Lane state determination method and apparatus, and terminal device and storage medium

Abstract

Provided is a lane state determination method. The method comprises: acquiring a vehicle lane identifier and a vehicle position cumulative offset of a main lane where a vehicle is located; acquiring traffic state attribute information, wherein the traffic state attribute information comprises lane identifiers of lanes, and lane state information corresponding to lane cumulative offsets in the lanes, respectively; determining, from among the lane identifiers, a target lane identifier corresponding to the vehicle lane identifier, and determining target lane cumulative offsets in a target lane corresponding to the target lane identifier and target lane state information corresponding to the target lane cumulative offsets; and determining a lane state of the main lane on the basis of the vehicle position cumulative offset, the target lane cumulative offsets and the target lane state information. Further provided is a lane state determination apparatus, comprising a first acquisition module, a second acquisition module, a first determination module and a second determination module. Further provided are a terminal device and a computer-readable storage medium. The determination method can acquire an accurate and comprehensive lane state, thereby improving the driving convenience.

Description

A method, device, terminal device and storage medium for determining lane status

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 25, 2023, with application number 202311799888.5 and invention name “A method, device, terminal device and storage medium for determining lane status”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving technology, and in particular to a method, apparatus, terminal device, and storage medium for determining lane status. Background Art

[0003] In recent years, with the increasing rate of vehicle ownership, traffic congestion has become increasingly frequent. Traffic congestion not only affects drivers' performance but also their emotions. Therefore, it is necessary to accurately and promptly determine the lane status of the vehicle's lane.

[0004] Current technology uses sensors pre-installed on the vehicle, such as millimeter-wave radar, lidar, and cameras, to directly collect road information ahead of the vehicle and determine the lane status of the road the vehicle is traveling on based on this road information. However, this technology provides limited information on lane status.

[0005] Therefore, how to obtain accurate and comprehensive lane status is a technical problem that technicians in this field currently need to solve. Summary of the Invention

[0006] One of the purposes of the embodiments of the present application is to provide a method, apparatus, terminal device and computer-readable storage medium for determining lane status.

[0007] The technical solution adopted in the embodiment of this application is:

[0008] In a first aspect, the present application provides a method for determining lane status. The method comprises:

[0009] Obtain the vehicle lane identifier and the accumulated offset of the vehicle position in the main lane where the vehicle is located;

[0010] Obtaining traffic state attribute information; the traffic state attribute information includes lane markings of each lane, and lane state information corresponding to the accumulated offset of each lane;

[0011] Determining a target lane identifier corresponding to the vehicle lane identifier from each lane identifier, and determining each target lane cumulative offset in the target lane corresponding to the target lane identifier and target lane state information corresponding to each target lane cumulative offset;

[0012] The lane state of the main lane is determined according to the accumulated offset of the vehicle position, the accumulated offset of each target lane, and the state information of each target lane.

[0013] In one embodiment, the method further comprises:

[0014] Obtain a first distance between the vehicle and the end point of a congested road section; the congested road section is a road section whose lane status corresponds to congestion; obtain a second distance between the vehicle and an adjacent vehicle in front of the vehicle; obtain the vehicle's driving speed; and determine whether the vehicle is in the congested road section based on the first distance, the second distance, and the driving speed.

[0015] In one embodiment, the method further comprises:

[0016] Obtaining a control signal of the vehicle; determining whether the vehicle is in a congested section based on the first distance, the second distance, and the driving speed, including: determining whether the vehicle is in a congested section based on the first distance, the second distance, the driving speed, and the control signal.

[0017] In one embodiment, obtaining traffic status attribute information includes:

[0018] The configuration file is obtained through the on-board map during vehicle driving; if the configuration file is valid, the traffic status attribute information is obtained according to the configuration file.

[0019] In one embodiment, determining whether the configuration file is valid includes one or more combinations of the following:

[0020] Determine if the file type of the configuration file is valid;

[0021] Determine if the lane markings in the configuration file are valid;

[0022] Determine whether the value of the preset flag in the configuration file is valid;

[0023] Determine whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle.

[0024] In one embodiment, the method further comprises:

[0025] If the vehicle is in a congested road section, it will respond to the driver's control instructions and control the vehicle to activate corresponding functions according to the control instructions; the functions include entertainment function, seat massage function and intelligent driving function.

[0026] In one embodiment, the method further comprises:

[0027] The driving force of the vehicle is determined according to the accumulated offset of the vehicle position and the accumulated offset of the target lane; the energy recovery amount of the vehicle is determined according to the driving force, and an energy recovery operation is performed according to the energy recovery amount.

