules and obtains a consensus traffic rule accepted by the majority of vehicles. It enables autonomous and collaborative traffic flow in scenarios lacking traffic control, while reducing reliance on central infrastructure and providing higher reliability in scenarios where central infrastructure fails or is not deployed.

[0040] First refer to Figure 1 , Figure 1 The illustration shows an application scenario diagram provided according to the embodiments of this application. The application scenario is an intersection where the traffic lights are malfunctioning and there is no traffic police directing traffic. This area is an area without effective traffic rules. Figure 1 It shows lanes in four directions, as well as multiple vehicles approaching or stopped in the intersection area, such as... Figure 1 Vehicles A, B, C, and D are shown.

[0041] For example, vehicle A can be selected as the execution vehicle for performing the vehicle passage guidance method provided in the embodiments of this application.

[0042] The preset requirements that vehicles must meet include one or more of the following: vehicle location requirements, vehicle reputation value requirements, and vehicle type requirements. Vehicle location requirements can be reflected in the vehicle being at the forefront of its lane. Due to its superior field of vision, it can perceive richer vehicle and scene information, thus improving the reliability of the generated candidate passage rules. Vehicle reputation value requirements can be reflected in vehicles with reputation values ​​higher than a preset reputation threshold. Vehicles with high reputation values ​​are considered more trustworthy, and candidate passage rules generated from them are more likely to gain the trust and acceptance of other vehicles, helping to accelerate consensus. Vehicle type requirements can be reflected in special vehicles performing emergency tasks, such as ambulances and fire trucks. These vehicles have urgent passage needs, and considering their priority passage needs from the initial stage of candidate passage rule generation can avoid repeated negotiations and delays.

[0043] Figure 1Vehicle A is located at the forefront of its lane. It can be a vehicle with a credit score higher than a preset threshold, or a special vehicle such as an ambulance or fire truck. Vehicles B, C, and D come from different directions and are all within the V2V communication range of vehicle A. They all have the ability to receive candidate traffic rules broadcast by vehicle A and participate in feedback. Based on the feedback information and candidate traffic rules, vehicle A determines the consensus traffic rules for the intersection area and broadcasts them to vehicles B, C, and D within the V2V communication range, instructing them to drive according to the consensus traffic rules.

[0044] It should be noted that the preset requirements are used to filter vehicles that are qualified to generate candidate traffic rules, thereby improving the quality of candidate traffic rule generation. Vehicles that meet the preset requirements can be vehicles at the front of the lane, vehicles with the highest reputation scores, or special vehicles performing emergency tasks, such as ambulances and fire trucks.

[0045] The following is combined Figure 1 Application scenarios, refer to Figures 2-3 This application describes a vehicle traffic guidance method provided according to exemplary embodiments. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited in any way. Rather, the embodiments of this application can be applied to any applicable scenario.

[0046] refer to Figure 2 , Figure 2 This is a schematic flowchart of a vehicle traffic guidance method provided in an embodiment of this application. The method is applied to vehicles that arrive at a target area and meet preset requirements. The target area is an area without effective traffic rules. The preset requirements include one or more of the following: vehicle location requirements, vehicle credit value requirements, and vehicle type requirements.

[0047] Here, areas without effective traffic rules can be intersections without traffic lights or where traffic lights are malfunctioning, such as rural road intersections, newly built road intersections, intersections where temporary traffic control has been lifted but traffic lights have not yet been restored, and intersections where traffic lights are malfunctioning due to power outages or equipment failures and where there are no traffic police directing traffic. Optionally, vehicles can use cameras to detect the presence or malfunction of traffic lights. Optionally, vehicles can also interact with surrounding vehicles via V2V communication to confirm whether there are effective traffic rules in the current area.

[0048] In addition, preset requirements are used to constrain the qualifications of the vehicles executing the rules, thereby improving the quality of candidate passage rule generation. Vehicle location requirements ensure that the executing vehicles have a good field of vision, vehicle reputation requirements ensure that the executing vehicles have higher decision credibility, and vehicle type requirements prioritize the emergency passage needs of special vehicles such as ambulances and fire trucks.

[0049] For example, based on vehicle location requirements, vehicles at the forefront of their lane can be selected. These vehicles have a good field of vision, which helps them perceive richer vehicle and scene information, thereby improving the reliability of the generated candidate passage rules. Based on vehicle reputation requirements, vehicles with reputation values ​​higher than a preset reputation threshold can be selected. Vehicles with high reputation values ​​are considered to have higher credibility, and candidate passage rules generated by them are more likely to gain the trust and recognition of other vehicles, helping to speed up consensus. Based on vehicle type requirements, special vehicles performing emergency tasks, such as ambulances and fire trucks, can be selected. These vehicles have a social need for emergency passage, and taking their priority passage needs into account in the early stages of generating candidate passage rules can avoid repeated negotiations and delays.

[0050] The following explanation focuses on vehicles that arrive in areas without valid traffic rules and meet preset requirements. For example... Figure 2 As shown, the method in the embodiments of this application may include: Step 201: Obtain traffic situation information for the target area.

[0051] Traffic situation information is used to describe the traffic conditions in the current scenario. For example, traffic situation information may include the traffic density of each lane, the waiting time of each vehicle, the average speed of vehicles in each lane, and whether there are accident vehicles occupying the lanes.

[0052] Here, the vehicle uses onboard sensors and V2V communication to acquire traffic situation information of the target area. The onboard sensors include cameras and radar. The cameras can identify the number of lanes and detect whether there are accident vehicles occupying lanes; the radar can measure the distance, speed, acceleration and other motion status information of vehicles, and then calculate the average speed of vehicles in the lane.

[0053] Because the perception range of a single vehicle is limited, the executing vehicle can receive information perceived by other vehicles through V2V communication, thereby obtaining a more comprehensive understanding of the traffic situation in the target area. For example, it can receive operational status information reported by other vehicles via V2V communication, including but not limited to vehicle position, speed, acceleration, heading angle, vehicle type, speed changes within a preset time period, and direction changes. Based on this information, the number of vehicles queuing in each lane and the average vehicle speed can be analyzed to determine whether there is congestion; it can be analyzed whether the vehicles in each lane are queuing in an orderly manner or rushing around chaotically; and it can also analyze the differences in traffic flow between lanes, such as some lanes having continuous traffic while others are in a waiting state for a long time.

[0054] Step 202: Generate the first candidate traffic rule based on traffic situation information and pre-stored traffic constraint information.

[0055] The traffic constraint information consists of the restrictions that must be followed when generating the first candidate traffic rule to ensure it meets basic safety requirements and traffic conventions. For example, traffic safety constraints are set to ensure that the generated rules will not cause traffic accidents; for instance, it may require that two vehicles cannot arrive at the same location simultaneously. In addition to general safety requirements, different cities also have different traffic conventions. For example, port cities tend to prioritize the efficiency of truck traffic, which can be achieved by configuring corresponding traffic constraint information.

[0056] In this step, the generated first candidate traffic rules may include the following: the direction or lane with right-of-way, the duration of passage in each direction, and the order of passage in each direction. The executing vehicle can identify the characteristics of the current scene based on traffic situation information, and then select the corresponding traffic template from the rule template library to generate candidate traffic rules.

[0057] For example, if traffic situation information shows that the number of vehicles in each direction is roughly equal and the waiting time is similar, the executing vehicle can generate a candidate rule of "allowing vehicles to pass in turns, with each direction having 20 seconds of passage" to balance the right-of-way. If traffic situation information shows that eastbound vehicles have longer queues and longer waiting times, while westbound vehicles have fewer, the executing vehicle can generate a candidate rule of "giving priority to eastbound vehicles for 30 seconds, while westbound vehicles wait" to alleviate eastbound congestion. If traffic situation information shows that a lane in a certain direction is occupied by an accident vehicle, leaving only one lane open for passage, the executing vehicle can generate a candidate rule of "allowing vehicles in that direction to pass alternately, releasing one vehicle at a time" to address bottleneck sections.

[0058] Step 203: Broadcast the first candidate traffic rule to other vehicles within a preset range around the vehicle, and receive feedback information from other vehicles regarding the first candidate traffic rule.

[0059] Here, the executing vehicle broadcasts the first candidate traffic rule generated in step 202 to other vehicles within a preset range via V2V communication. The preset range is limited by the broadcast communication capability of the executing vehicle.

[0060] In this step, after receiving the first candidate passage rule, other vehicles evaluate it according to their own passage needs and return feedback information to the executing vehicle. For example, the feedback information may include approval information indicating acceptance of the first candidate passage rule and disapproval information indicating rejection of the first candidate passage rule; in some embodiments, the feedback information may also include suggestions for modifying the first candidate passage rule, such as adjusting the passage order or modifying the passage duration.

[0061] By implementing the above method, the executing vehicle discloses the initial first candidate traffic rule to other relevant vehicles and collects feedback. This transforms the formulation of temporary traffic rules in scenarios lacking traffic control from individual vehicle decision-making to group consultation, which is conducive to ensuring that the consensus traffic rules subsequently determined can take into account the demands of all parties and improve the effectiveness of rule implementation.

[0062] Step 204: Based on the feedback information and the first candidate traffic rule, determine the consensus traffic rule for the target area and broadcast the consensus traffic rule to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

[0063] Optionally, the executing vehicle statistically analyzes the collected feedback information. If the approval rate in the feedback is high and reaches a preset threshold, the first candidate passage rule can be directly determined as the consensus passage rule. If the feedback information includes modification suggestions, the executing vehicle can consider whether to adopt the modification suggestions.

[0064] If the proposed modification is adopted, the first candidate passage rule will be adjusted according to the modification suggestion, and the adjusted rule will be used as the new first candidate passage rule. Step 203 will be executed, which involves broadcasting the adjusted rule to other vehicles and receiving corresponding feedback information to determine the consensus passage rule.

[0065] As shown above, consensus negotiation can be a multi-round iterative process. If the first candidate passage rule is not determined as the consensus passage rule, the executing vehicle can adjust the rule based on the collected feedback information, generate a new candidate rule, and re-initiate negotiation. Through multiple rounds of negotiation, the demands of vehicles in all directions can be gradually taken into consideration, ultimately reaching a more widely accepted consensus passage rule.

[0066] In some embodiments, to avoid an excessively long negotiation process, a maximum number of negotiation rounds or a maximum negotiation duration can be set. If no consensus is reached within the specified number of rounds or duration, a temporary passage rule can be determined according to preset rules. For example, the candidate rule with the highest approval rate can be selected as the consensus passage rule to be executed, or the rule can be directly specified by the vehicle with the highest reputation value.

[0067] Once the consensus-based passage rules are determined, the executing vehicle broadcasts them to other vehicles within the target area via V2V communication. Other vehicles, upon receiving the consensus-based passage rules, adhere to them as temporary passage rules for their current area. For example, the consensus-based passage rules can be set to have a validity period, such as 30 seconds or 60 seconds. After the validity period expires, the consensus-based passage rules automatically become invalid.

[0068] Understandably, the executing vehicle and other vehicles within the area need to convert the consensus-based traffic rules into executable driving instructions. In some embodiments, a rule compiler is installed on the vehicle to convert the received consensus-based traffic rules into motion planning constraints.

[0069] For example, for the rule "northbound traffic can proceed for 30 seconds, other directions must wait", the rule compiler can generate the following motion planning constraints: northbound vehicles: can enter the intersection within 30 seconds and proceed according to the planned path; other vehicles: must not cross the stop line into the intersection conflict area within 30 seconds.