[0028] In a second aspect, the present application also provides a lane status determination device. The device includes:

[0029] A first acquisition module is used to obtain a vehicle lane identifier and a cumulative offset of a vehicle position of a main lane where the vehicle is located;

[0030] The second acquisition module is used to acquire traffic state attribute information; the traffic state attribute information includes lane identification of each lane and lane state information corresponding to the accumulated offset of each lane;

[0031] A first determining module is configured to determine a target lane identifier corresponding to the vehicle lane identifier from each lane identifier, and each target lane cumulative offset in the target lane corresponding to the target lane identifier and target lane state information corresponding to each target lane cumulative offset;

[0032] The second determining module is configured to determine the lane state of the main lane according to the accumulated offset of the vehicle position, the accumulated offset of each target lane, and the state information of each target lane.

[0033] In a third aspect, the present application further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which implements the steps of the above method when executed by a processor.

[0035] The beneficial effects of a lane status determination method provided by an embodiment of the present application are: obtaining the vehicle lane identification and the cumulative offset of the vehicle position of the main lane where the vehicle is located, and obtaining traffic status attribute information; then determining the target lane identification corresponding to the vehicle lane identification from each lane identification, and the cumulative offset of each target lane in the target lane corresponding to the target lane identification, and the target lane status information corresponding to the cumulative offset of each target lane; determining the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane. It can be seen that this method converts the target lane status information in the geodetic coordinate system into the target lane status information in the vehicle coordinate system, that is, determines the offset of each target lane status information and the vehicle, so that it can obtain accurate and comprehensive lane status and improve driving convenience.

[0036] It can be understood that the lane status determination device, terminal device and computer-readable storage medium provided in the embodiments of the present application have the same beneficial effects as the above-mentioned lane status determination method, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] FIG1 is a flow chart of a method for determining a lane state provided in an embodiment of the present application;

[0039] FIG2 is a schematic diagram of the structure of a traffic road provided in an embodiment of the present application;

[0040] FIG3 is a schematic structural diagram of a lane state determination device provided in an embodiment of the present application;

[0041] FIG4 is a schematic structural diagram of a terminal device provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0042] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0043] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0044] A method for determining a lane state provided in an embodiment of the present application can be executed by a processor of a terminal device when running a corresponding computer program.

[0045] FIG1 is a flow chart of a method for determining a lane state according to an embodiment of the present application. For ease of illustration, only the portion relevant to the present embodiment is shown. The method according to the present embodiment includes the following steps:

[0046] S100: Obtaining a vehicle lane identifier and a cumulative vehicle position offset of a main lane where the vehicle is located.

[0047] Among them, the main lane refers to the lane in which the vehicle is currently traveling; the branch road connected to the main lane is the sub-lane; the vehicle lane identification refers to the lane identification corresponding to the main lane; the lane identification refers to the information used to uniquely identify each lane; it can be specifically represented by numbers or characters, which is not limited in this embodiment.

[0048] Among them, the cumulative offset of the vehicle position refers to the offset determined based on the vehicle's travel distance with the preset origin as the starting point; the starting point of the lane can be used as the preset origin, or the fork in the road can be used as the preset origin, which is not limited in this embodiment.

[0049] In practical applications, the configuration file may be obtained through an onboard map while the vehicle is traveling, and the vehicle lane identifier and the accumulated offset of the vehicle position of the main lane where the vehicle is located may be determined based on the configuration file.

[0050] S200: Obtain traffic state attribute information; the traffic state attribute information includes lane identification of each lane, and lane state information corresponding to the accumulated offset of each lane.

[0051] The lane cumulative offset refers to the offset determined based on the lane direction with the preset origin as the starting point.

[0052] Lane state information refers to information used to describe lane conditions, such as congested, unobstructed, or severely congested. In practical applications, lane states can be described directly using text or represented by parameters, such as a larger value indicating a more congested lane, 1 indicating unobstructed, 2 indicating congested, and 3 indicating severely congested. This embodiment does not limit the specific representation of lane state information.

[0053] It should be noted that this embodiment does not limit the granularity of lane cumulative offset collection; for example, the granularity of lane cumulative offset collection can be 1 meter, that is, lane state information corresponding to each meter is obtained. Furthermore, when the lane state changes, the lane state information is updated, that is, the traffic state attribute information is updated.

[0054] In one practical application, the distance range for obtaining traffic state attribute information corresponding to the main lane is greater than the distance range for obtaining traffic state attribute information corresponding to the sub-lanes. For example, assuming that lane identification is represented by Path ID, if the main lane corresponding to the vehicle is Path ID = 8, the sub-lanes include lanes corresponding to Path ID = 9, Path ID = 10, and Path ID = 11. The traffic state attribute information corresponding to the main lane is obtained within a 2km range, and the traffic state attribute information corresponding to each sub-lane is obtained within a 500m range. If the vehicle changes lanes from lane Path ID = 8 to Path ID = 9, that is, Path ID = 9, which was originally a sub-lane, is now updated to the main lane, the lane state of the main lane (Path ID = 9) after the lane change can be continuously determined based on the corresponding traffic state attribute information within a 500m range, and the updated traffic state attribute information corresponding to the main lane and each sub-lane can continue to be obtained.