[0070] The aforementioned motion planning constraints can be integrated into the vehicle's path planning and motion control modules to generate commands such as throttle, brake, and steering, or to provide guidance information to the driver via in-vehicle screens, voice commands, etc. For example, the in-vehicle system can display prompts such as "This direction is open, 20 seconds remaining" or "Please wait, next round of clearance" on the screen to guide the driver or autonomous driving system to drive according to the rules.

[0071] This embodiment of the application is executed by vehicles arriving in areas without effective traffic rules and meeting preset requirements. It offers higher reliability and scenario adaptability in scenarios where central infrastructure is not deployed or is ineffective. Specifically, by constraining the qualifications of the executing vehicles through preset requirements, the vehicles possess higher perception capabilities and decision-making credibility, which helps improve the quality of the generated first-candidate traffic rules. Furthermore, when generating the first-candidate traffic rules, real-time traffic situation information is collected to ensure that the generated rules accurately reflect traffic demand. Pre-stored traffic constraint information ensures that the generated rules comply with basic traffic regulations and safety requirements, further improving the reliability of the first-candidate traffic rules. Furthermore, a multi-vehicle collaborative decision-making mechanism is used to broadcast the first-candidate traffic rules to other vehicles, and a consensus traffic rule is determined based on feedback from other vehicles. This ensures that the consensus traffic rule meets the traffic needs of most vehicles in the area, improving its acceptability and willingness to implement, and avoiding resistance and violations caused by unfair rules. In summary, compared with existing technologies that rely on central infrastructure for traffic scheduling, the above methods effectively reduce dependence on central infrastructure and enable autonomous and collaborative passage of vehicles in scenarios lacking traffic control.

[0072] in addition, Figure 3 This is a flowchart illustrating a vehicle traffic guidance method according to another embodiment of this application. As a preferred embodiment, in... Figure 2 Based on the previous implementation, the generation process of the first candidate traffic rule is refined to improve its rationality and reliability. Vehicle reputation values ​​are introduced during the determination of consensus traffic rules to enhance the fairness and anti-interference capabilities of consensus negotiation. Violation detection and avoidance mechanisms are added during the execution of the consensus traffic rules to improve the reliability and security of rule execution. Figure 3 The method includes: Step 301: Obtain traffic situation information for the target area.

[0073] Understandably, to avoid rule negotiation conflicts, vehicles entering a target area without valid traffic rules need to determine if an ongoing rule negotiation process exists. Optionally, vehicles entering a target area without valid traffic rules can listen to broadcast information within the target area via V2V communication. They can determine if an ongoing rule negotiation process exists by detecting whether they receive an effective consensus traffic rule or a first-choice traffic rule sent by other vehicles. They can also directly inquire with other vehicles via V2V communication whether an ongoing rule negotiation process is in progress.

[0074] If it is determined that there is no ongoing rule negotiation process, a rule negotiation request can be initiated to surrounding vehicles. For example, if responses to the rule negotiation request are received from other vehicles and the number of vehicles agreeing to participate in the rule negotiation reaches a preset value, then the rule negotiation process is initiated. Among the vehicles agreeing to participate in the rule negotiation, vehicles that meet preset requirements are selected as the execution vehicles, and step S301 and its subsequent steps are executed. Here, the definition of the preset requirements and the implementation method of step 301 are described in [reference needed]. Figure 2 The relevant descriptions in the embodiments will not be repeated here.

[0075] In one possible implementation, the traffic constraint information includes traffic control standards, waiting time constraints, travel time constraints, and traffic safety constraints. Based on traffic situation information and pre-stored traffic constraint information, a first candidate traffic rule is generated, including steps 302 to 304.

[0076] Step 302: Based on traffic situation information, determine the traffic flow scenario of the target area.

[0077] Here, the vehicle classifies the current traffic conditions in the area into preset traffic scenarios based on traffic situation information, so that the corresponding traffic template can be obtained in the subsequent step 303.

[0078] Optionally, the traffic situation information includes the average vehicle speed, speed and direction changes, vehicle waiting time, special vehicle conditions and traffic accident conditions in the target area; step 302 determines the traffic scenario of the target area based on the traffic situation information, including steps (2.1) to (2.3).

[0079] (2.1) Determine whether it is an emergency access scenario based on special vehicle conditions and traffic accident conditions.

[0080] Here, the vehicle receiving the vehicle type information reported by other vehicles via V2V communication determines that the current situation is an emergency access route if it detects special vehicle identification such as ambulance or fire truck, or receives an accident warning message from an accident vehicle.

[0081] For example, for special vehicles, a first candidate traffic rule such as "northbound ambulances have priority and other directions should suspend traffic" can be generated; for traffic accidents, a first candidate traffic rule such as "the first northbound lane for the accident is closed and the remaining northbound lanes alternate traffic" can be generated.

[0082] (2.2) If it is not an emergency lane scenario, the congestion level is obtained based on the average vehicle speed, the operation pattern is obtained based on the changes in vehicle speed and direction, and the queuing status is obtained based on the vehicle waiting time.

[0083] For example, the level of congestion can be divided into two categories, severe and mild, based on the average vehicle speed. If the average vehicle speed is lower than a preset speed threshold, it is determined to be severe congestion; otherwise, it is determined to be mild congestion.

[0084] The operational pattern can be categorized as ordered or chaotic based on the rate of change of vehicle speed and direction. If the rate of change of vehicle speed and direction is below a preset threshold, it is determined to be ordered; otherwise, it is determined to be chaotic. Understandably, large changes in vehicle speed and direction indicate an unstable driving state, potentially leading to conflicts such as cutting in front of other vehicles or frequent lane changes.

[0085] The queuing status can be classified as balanced or unbalanced based on the difference in waiting time between vehicles in different lanes. If the difference in waiting time between vehicles in different lanes is less than a preset difference threshold, it is determined to be a balanced waiting situation; otherwise, it is a non-balanced waiting situation.