[0055] S300: Determine a target lane identifier corresponding to the vehicle lane identifier from each lane identifier, and determine each target lane cumulative offset in the target lane corresponding to the target lane identifier and target lane state information corresponding to each target lane cumulative offset.

[0056] The target lane identifier refers to the lane identifier among the lane identifiers that is identical to the lane vehicle identifier of the main lane. In other words, in actual operation, lane state information corresponding to multiple lanes, including the main lane and sub-lanes, is obtained. Therefore, the target lane identifier corresponding to the vehicle lane identifier is determined from the lane identifiers. Based on the target lane identifier, the cumulative offsets of each target lane in the target lane and the target lane state information corresponding to each cumulative offset are determined. In other words, the target lane state information corresponding to the cumulative offsets of the target lanes in the geodetic coordinate system is obtained.

[0057] For example, assuming that the traffic state attribute information includes three lane identifications, Path ID=8, Path ID=9, and Path ID=10, and lane state information corresponding to the accumulated offsets of the lanes corresponding to the lane identifications, if the vehicle lane identification of the main lane where the vehicle is located is Path ID=8, that is, the target lane identification is Path ID=8, then the lane state information corresponding to Path ID=8 is obtained from the traffic state attribute information.

[0058] S400: Determine the lane state of the main lane according to the accumulated offset of the vehicle position, the accumulated offset of each target lane, and the state information of each target lane.

[0059] Specifically, the difference between the cumulative offset of each target lane and the cumulative offset of the vehicle position is calculated to obtain the offset difference; based on the corresponding relationship between the offset difference and the cumulative offset of the target lane, and the corresponding relationship between the cumulative offset of the target lane and the target lane state information, the target lane state information corresponding to each offset difference is determined; the target lane state information in the geodetic coordinate system is converted into the target lane state information in the vehicle coordinate system, that is, the offset of each target lane state information and the vehicle is determined.

[0060] Table 1 shows the vehicle lane marker and cumulative vehicle position offset for the main lane in which the vehicle is located, and Table 2 shows traffic state attribute information. From Table 2, the target lane marker corresponding to the vehicle lane marker is determined, along with the corresponding cumulative target lane offset and target lane state information. The offset difference is calculated by subtracting the cumulative vehicle position offset from the target lane offset, and the target lane state information corresponding to each offset difference is determined. The lane state of the main lane determined based on Tables 1 and 2 is shown in Table 3.

[0061] Table 1

[0062] Path ID8 vehicle position cumulative offset 600

[0063] Table 2

[0064]

[0065] Table 3

[0066]

[0067] Figure 2 is a schematic diagram of a traffic road structure provided in an embodiment of the present application. As shown in Figure 2, a vehicle is traveling in the main lane (Path ID = 8), with other side roads serving as sub-lanes. The traffic jam 1171 meters ahead is the lane state information determined through reconstruction. Specifically, after determining the distance corresponding to the congested road section, it can be directly displayed on the vehicle's display screen, allowing the driver to select a lane based on the lane state information corresponding to each offset difference (distance from the vehicle), thereby improving traffic efficiency. This embodiment does not limit the specific display method.

[0068] The embodiment of the present application provides a method for determining lane status, which obtains the vehicle lane identification and the cumulative offset of the vehicle position of the main lane where the vehicle is located, and obtains traffic status attribute information; then determines the target lane identification corresponding to the vehicle lane identification from each lane identification, and the cumulative offset of each target lane in the target lane corresponding to the target lane identification, and the target lane status information corresponding to the cumulative offset of each target lane; determines the lane status of the main lane based on the cumulative offset of the vehicle position, the cumulative offset of each target lane, and the status information of each target lane. It can be seen that this method converts the target lane status information in the geodetic coordinate system into the target lane status information in the vehicle coordinate system, that is, determines the offset of each target lane status information and the vehicle, so that it can obtain accurate and comprehensive lane status and improve driving convenience.

[0069] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a method for determining a lane state further includes:

[0070] Obtain a first distance between the vehicle and the end point of a congested road section; the congested road section is a road section whose lane status corresponds to congestion; obtain a second distance between the vehicle and an adjacent vehicle in front of the vehicle; obtain the vehicle's driving speed; and determine whether the vehicle is in the congested road section based on the first distance, the second distance, and the driving speed.

[0071] Specifically, the current position of the vehicle is obtained according to the vehicle positioning system, and the starting point and the ending point of the congested road section are obtained; and the first distance is determined according to the position difference between the ending point of the congested road section and the current position.

[0072] Specifically, the vehicle's forward-looking camera and / or laser radar and / or millimeter-wave radar are used to determine the second distance between the vehicle and the adjacent vehicle in front of the vehicle.

[0073] Specifically, the vehicle's speed can be calculated based on the wheel speed sensor on the vehicle's drive wheel axle; the vehicle's GPS navigation system can accurately calculate the vehicle's speed by monitoring signals received from multiple satellites; the vehicle's radar equipment or laser speed meter estimates the vehicle's speed by sending signals and measuring their reflection time; this embodiment does not limit the specific method of obtaining the vehicle's speed.

[0074] In this embodiment, whether the vehicle is in a congested section is determined based on the first distance, the second distance, and the driving speed. In a specific implementation, if the first distance is less than a preset first distance threshold, it indicates that the vehicle is very close to the congested section and may be in the congested section. Therefore, the relationship between the second distance and the preset second distance threshold is further determined. Otherwise, it is determined that the vehicle is not in the congested section. If the second distance is less than the preset second distance threshold, it indicates that the vehicle is very close to the adjacent vehicle in front of the vehicle and may be in the congested section. Otherwise, it is determined that the vehicle is not in the congested section. Therefore, it is further determined whether the vehicle's driving speed is less than a preset speed threshold. If the driving speed is less than the preset speed threshold, it is determined that the vehicle is in the congested section. Otherwise, it is determined that the vehicle is not in the congested section.

[0075] It can be seen that in this embodiment, whether the vehicle is in a congested section is determined based on the first distance between the vehicle and the end point of the congested section, the second distance between the vehicle and the adjacent vehicle in front of the vehicle, and the vehicle's driving speed. The judgment process is more accurate and can improve the accuracy of determining the lane status.

[0076] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a method for determining a lane state further includes:

[0077] Obtaining a control signal of the vehicle; determining whether the vehicle is in a congested section based on the first distance, the second distance, and the driving speed, including: determining whether the vehicle is in a congested section based on the first distance, the second distance, the driving speed, and the control signal.

[0078] Vehicle control signals include gear status, EPB (Electrical Park Brake) status, brake pedal signal, and accelerator pedal signal. In actual applications, the vehicle's driving status is determined by collecting gear status, EPB status, brake pedal signal, and accelerator pedal signal.

[0079] It should be noted that this embodiment determines whether a vehicle is in a congested section based on a first distance between the vehicle and the end point of the congested section, a second distance between the vehicle and the adjacent vehicle in front of it, and the vehicle's speed. Furthermore, it determines whether the vehicle is in a congested section based on the vehicle's control signal. Therefore, the method of this embodiment can more accurately determine whether a vehicle is in a congested section.

[0080] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, obtaining traffic status attribute information includes:

[0081] The configuration file is obtained through the on-board map during vehicle driving; if the configuration file is valid, the traffic status attribute information is obtained according to the configuration file.

[0082] Specifically, the on-board map collects real-time map input data and generates a corresponding configuration file, which is then sent to the terminal device via the vehicle computer so that the terminal device obtains the configuration file.

[0083] In actual applications, if the terminal device is a parking distance control unit (PDCU) or a vehicle control unit (VCU), the configuration file sent by the head unit (HUT, also known as the terminal information display unit) is received by the PDCU or VCU, and then the configuration file is verified to determine whether the configuration file is valid. If the configuration file is valid, traffic status attribute information is obtained based on the configuration file; if the configuration file is invalid, it is discarded.

[0084] According to the method of this embodiment, traffic state attribute information can be efficiently acquired, thereby improving the efficiency of determining lane states.

[0085] In a specific embodiment, determining whether the configuration file is valid includes one or more combinations of the following:

[0086] Determine if the file type of the configuration file is valid;

[0087] Determine if the lane markings in the configuration file are valid;

[0088] Determine whether the value of the preset flag in the configuration file is valid;

[0089] Determine whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle.

[0090] Determining whether the profile's file type is valid is also determining whether the profile's short type is traffic flow information. Specifically, this is determined by checking whether ADAS_ProfShort_ProfTyp = 0x13 (ADAS_ProfLong_ProfType = 19). If the profile's short type is not traffic flow information, the profile's file type is invalid and the profile is discarded. Otherwise, the profile's file type is determined to be valid.

[0091] The process of determining whether the lane marking in the configuration file is valid is as follows: obtain the lane marking data in the configuration file and determine whether the data is within the preset marking value range, such as determining whether ADAS_ProfShort_PathIdx = 0×00~0×3F. If the data is within the preset marking value range, it indicates that the lane marking in the configuration file is valid. Otherwise, that is, the data is not within the preset marking value range, it indicates that the lane marking in the configuration file is invalid.

[0092] Specifically, determining whether the value of the preset flag in the configuration file is valid includes determining whether the offset in the configuration file is valid and determining whether the value in the configuration file is valid.