[0086] The congestion level, operation pattern and queuing status mentioned above are all divided into two levels as an example. In some embodiments, they can also be divided into three or four levels. This application does not limit this.

[0087] (2.3) Determine traffic scenarios based on congestion level, operational patterns and queuing status.

[0088] For example, the vehicle can determine the traffic scenario based on a combination of factors including congestion level, operating patterns, and queuing status.

[0089] For example, if the congestion level is severe, the operation pattern is orderly, and the waiting distribution is balanced, it is determined to be an orderly congestion scenario; if the congestion level is severe, the operation pattern is orderly, and the waiting distribution is uneven, it is determined to be a one-way backlog scenario; if the congestion level is severe, the operation pattern is chaotic, and the waiting distribution is uneven, it is determined to be a chaotic congestion scenario; if the congestion level is mild, the operation pattern is chaotic, and the waiting distribution is uneven, it is determined to be a disorderly conflict scenario. Here, the corresponding scenario type can be preset according to actual needs, and this application embodiment does not limit this.

[0090] Step 303: Obtain the corresponding traffic template based on the traffic scenario and traffic control standards.

[0091] In this embodiment of the application, at least one initial traffic template that is compatible with the traffic scenario can be selected from the preset template library first. Then, based on the traffic control standard, the at least one initial traffic template is filtered to remove the initial traffic template that does not meet the traffic control standard. Finally, the initial traffic template that is retained after filtering is determined as the traffic template corresponding to the target area.

[0092] The traffic scenario describes the current traffic status of the target area. In this embodiment, the traffic scenario is first used to determine at least one suitable traffic framework for the current road conditions, i.e., at least one initial traffic template. Traffic control standards are the bottom-line traffic rules that must be followed, used to filter, verify, and constrain traffic templates. Based on the traffic control standards, this embodiment filters the determined initial traffic templates to ensure that the filtered traffic templates are legal, compliant, and safe, avoiding illegal, unsafe, or unreasonable traffic methods.

[0093] Here, the traffic template is a standardized traffic framework and basic rule carrier, a general traffic scheme preset based on the characteristics of various traffic scenarios and traffic control requirements. Optionally, the traffic template includes at least vehicle traffic priority, traffic sequence rules, traffic direction and lane allocation, safety interval constraints, and no-entry and yielding requirements. In this embodiment, when screening the above-determined initial traffic template based on traffic control standards, it can verify whether the above traffic template contains reasonable safety interval constraints, whether it has clearly defined and standardized no-entry and yielding requirements, whether it has traffic sequence rules and traffic direction and lane allocation to prevent traffic flow conflicts and the risk of illegal passage, and whether it has vehicle traffic priorities that comply with mandatory driving safety standards and safety clauses in traffic regulations. Thus, it ensures that the finally determined traffic template not only adapts to the current traffic scenario, but also comprehensively protects the safety of vehicle passage in the area, meeting the core needs of safe passage in scenarios without centralized control.

[0094] For example, taking the emergency access lane scenario as an example, the embodiments of this application can first select an emergency access lane-specific template from the template library based on the identified emergency access lane scenario as the initial template. Then, based on the traffic control standards, the initial template is checked, such as checking whether there is a vehicle traffic priority, for example, special vehicles have priority passage, or checking whether there are no-passing and yielding requirements, such as ordinary vehicles yielding to emergency vehicles, prohibiting the occupation of emergency access lanes, etc., to filter out legal, compliant and safe passage templates.

[0095] Step 304: Generate the first candidate passage rule based on the passage template, waiting time constraint, passage time constraint and passage safety constraint.

[0096] For example, the traffic templates in the rule template library can include roundabout-style traffic templates, where vehicles merge sequentially in a clockwise or counterclockwise direction, suitable for roundabouts or intersections that borrow from roundabout logic; they can also include one-way traffic templates, where only a specific direction is allowed to pass, while other directions are suspended, suitable for sections with reduced lanes or construction zones; they can also include emergency priority templates, where priority is given to emergency vehicles, while other directions are suspended or given way, suitable for emergency lane scenarios; and they can also include directional traffic templates, where traffic is grouped by direction, for example, allowing east-west traffic first, then north-south traffic.

[0097] In one possible implementation, a scoring mechanism is used to generate the first candidate passage rule. First, adjustable parameters are determined based on the passage template. For example, for a "round-robin passage template," adjustable parameters include the passage order and the passage duration in each direction. Next, the waiting time constraint, passage duration constraint, and passage safety constraint are quantified into specific scoring functions. The adjustable parameters are iteratively calculated, and each calculated solution is scored.

[0098] For example, fairness is scored based on waiting time constraints. The fairness objective for implementing the vehicle is to minimize the maximum waiting time in each direction. For each possible release sequence combination, the change in waiting time in each direction after implementing the scheme is predicted, and its fairness score is calculated.

[0099] Efficiency is scored based on traffic duration constraints. The executing vehicle calculates the minimum traffic time required to clear the traffic flow based on the queue length in each direction. For each possible release time allocation, the total number of vehicles passing through the intersection per unit time is predicted, and its efficiency score is calculated.

[0100] Safety scores are calculated based on traffic safety constraints. For example, vehicles are assigned safety constraints as hard indicators; for example, a release sequence or duration combination that causes vehicle trajectory conflicts receives the lowest score, while a release sequence or duration combination without trajectory conflicts receives the highest score.

[0101] Optionally, a weighted summation algorithm is used to sum the fairness score, efficiency score, and safety score to obtain a comprehensive score. The weighting coefficients can be preset according to the traffic scenario; for example, in a congested scenario, the weight of the efficiency score is increased. The vehicle selection process then uses the combination of the highest comprehensive score for the release order and release time to generate the first candidate passage rule.

[0102] In another possible implementation, step 304 generates a first candidate passage rule based on the passage template, waiting time constraint, passage time constraint, and passage safety constraint, including: (3.1) Based on the access template, determine the basic access sequence and access path.

[0103] Here, the executing vehicle establishes an initial framework for the rules based on the traffic template. For example, if the traffic template is a turn-by-turn release template, the executing vehicle first determines the basic traffic sequence as releasing traffic in the order of north, east, south, and west, and the basic traffic path is that all straight lanes in each direction can pass. Based on the initial framework, the basic traffic sequence and traffic path are adjusted according to step (3.2) to obtain the first candidate traffic rule.

[0104] (3.2) Based on the waiting time constraint, passage time constraint and passage safety constraint, the basic passage sequence and passage path are adjusted to obtain the first candidate passage rule.

[0105] The waiting time constraint is used to adjust the passage sequence. Optionally, the executing vehicle calculates the maximum waiting time for vehicles in each direction. If the waiting time for vehicles in a certain direction exceeds a preset threshold, the waiting time constraint requires compensation for that direction, and the executing vehicle advances the release order for that direction accordingly.

[0106] The passage time constraint is used to adjust the release time for each direction. Optionally, the executing vehicle estimates the passage time required to clear the queue of vehicles based on the traffic flow in each direction. Directions with higher traffic flow are allocated longer passage times, and directions with lower traffic flow are allocated shorter passage times.

[0107] Traffic safety constraints are used to verify safety. Optionally, the vehicle inspection process checks whether there are any vehicle trajectory conflicts after the adjusted traffic sequence and route. If conflicts exist, the traffic sequence and route need to be further adjusted until the traffic safety constraints are met.

[0108] For example, if the current scenario is an emergency access lane, the first candidate passage rule can be: Rule name: Emergency Priority + Sequential Alternating Passage; Phase 1: Northbound ambulances, pass immediately, give way in all directions; Phase 2: Westbound ordinary vehicles, pass for 30 seconds; Phase 3: Eastbound ordinary vehicles, pass for 30 seconds; Phase 4: Southbound ordinary vehicles, pass for 25 seconds.

[0109] In one possible implementation, the feedback information includes either approval or disapproval information. Based on the feedback information and the first candidate passage rule, the consensus passage rule for the target area is determined, including steps 305 to 307.

[0110] Step 305: Obtain the reputation value of each other vehicle within a preset range around the vehicle, and determine the weight of the approval or disapproval information fed back by each other vehicle based on the reputation value.

[0111] Here, after receiving feedback from other vehicles, the executing vehicle acquires the reputation score of each responding vehicle. The reputation score is determined based on the vehicle's historical behavior, reflecting whether it adhered to rules and provided honest feedback in past negotiation events. Vehicles with higher reputation scores are considered more trustworthy, and their feedback should have a greater influence on consensus-based decision-making.

[0112] The system assigns weights to the approval or disapproval messages from each vehicle based on its reputation score. For example, the reputation score can be directly used as the weight, with higher scores carrying greater weights; alternatively, the reputation score can be mapped to a preset weight range, such as a weight of 3 for vehicles with a reputation score greater than a preset threshold, and a weight of 1 for vehicles with a reputation score less than or equal to the preset threshold.

[0113] Step 306: Based on the approval information, disapproval information and their corresponding weights, obtain the support rate of the first candidate rule. Step 307: If the support rate is greater than or equal to the preset support rate threshold, then the first candidate pass rule is determined as the consensus pass rule.

[0114] Optionally, step 306 includes: (4.1) obtaining the total value of the approval weight based on the approval information and the corresponding weight, and obtaining the total value of the opposition weight based on the opposition information and the corresponding weight; (4.2) determining the proportion of the total value of the approval weight to the sum of the total value of the approval weight and the total value of the opposition weight, based on the total value of the approval weight and the total value of the opposition weight, as the support rate of the first candidate pass rule.

[0115] For example, taking 5 vehicles as an example, the reputation value is between 0 and 10. The reputation value and feedback information of each vehicle are as follows: Vehicle E, reputation value 10, agree; Vehicle F, reputation value 8, agree; Vehicle G, reputation value 8, agree; Vehicle M, reputation value 7, disagree; Vehicle N, reputation value 5, disagree.

[0116] If we assign a weight of 3 to vehicles with a reputation score greater than 7 and a weight of 1 to vehicles with a reputation score less than or equal to 7, then 3 vehicles have a weight of 3 and 2 vehicles have a weight of 1. The total weight for approval is 3 × 3 = 9; the total weight for disapproval is 1 + 1 = 2; and the approval rate is 82%.

[0117] The calculated support rate is compared with a preset support rate threshold. If the support rate reaches or exceeds the threshold, it indicates that the first candidate rule has gained enough approval from high-reputation vehicles and can be determined as a consensus rule. For example, the preset support rate threshold can be set to 70%. If the support rate is ≥70%, the first candidate rule becomes a consensus rule; if the support rate is below 70%, no consensus has been reached and further adjustments or negotiations are needed.

[0118] By adopting the above approach, this step introduces a reputation value weighting mechanism, which allows vehicles with good historical records to play a greater role in consensus decision-making, while weakening the influence of malicious or illegal vehicles, thereby improving the fairness and reliability of the consensus results.

[0119] In one possible implementation, the consensus access rule for the target area is determined based on the feedback information and the first candidate access rule, and steps (5.1) to (5.3) are also included.

[0120] (5.1) If the feedback information also includes the modification information and the corresponding vehicle identification, then determine whether the identification is the preset vehicle identification.

[0121] Optionally, when the executing vehicle receives feedback information, if it detects that some feedback information not only contains approval or disapproval, but also includes specific modification suggestions, such as adjusting the passage order or modifying the passage time, then it further obtains the identity identifier of the feedback vehicle and determines whether the identity identifier belongs to a preset special vehicle identity identifier.