[0093] It should be noted that the validity of the offset bit in the configuration file is determined by determining whether the value of the offset bit in the configuration file is within a preset value range. For example, the validity of the offset bit in the configuration file is determined by determining whether ADAS_ProfShort_Offset = 0×0~0×1FFE.

[0094] It should be noted that the validity of the value in the configuration file is determined by determining whether the value bit in the configuration file is within the preset value range. For example, the validity of the value in the configuration file is determined by determining whether ADAS_ProfShort_Value0 = 0×1~0×3FE.

[0095] Among them, determining whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle means that this embodiment only considers the lane state in front of the vehicle. Specifically, if the lane cumulative offset is greater than the vehicle position cumulative offset, it means that the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle; otherwise, it means that the traffic state attribute information corresponding to the configuration file is data information behind the vehicle or at the same level. More specifically, the difference between the lane cumulative offset and the vehicle position cumulative offset can be calculated; if the difference is greater than 0, it means that the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle; otherwise, it means that the traffic state attribute information corresponding to the configuration file is data information at the same level or behind the vehicle. In addition, whether the lane cumulative offset is greater than the vehicle position cumulative offset can also be determined by calculating a ratio, which is not limited in this embodiment.

[0096] In one specific implementation, the process of determining whether the configuration file is valid is as follows:

[0097] Determine whether the file type of the configuration file is valid;

[0098] If the file type of the configuration file is valid, determining whether the lane marking in the configuration file is valid;

[0099] If the lane marking in the configuration file is valid, then determine whether the offset bit in the configuration file is valid;

[0100] If the offset bit in the configuration file is valid, then determine whether the value in the configuration file is valid;

[0101] If the value in the configuration file is valid, determine whether the traffic state attribute information corresponding to the configuration file is the data information in front of the vehicle;

[0102] If the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle driving, it is determined that the configuration file is valid.

[0103] In a specific implementation, the traffic status attribute information includes: ADAS_Posn_Offset (vehicle position cumulative offset), ADAS_Posn_Pathldx (vehicle lane identification), ADAS_ProfLong_PathIdx (lane identification), ADAS_ProfLong_Offset (lane cumulative offset), ADAS_ProfLong_Value (status information), ADAS_ProfLong_ProfType (profile short type);

[0104] Through the enabling conditions: ADAS_Posn_Pathldx = ADAS_ProfLong_PathIdx; ADAS_ProfLong_ProfType = 19; the upper 1 bit of ADAS_ProfLong_Value: event status description (0: new; 1: cancel); the upper 2 bits: event start and end point description (0: startpoint; 1: endpoint); the upper 3 to 6 bits: event credibility; the upper 7 to 13 bits represent the event type: the value is equal to 4 (congestion) and 5 (jam); and then on this basis, the difference between ADAS_ProfLong_Offset and ADAS_Posn_Offset is calculated.

[0105] It can be seen that according to the method of this embodiment, whether the configuration file is valid can be determined quickly and accurately, and traffic status attribute information can be obtained efficiently, thereby improving the efficiency of determining the lane status.

[0106] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a method for determining a lane state further includes:

[0107] If the vehicle is in a congested road section, it will respond to the driver's control instructions and control the vehicle to activate corresponding functions according to the control instructions; the functions include entertainment function, seat massage function and intelligent driving function.

[0108] In this embodiment, after determining that the vehicle is in a congested road section, the vehicle computer sends a corresponding prompt message, prompting the driver whether to control the vehicle to enter the comfortable follow mode; the prompt message includes through voice or displaying a virtual button on the display screen for the driver to choose; accordingly, the terminal device receives the driver's voice information and parses it to obtain the corresponding control instructions; or responds to the driver's operation on the virtual button to obtain the corresponding control instructions; the comfortable follow mode is a function in which the vehicle executes the corresponding function to alleviate the driver's anxiety caused by vehicle congestion; the functions include entertainment functions, seat massage functions and intelligent driving functions, etc.

[0109] When the control command indicates that the vehicle needs to be controlled to enter the comfortable follow mode, the driver is first prompted whether to make a voice call with the preset contact to communicate about pre-scheduled dinners or errands, etc.; if the driver determines through voice or the virtual button on the display screen that a voice call with the preset contact is needed, a voice call with the preset contact is established; if the driver determines that a voice call with the preset contact is not needed, the driver is further prompted whether to turn on the entertainment function and the seat massage function; among them, the entertainment functions include music, ambient lights, games, etc.; and the entertainment function and the seat massage function can be turned on at the same time, and one or more of the entertainment functions can be turned on.