[0122] The pre-defined vehicle identification features can include special vehicles performing emergency missions, such as ambulances, fire trucks, and police cars. These vehicles have a social need for priority passage, and any proposed modifications should be responded to quickly.

[0123] (5.2) When the identity identifier is the preset vehicle identity identifier, the first candidate passage rule is adjusted according to the modification information to obtain the second candidate passage rule. The second candidate passage rule is used as the new first candidate passage rule. The step of sending the first candidate passage rule to other vehicles within the preset range around the vehicle is re-executed to determine the consensus passage rule.

[0124] Here, if the vehicle proposing the modification is a special vehicle, the first candidate passage rule is directly adjusted according to its modification suggestion. For example, if an ambulance suggests "extending the northbound clearance time to 40 seconds," the executing vehicle adjusts the rule accordingly, generates a second candidate passage rule, and re-initiates negotiation with the adjusted rule as the new first candidate passage rule. This ensures that the passage needs of special vehicles are given priority.

[0125] (5.3) When the identity identifier is not the preset vehicle identity identifier, step 305 is executed to obtain the reputation value of each other vehicle within a preset range around the vehicle in order to determine the consensus passage rules.

[0126] Here, if the vehicle proposing the modification suggestion is a regular vehicle, the executing vehicle does not directly adopt its modification suggestion. Instead, the executing vehicle calculates the support rate based on the reputation values ​​of all participating vehicles, following steps 305 to 307, to determine whether a consensus has been reached. If the support rate does not reach the threshold, the executing vehicle can generate new candidate rules in the next round of negotiation, referencing the modification suggestions proposed by regular vehicles.

[0127] By employing the above methods, this step differentiates the handling of counter-proposals from special vehicles and ordinary vehicles, ensuring priority response to emergency tasks while allowing modification suggestions from ordinary vehicles to be considered in subsequent voting stages, thus achieving a balance between emergency priority and group consultation.

[0128] Step 308: Broadcast the consensus traffic rules to instruct vehicles in the target area to drive in accordance with the consensus traffic rules.

[0129] Optionally, after the consensus-based passage rules are determined, the executing vehicle broadcasts them to other vehicles within the target area via V2V communication. Upon receiving the consensus-based passage rules, other vehicles adopt them as temporary passage rules for the current area and comply with them. For example, the onboard system can display prompts such as "Passing in this direction, 20 seconds remaining" or "Please wait, next round of clearance" on the screen to guide the driver or autonomous driving system to drive according to the rules.

[0130] In one possible implementation, steps 309 to 311 are included after step 308.

[0131] Step 309: Detect whether there are any vehicles that are not driving in accordance with the consensus traffic rules.

[0132] Here, the vehicle monitors the actual driving behavior of surrounding vehicles using onboard sensors and compares it with the currently effective consensus traffic rules. If a vehicle is detected not driving according to the rules, such as entering an intersection at an inappropriate time or not proceeding in the prescribed order, it is marked as a violating vehicle.

[0133] Optionally, if other vehicles in the area detect a vehicle violating the rules, they can report the location of the violating vehicle and its violation to the enforcement vehicle.

[0134] Step 310: If there is a vehicle violating the rules, send a warning message to the vehicle violating the rules and monitor whether the vehicle violating the rules still does not drive in accordance with the consensus traffic rules within a preset time after the warning message is sent.

[0135] The enforcement vehicle sends a warning message to the violating vehicle via V2V communication, indicating that its current behavior violates the consensus-based traffic rules and requiring it to correct the violation immediately. Simultaneously, a timer is started to monitor whether the violating vehicle adjusts its driving behavior within a preset time period. If the violating vehicle stops its illegal behavior and drives according to the rules within the preset time period after receiving the warning, it is considered to have corrected the violation.

[0136] Step 311: If the offending vehicle fails to drive in accordance with the consensus traffic rules within a preset time after the alarm information is sent, then avoidance instruction information is sent to other vehicles in the target area, excluding the offending vehicle.

[0137] If a vehicle continues its violation after receiving a warning, to avoid a collision, the enforcement vehicle sends a yield instruction to other vehicles in the area, alerting them to the violating vehicle and prompting them to give way, thus ensuring overall traffic safety. For example, the yield instruction may include the violating vehicle's location, direction of travel, and expected trajectory, allowing other vehicles to make advance avoidance decisions.

[0138] Optionally, the enforcement vehicle can also record the behavior of the offending vehicle for subsequent updates to its reputation value, reducing its weight in future negotiations.

[0139] By employing the above methods, this step adds a violation handling mechanism after the rules take effect. This not only gives violating vehicles an opportunity to correct their behavior and avoids overreaction due to misjudgment or temporary violations, but also allows for measures to be taken when necessary to ensure the safety of other vehicles, thereby improving the reliability of rule enforcement and the system's fault tolerance.

[0140] In this embodiment, the traffic rules are executed by vehicles arriving in areas without effective traffic rules and meeting preset requirements. This approach offers higher reliability and scenario adaptability in situations where central infrastructure is not deployed or is ineffective. Furthermore, the generation process of the first candidate traffic rule is refined to improve its rationality and reliability. Additionally, a multi-vehicle collaborative decision-making mechanism is used to broadcast the first candidate traffic rule to other vehicles, and a consensus traffic rule is determined based on feedback from other vehicles. This ensures that the consensus traffic rule meets the traffic needs of most vehicles in the area, improving its acceptability and willingness to implement, and avoiding resistance and violations caused by unfair rules. Furthermore, vehicle reputation values ​​are introduced during the determination of the consensus traffic rule to improve the fairness and anti-interference capabilities of the consensus negotiation. Violation detection and avoidance mechanisms are added during the execution of the consensus traffic rule to enhance its reliability and security.

[0141] In summary, compared with existing technologies that rely on central infrastructure for traffic scheduling, the above methods effectively reduce dependence on central infrastructure and enable autonomous and collaborative passage of vehicles in scenarios lacking traffic control.

[0142] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0143] Figure 4 This is a schematic diagram of the structure of a vehicle traffic guidance device provided in one embodiment of this application. Figure 4 As shown, the vehicle traffic guidance device provided in this embodiment is applied to vehicles that have arrived at a target area and meet preset requirements. The target area is an area without effective traffic rules. The preset requirements include one or more of the following: vehicle location requirements, vehicle credit value requirements, and vehicle type requirements. The device may include: an acquisition module 401 and a processing module 402.

[0144] Among them, the acquisition module 401 is used to acquire traffic situation information of the target area; Processing module 402 is used to generate a first candidate traffic rule based on traffic situation information and pre-stored traffic constraint information; The processing module 402 is also used to broadcast the first candidate passage rule to other vehicles within a preset range around the vehicle, and to receive feedback information from other vehicles regarding the first candidate passage rule; The processing module 402 is also used to determine the consensus traffic rule for the target area based on the feedback information and the first candidate traffic rule, and broadcast the consensus traffic rule to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

[0145] In one possible implementation, the traffic constraint information includes traffic control standards, waiting time constraints, passage time constraints, and traffic safety constraints. The processing module 402 is specifically used to determine the traffic flow scenario of the target area based on traffic situation information; The processing module 402 is also used to obtain the corresponding passage template based on the traffic scenario and traffic control standards; The processing module 402 is further used to generate a first candidate passage rule based on the passage template, waiting time constraint, passage time constraint and passage safety constraint.

[0146] In one possible implementation, traffic situation information includes average vehicle speed in the target area, changes in vehicle speed and direction, vehicle waiting time, special vehicle conditions, and traffic accident conditions. Processing module 402 is specifically used to determine whether it is an emergency access scenario based on special vehicle conditions and traffic accident conditions; The processing module 402 is also used to determine the congestion level based on the average vehicle speed, the running pattern based on changes in vehicle speed and direction, and the queuing status based on the vehicle waiting time if the scenario is not an emergency lane. The processing module 402 is also used to determine traffic flow scenarios based on congestion levels, operational patterns, and queuing status.

[0147] In one possible implementation, the processing module 402 is further used to determine the basic passage sequence and passage path based on the passage template; The processing module 402 is further used to adjust the basic passage sequence and passage path according to the waiting time constraint, passage time constraint and passage safety constraint to obtain the first candidate passage rule.

[0148] In one possible implementation, the feedback information includes either approval or disapproval. The processing module 402 is specifically used to obtain the reputation value of each other vehicle within a preset range around the vehicle, and determine the weight of the approval or disapproval information fed back by each other vehicle based on the reputation value. The processing module 402 is further used to obtain the support rate of the first candidate pass rule based on the approval information, disapproval information and corresponding weights; The processing module 402 is further used to determine the first candidate pass rule as the consensus pass rule if the support rate is greater than or equal to the preset support rate threshold.

[0149] In one possible implementation, the processing module 402 is further configured to determine whether the identity identifier is a preset vehicle identity identifier if the feedback information also includes modification information and the corresponding vehicle identity identifier. The processing module 402 is further configured to, when the identity identifier is a preset vehicle identity identifier, adjust the first candidate passage rule according to the modification information to obtain a second candidate passage rule, use the second candidate passage rule as the new first candidate passage rule, and re-execute the step of sending the first candidate passage rule to other vehicles within a preset range around the vehicle in order to determine the consensus passage rule; The processing module 402 is further configured to perform a step of obtaining the reputation value of each other vehicle within a preset range around the vehicle when the identity identifier is not a preset vehicle identity identifier, so as to determine the consensus passage rules.

[0150] In one possible implementation, the processing module 402 is specifically used to obtain the total value of the approval weight based on the approval information and the corresponding weight, and to obtain the total value of the disapproval weight based on the disapproval information and the corresponding weight. The processing module 402 is further used to determine the proportion of the total approval weight to the sum of the approval weight and the opposition weight based on the total approval weight and the total opposition weight, and use this proportion as the support rate of the first candidate passing rule.

[0151] In one possible implementation, after broadcasting the consensus traffic rules to instruct vehicles in the target area to drive in accordance with the consensus traffic rules, the processing module 402 is also used to detect whether there are any vehicles that do not drive in accordance with the consensus traffic rules. The processing module 402 is also used to send a warning message to the violating vehicle if there is a violating vehicle, and to monitor whether the violating vehicle still fails to drive in accordance with the consensus traffic rules within a preset time after the warning message is sent. The processing module 402 is also used to send avoidance instruction information to other vehicles in the target area, excluding the violating vehicle, if the violating vehicle still fails to drive in accordance with the consensus traffic rules within a preset time after the alarm information is sent.

[0152] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0153] Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application. Figure 5 As shown, the vehicle in this embodiment includes a processor 510 and a memory 520, wherein the memory 520 stores a computer program 521 that can run on the processor 510. When the processor 510 executes the computer program 521, it implements the steps in any of the above method embodiments, for example... Figure 2 Steps 201 to 204 are shown. Alternatively, when processor 510 executes computer program 521, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the acquisition module 401 and the processing module 402 are shown.

[0154] For example, computer program 521 may be divided into one or more modules / units, one or more of which are stored in memory 520 and executed by processor 510 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 521 in a vehicle.

[0155] Those skilled in the art will understand that Figure 5This is merely an example of a vehicle and does not constitute a limitation on the vehicle. It may include more or fewer components than shown, or combinations of certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0156] The processor 510 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0157] The memory 520 can be an internal storage unit of the vehicle, such as a hard drive or memory, or an external storage device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. The memory 520 can also include both internal and external storage devices. The memory 520 is used to store computer programs and other programs and data required by the vehicle. The memory 520 can also be used to temporarily store data that has been output or will be output.