[0110] In addition, after a control command indicates that the vehicle needs to enter Comfort Follow mode, the vehicle activates intelligent driving functions in response to the driver's control command. Specifically, a prompt message indicating the vehicle is entering ACC (Adaptive Cruise Control) full-speed follow mode (cruise mode) may be displayed on the vehicle's display screen. The prompt message may read: "You are about to enter ACC full-speed follow mode. Please release the brake pedal and pay attention to driving safety." After the vehicle enters ACC full-speed follow mode, the vehicle is controlled to follow the vehicle ahead in its lane. Alternatively, after a control command indicates that the vehicle needs to enter Comfort Follow mode, a prompt message indicating the vehicle is entering NOA (Navigate On Autopilot) city assisted driving mode (navigation mode) may be displayed on the vehicle's display screen. The prompt message may read: "You are about to enter NOA city assisted driving. Please release the brake pedal and pay attention to driving safety." The NOA city assisted driving mode is then activated based on the driver's trip destination information obtained through voice recognition or the vehicle's display screen.

[0111] In actual application, after the vehicle is in cruise and navigation mode, the driver can also choose to use the on-board handle to connect to the car computer to play games when the vehicle is parked. When the vehicle is in driving condition, the game screen displayed on the car computer's display screen will be suspended and hidden.

[0112] It can be seen that according to the method of this embodiment, when the vehicle is in a congested road section, convenient and comfortable services can be provided to the driver, thereby improving the driver's driving experience.

[0113] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a method for determining a lane state further includes:

[0114] The driving force of the vehicle is determined according to the accumulated offset of the vehicle position and the accumulated offset of the target lane; the energy recovery amount of the vehicle is determined according to the driving force, and an energy recovery operation is performed according to the energy recovery amount.

[0115] Specifically, the difference between the cumulative offset of the vehicle position and the cumulative offset of the target lane is used to determine the offset between the target lane status information and the vehicle; when the lane status information is congested, the distance between the vehicle and the congested road section is determined.

[0116] Then according to the kinematic formula: 2ax=v 2 -v0 2 , calculate the vehicle's deceleration a; where x represents the offset difference, which changes dynamically. As the vehicle approaches the congested road section, the offset difference becomes smaller; v represents the vehicle's speed; v0 represents the vehicle's terminal velocity, which is generally 5 m / s; the result of solving for a is also a dynamic variable, changing with the changes in x and v.

[0117] After determining the vehicle's deceleration a, according to formula F 合 =ma calculate the force F acting on the vehicle 合 ; Then according to F 合 =F 驱 -F 阻 Calculate the vehicle's driving force F 驱 ; Then according to the driving force F 驱 The amount of energy recovery is determined, and then energy recovery operations are performed based on the amount of energy recovery. In actual applications, the driving mode is switched to pure electric mode when energy recovery is performed.

[0118] It can be seen that according to the method of this embodiment, energy recovery can be performed according to congested road sections, further improving the driving experience of the vehicle when encountering congested road sections.

[0119] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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.

[0120] FIG3 is a schematic diagram of the structure of a lane state determination device provided by an embodiment of the present application. As shown in FIG3 , the lane state determination device of this embodiment includes a first acquisition module 310, a second acquisition module 320, a first determination module 330, and a second determination module 340; wherein,

[0121] A first acquisition module 310 is configured to acquire a vehicle lane identifier and a cumulative vehicle position offset of a main lane where the vehicle is located;

[0122] The second acquisition module 320 is used to acquire traffic state attribute information; the traffic state attribute information includes lane identification of each lane and lane state information corresponding to the accumulated offset of each lane;

[0123] A first determining module 330 is configured to determine a target lane identifier corresponding to the vehicle lane identifier from the lane identifiers, and determine a cumulative offset of each target lane in the target lane corresponding to the target lane identifier and target lane state information corresponding to each cumulative offset of the target lane;

[0124] The second determining module 340 is configured to determine the lane state of the main lane according to the accumulated offset of the vehicle position, the accumulated offset of each target lane, and the state information of each target lane.

[0125] An apparatus for determining a lane state provided in an embodiment of the present application has the same beneficial effects as the above-mentioned method for determining a lane state.

[0126] In one embodiment, a lane state determination device further includes:

[0127] A first distance acquisition module is used to acquire a first distance between the vehicle and the end point of the congested road section; the congested road section is a road section corresponding to a lane state of congestion;

[0128] A second distance acquisition module, configured to acquire a second distance between the vehicle and an adjacent vehicle in front of the vehicle;

[0129] A driving speed acquisition module is used to obtain the driving speed of the vehicle;

[0130] The congestion determination module is used to determine whether the vehicle is in a congested road section according to the first distance, the second distance and the driving speed.

[0131] In one embodiment, a lane state determination device further includes:

[0132] A control signal acquisition module, used to acquire the vehicle's control signal;

[0133] The congestion determination module includes:

[0134] The congestion determination submodule is used to determine whether the vehicle is in a congested section according to the first distance, the second distance, the driving speed and the control signal.

[0135] In one embodiment, the second acquisition module 320 includes:

[0136] The file acquisition submodule is used to obtain configuration files through the vehicle map while the vehicle is driving;

[0137] The information acquisition submodule is used to obtain traffic status attribute information according to the configuration file if the configuration file is valid.

[0138] In one embodiment, the information acquisition submodule includes one or more combinations of the following units:

[0139] A first determining unit, configured to determine whether a file type of the configuration file is valid;

[0140] a second determining unit, configured to determine whether the lane identification in the configuration file is valid;

[0141] A third determining unit, configured to determine whether the value of the preset flag in the configuration file is valid;

[0142] The fourth determining unit is configured to determine whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle.

[0143] In one embodiment, a lane state determination device further includes:

[0144] The control module is used to control the vehicle to activate corresponding functions according to control instructions if the vehicle is in a congested road section; the functions include entertainment function, seat massage function and intelligent driving function.

[0145] In one embodiment, a lane state determination device further includes:

[0146] A driving force acquisition module is used to determine the driving force of the vehicle based on the cumulative offset of the vehicle position and the cumulative offset of the target lane;

[0147] The energy recovery module is used to determine the energy recovery amount of the vehicle according to the driving force and perform energy recovery operations according to the energy recovery amount.

[0148] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by 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 embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0150] Figure 4 is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. As shown in Figure 4, the terminal device 400 of this embodiment includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and executable by the processor 402. When the processor 402 executes the computer program 403, the steps of the lane state determination method embodiments described above are implemented; or when the processor 402 executes the computer program 403, the functions of the modules / units in the device embodiments described above are implemented.

[0151] Exemplarily, the computer program 403 may be divided into one or more modules / units, one or more of which are stored in the memory 401 and executed by the processor 402 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 403 in the terminal device 400. For example, the computer program 403 may be divided into a first acquisition module, a second acquisition module, a first determination module, and a second determination module, and the specific functions of each module are as follows:

[0152] A first acquisition module is used to obtain a vehicle lane identifier and a cumulative offset of a vehicle position of a main lane where the vehicle is located;

[0153] The second acquisition module is used to acquire traffic state attribute information; the traffic state attribute information includes lane identification of each lane and lane state information corresponding to the accumulated offset of each lane;

[0154] A first determining module is configured to determine a target lane identifier corresponding to the vehicle lane identifier from the lane identifiers, and determine a cumulative offset of each target lane in the target lane corresponding to the target lane identifier and target lane state information corresponding to the cumulative offset of each target lane;

[0155] The second determining module is configured to determine the lane state of the main lane according to the accumulated offset of the vehicle position, the accumulated offset of each target lane, and the state information of each target lane.

[0156] In applications, the terminal device 400 may be a computing device such as a parking distance control unit (PDCU) or a vehicle control unit (VCU) or a cloud server. The terminal device 400 may include, but is not limited to, a memory 401 and a processor 402. Those skilled in the art will appreciate that FIG4 is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc. The input and output devices may include cameras, audio acquisition / playback devices, display screens, etc. The network access device may include a communication module for wireless communication with external devices.

[0157] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0158] In applications, memory can be an internal storage unit of a terminal device, such as a hard drive or memory; it can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. It can also include both internal and external storage units. Memory is used to store operating systems, applications, boot loaders, data, and other programs, such as computer program code. Memory can also be used to temporarily store data that has been output or is about to be output.

[0159] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0160] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the above-mentioned method for determining the lane state.

[0161] The present application implements all or part of the process steps in the above-described method embodiments by instructing the relevant hardware through a computer program. The computer program may be stored in a computer-readable storage medium. When executed by a processor, the computer program may implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which may be in source code form, object code form, an executable file, or some intermediate form. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, computer memory, read-only memory (ROM), random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Examples include a USB flash drive, a removable hard drive, a magnetic disk, or an optical disk.

[0162] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0163] Those skilled in the art will appreciate that the devices and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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.

[0164] In the embodiments provided herein, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the devices may be indirectly coupled or communicated in some manner, whether electrical, mechanical, or other.

[0165] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for determining a lane state, characterized in that, The method includes: Obtaining the vehicle lane identifier and the cumulative vehicle position offset of the main lane where the vehicle is located; Obtaining traffic state attribute information; the traffic state attribute information includes the lane identifiers of each lane and the lane state information corresponding to the cumulative offset of each lane in each lane; Determining a target lane identifier corresponding to the vehicle lane identifier from the lane identifiers of each lane, and determining the cumulative offset of each target lane in the target lane corresponding to the target lane identifier and the target lane state information corresponding to each cumulative offset of the target lane; Determining the lane state of the main lane according to the cumulative vehicle position offset, the cumulative offset of each target lane, and the target lane state information of each target lane.