[0158] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] An embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle passage guidance method.

[0160] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0161] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0162] In the embodiments provided in this application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0166] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for guiding vehicle traffic, characterized in that, The method is applied to a vehicle that has arrived at a target area and meets preset requirements. The target area is an area without effective traffic rules. The preset requirements include one or more of the following: vehicle location requirements, vehicle credit value requirements, and vehicle type requirements. The method includes: Obtain traffic situation information for the target area; Based on the traffic situation information and the pre-stored traffic constraint information, a first candidate traffic rule is generated; The first candidate traffic rule is broadcast to other vehicles within a preset range around the vehicle, and feedback information from other vehicles regarding the first candidate traffic rule is received. Based on the feedback information and the first candidate traffic rules, a consensus traffic rule for the target area is determined, and the consensus traffic rule is broadcast to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

2. The vehicle traffic guidance method according to claim 1, characterized in that, The traffic constraint information includes traffic control standards, waiting time constraints, passage time constraints, and traffic safety constraints; The step of generating a first candidate traffic rule based on the traffic situation information and pre-stored traffic constraint information includes: Based on the traffic situation information, the traffic flow scenario of the target area is determined; Based on the traffic scenario and the traffic control standards, the corresponding traffic template is obtained; Based on the passage template, the waiting time constraint, the passage time constraint, and the passage security constraint, the first candidate passage rule is generated.

3. The vehicle traffic guidance method according to claim 2, characterized in that, The traffic situation information includes the average vehicle speed, speed and direction changes, vehicle waiting time, special vehicle conditions, and traffic accident conditions in the target area. The step of determining the traffic flow scenario of the target area based on the traffic situation information includes: Based on the specific vehicle situation and the traffic accident situation, determine whether it is an emergency access route scenario; If it is not the emergency lane scenario, then the congestion level is obtained based on the average vehicle speed, the operation pattern is obtained based on the changes in vehicle speed and direction, and the queuing status is obtained based on the vehicle waiting time. The traffic scenario is determined based on the congestion level, the operational pattern, and the queuing status.

4. The vehicle traffic guidance method according to claim 2, characterized in that, The process of generating the first candidate passage rule based on the passage template, the waiting time constraint, the passage time constraint, and the passage security constraint includes: Based on the access template, the basic access sequence and access path are determined; Based on the waiting time constraint, the passage time constraint, and the passage safety constraint, the basic passage sequence and passage path are adjusted to obtain the first candidate passage rule.

5. The vehicle traffic guidance method according to any one of claims 1 to 4, characterized in that, The feedback information includes either approval or disapproval information; The step of determining the consensus access rule for the target area based on the feedback information and the first candidate access rule includes: Obtain the reputation value of each other vehicle within a preset range around the vehicle, and determine the weight of the approval or disapproval information returned by each other vehicle based on the reputation value; Based on the approval information, the disapproval information, and the corresponding weights, the support rate of the first candidate passage rule is obtained; If the support rate is greater than or equal to a preset support rate threshold, then the first candidate pass rule is determined to be the consensus pass rule.

6. The vehicle traffic guidance method according to claim 5, characterized in that, The step of determining the consensus access rule for the target area based on the feedback information and the first candidate access rule further includes: If the feedback information also includes modification information and the corresponding vehicle identification, then determine whether the identification is a preset vehicle identification. When the identity identifier is the preset vehicle identity identifier, the first candidate passage rule is adjusted according to the modification information to obtain the second candidate passage rule. The second candidate passage rule is used as the new first candidate passage rule, and the step of sending the first candidate passage rule to other vehicles within a preset range around the vehicle is re-executed to determine the consensus passage rule. When the identity identifier is not the preset vehicle identity identifier, the step of obtaining the reputation value of each other vehicle within a preset range around the vehicle is performed to determine the consensus passage rule.

7. The vehicle traffic guidance method according to claim 5, characterized in that, The step of obtaining the support rate of the first candidate passage rule based on the approval information, the disapproval information, and the corresponding weights includes: Based on the agreed information and the corresponding weights, the total agreed weight value is obtained, and based on the opposed information and the corresponding weights, the total opposed weight value is obtained. Based on the total value of approval weights and the total value of disapproval weights, the proportion of the total value of approval weights to the sum of the total value of approval weights and the total value of disapproval weights is determined as the support rate of the first candidate pass rule.

8. The vehicle traffic guidance method according to any one of claims 1 to 4, characterized in that, After broadcasting the consensus traffic rules to instruct vehicles within the target area to travel in accordance with the consensus traffic rules, the method further includes: Detect whether there are any vehicles that are not driving in accordance with the consensus-based traffic rules; If a vehicle is found to be in violation, a warning message is sent to the vehicle, and the system monitors whether the vehicle still fails to comply with the consensus traffic rules within a preset time period after the warning message is sent. If the offending vehicle fails to comply with the consensus traffic rules within a preset time period after the alarm information is sent, then avoidance instructions will be sent to other vehicles in the target area besides the offending vehicle.

9. A vehicle traffic guidance device, characterized in that, Applied to vehicles, wherein the vehicle is a vehicle that has arrived at a target area and meets preset requirements, and the target area is an area without effective traffic rules; the device includes: The acquisition module is used to acquire traffic situation information of the target area; The processing module is used to generate a first candidate traffic rule based on the traffic situation information and the pre-stored traffic constraint information; The processing module is also used to broadcast the first candidate traffic rule to other vehicles within a preset range around the vehicle, and to receive feedback information from other vehicles regarding the first candidate traffic rule. The processing module is further configured to determine the consensus traffic rule for the target area based on the feedback information and the first candidate traffic rule, and broadcast the consensus traffic rule to instruct vehicles in the target area to drive in accordance with the consensus traffic rule.

10. A vehicle comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle passage guidance method as described in any one of claims 1 to 8.

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