2. The method according to claim 1, characterized in that, The method further includes: Obtaining a first distance between the vehicle and the end point of the congested section; the congested section is a section corresponding to a congested lane state; Obtaining a second distance between the vehicle and the adjacent vehicle in front of the vehicle; Obtaining the driving speed of the vehicle; Determining whether the vehicle is in the congested section according to the first distance, the second distance, and the driving speed.

3. The method according to claim 2, characterized in that, The method further includes: Obtaining a control signal of the vehicle; The determining whether the vehicle is in the congested section according to the first distance, the second distance, and the driving speed includes: Determining whether the vehicle is in the congested section according to the first distance, the second distance, the driving speed, and the control signal.

4. The method according to claim 1, characterized in that The obtaining the traffic state attribute information includes: Obtaining a configuration file through an in-vehicle map during the driving process of the vehicle; If the configuration file is valid, obtaining traffic state attribute information according to the configuration file.

5. The method according to claim 4, wherein Determining whether the configuration file is valid includes one or more combinations of the following: Determining whether the file type of the configuration file is valid; Determining whether the lane identifier in the configuration file is valid; Determining whether the value of the preset flag bit in the configuration file is valid; Determining whether the traffic state attribute information corresponding to the configuration file is the data information in front of the vehicle driving.

6. The method according to claim 2, characterized in that, The method further includes: If the vehicle is in the congested section, in response to the driver's control instruction, controlling the vehicle to turn on the corresponding function according to the control instruction; the function includes an entertainment function, a seat massage function, and an intelligent driving function.

7. The method according to any one of claims 1 to 6, characterized in that The method further includes: Determining the driving force of the vehicle according to the cumulative vehicle position offset and the cumulative offset of the target lane; Determining the energy recovery amount according to the driving force, and performing an energy recovery operation according to the energy recovery amount.

8. A device for determining a lane state, characterized in that, The device includes: A first obtaining module for obtaining the vehicle lane identifier and the cumulative vehicle position offset of the main lane where the vehicle is located; A second obtaining module for obtaining traffic state attribute information; the traffic state attribute information includes the lane identifiers of each lane and the lane state information corresponding to the cumulative offset of each lane in each lane; A first determination module, configured to determine a target lane identifier corresponding to the vehicle lane identifier from each of the lane identifiers, and determine each target lane cumulative offset in the target lane corresponding to the target lane identifier and target lane state information corresponding to each of the target lane cumulative offsets; A second determination module, configured to determine the lane state of the main lane according to the vehicle position cumulative offset, each of the target lane cumulative offsets, and each of the target lane state information.

9. The device according to claim 8, characterized in that, The device further includes: A first distance acquisition module, configured to acquire a first distance between the vehicle and an end point of a congested section; the congested section is a section corresponding to a congested lane state; A second distance acquisition module, configured to acquire a second distance between the vehicle and an adjacent vehicle in front of the vehicle; A driving speed acquisition module, configured to acquire the driving speed of the vehicle; A congestion determination module, configured to determine whether the vehicle is in the congested section according to the first distance, the second distance, and the driving speed.

10. The device according to claim 9, characterized in that, The device further includes: A control signal acquisition module, configured to acquire a control signal of the vehicle; The congestion determination module includes: A congestion determination sub-module, configured to determine whether the vehicle is in the congested section according to the first distance, the second distance, the driving speed, and the control signal.

11. The device according to claim 8, wherein The second acquisition module includes: A file acquisition sub-module, configured to acquire a configuration file through an in-vehicle map during the driving process of the vehicle; An information acquisition sub-module, configured to, if the configuration file is valid, acquire traffic state attribute information according to the configuration file.

12. The device according to claim 11, wherein The information acquisition sub-module includes one or more combinations of the following units: A first determination unit, configured to determine whether the file type of the configuration file is valid; A second determination unit, configured to determine whether the lane identifier in the configuration file is valid; A third determination unit, configured to determine whether the value of a preset identifier bit in the configuration file is valid; A fourth determination unit, configured to determine whether the traffic state attribute information corresponding to the configuration file is data information in front of the vehicle during driving.

13. The device according to claim 9, characterized in that, The device further includes: A control module, configured to, if the vehicle is in the congested section, in response to a driver's control instruction, control the vehicle to turn on a corresponding function according to the control instruction; the function includes an entertainment function, a seat massage function, and an intelligent driving function.

14. The device according to any one of claims 8 to 13, characterized in that The device further includes: A driving force acquisition module, configured to determine the driving force of the vehicle according to the vehicle position cumulative offset and the target lane cumulative offset; An energy recovery module, configured to determine the energy recovery amount of the vehicle according to the driving force, and perform an energy recovery operation according to the energy recovery amount.

15. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

16. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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