CN112150833B

CN112150833B - Method and device for adjusting speed limit of road section, storage medium and electronic equipment

Info

Publication number: CN112150833B
Application number: CN201910578637.1A
Authority: CN
Inventors: 叶将涛; 阮洲
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2021-12-07
Anticipated expiration: 2039-06-28
Also published as: CN112150833A

Abstract

The disclosure relates to a method, a device, a storage medium and an electronic device for adjusting speed limit of a road section, wherein target data sent by a first road side device is received, and the target data comprises road section data of a first one-way road section where the first road side device is located; determining a second unidirectional road segment with a road segment exit adjacent to the road segment entrance of the first unidirectional road segment; determining a target speed limit of the second unidirectional road section according to the road section data; and sending the target speed limit to second roadside equipment positioned on the second unidirectional road section, so that the second roadside equipment adjusts the speed limit of the second unidirectional road section to the target speed limit.

Description

Method and device for adjusting speed limit of road section, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of intelligent transportation, and in particular, to a method and an apparatus for adjusting a speed limit of a road segment, a storage medium, and an electronic device.

Background

The speed limit of the highway and other road sections can be prompted by the speed limit value through the indicating boards fixedly arranged on the road sections, so that the vehicle driver can control the vehicle speed according to the speed limit value.

In the related technology, the speed limit value displayed in the notice board is mainly based on the visual distance of the poor sight distance road sections such as a curve, the safe vehicle speed capable of ensuring emergency stop when the vehicle meets emergency is calculated according to the visual distance, but the safe vehicle speed mainly depends on the vehicle for calculation, the calculation capability of the vehicle is higher in requirement, in another existing technical scheme, the speed limit value displayed in the notice board is usually fixed for a relatively long time, but the fixed and unchangeable speed limit value is usually not well adapted to the actual road passing condition, and adverse effects are brought to the improvement of the passing efficiency, the alleviation of traffic jam and the like.

Disclosure of Invention

The invention aims to provide a method, a device, a storage medium and electronic equipment for adjusting a road section speed limit.

In a first aspect, a method for adjusting a speed limit of a road segment is provided, and is applied to a server, and the method includes: receiving target data sent by a first road side device, wherein the target data comprises road section data of a first one-way road section where the first road side device is located; determining a second unidirectional road segment with a road segment exit adjacent to the road segment entrance of the first unidirectional road segment; determining a target speed limit of the second unidirectional road section according to the road section data; and sending the target speed limit to second roadside equipment positioned on the second unidirectional road section, so that the second roadside equipment adjusts the speed limit of the second unidirectional road section to the target speed limit.

Optionally, the road segment data includes: lane information of the first unidirectional road section, and first vehicle information passing through the first unidirectional road section and second vehicle information staying at the first unidirectional road section within a preset time period; the determining the target speed limit of the second unidirectional road section according to the road section data comprises: determining target lane information corresponding to a first target lane of the second unidirectional road section from the lane information, wherein the first target lane is a lane of which the lane type is a target lane type, and the target lane type is any lane type of the second unidirectional road section; determining first target vehicle information on a second target lane from the first vehicle information, and determining second target vehicle information on the second target lane from the second vehicle information; the second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type; and determining the target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information.

Optionally, before the determining, from the lane information, target lane information corresponding to a first target lane of the second unidirectional road segment, the method further includes: determining whether a fork exists in a preset area with the second roadside device as the center; the determining, from the lane information, target lane information corresponding to a first target lane of the second unidirectional segment includes: and if no intersection exists in a preset area with the second roadside device as the center, taking the lane information of the second target lane in the first one-way road section as the target lane information.

Optionally, the first target vehicle information includes a first target vehicle number, a first straight-driving vehicle number, a first lane-changing vehicle number, and a first parking vehicle number with parking behavior, and the second target vehicle information includes a second target vehicle number, a second straight-driving vehicle number, a second lane-changing vehicle number, and a second parking vehicle number with parking behavior; the determining the target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information comprises: acquiring first preset weights corresponding to the first lane changing vehicle number, the first parking vehicle number, the second lane changing vehicle number and the second parking vehicle number respectively; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period.

Optionally, the determining, from the lane information, target lane information corresponding to a first target lane of the second unidirectional road segment includes: if an intersection exists in a preset area with the second road side equipment as the center and the intersection is located between the first one-way road section and the second one-way road section, taking the lane information of all lanes of a target intersection in the first one-way road section as the target lane information; the target turnout is a turnout corresponding to the first target lane in the first unidirectional road section.

Optionally, the determining the target speed limit of the second unidirectional road segment according to the target lane information, and the first target vehicle information and the second target vehicle information includes: acquiring a second preset weight and a third preset weight, wherein the second preset weight corresponds to the number of the first lane-changing vehicles and the number of the second lane-changing vehicles, and the third preset weight corresponds to the number of the first parking vehicles and the number of the second parking vehicles; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second preset weight, the third preset weight, the target lane information and the preset time period.

Optionally, the target data further includes weather data of the first unidirectional road segment, and before the sending the target speed limit to the second roadside device located on the second unidirectional road segment, the method further includes: determining a weather speed limit corresponding to the first unidirectional road section according to the weather data; the sending the target speed limit to a second roadside device located at the second unidirectional road segment includes: and if the target speed limit is less than or equal to the weather speed limit, sending the target speed limit to the second roadside device.

Optionally, the method further comprises: if the target speed limit is larger than the weather speed limit, taking the weather speed limit as the updated target speed limit; and sending the updated target speed limit to the second roadside device.

Optionally, the determining the weather speed limit corresponding to the first unidirectional road segment according to the weather data includes: determining a target weather type corresponding to the first unidirectional road section according to the weather data; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

In a second aspect, a device for adjusting a speed limit of a road segment is provided, and is applied to a server, the device includes: the system comprises a receiving module, a sending module and a receiving module, wherein the receiving module is used for receiving target data sent by first road side equipment, and the target data comprises road section data of a first one-way road section where the first road side equipment is located; a first determination module for determining a second unidirectional road segment with a road segment exit adjacent to a road segment entrance of the first unidirectional road segment; the second determining module is used for determining the target speed limit of the second unidirectional road section according to the road section data; and the first sending module is used for sending the target speed limit to second roadside equipment positioned on the second unidirectional road section, so that the second roadside equipment can adjust the speed limit of the second unidirectional road section to the target speed limit.

Optionally, the road segment data includes: lane information of the first unidirectional road section, and first vehicle information passing through the first unidirectional road section and second vehicle information staying at the first unidirectional road section within a preset time period; the second determining module is configured to determine, from the lane information, target lane information corresponding to a first target lane of the second unidirectional road segment, where the first target lane is a lane whose lane type is a target lane type, and the target lane type is any lane type of the second unidirectional road segment; determining first target vehicle information on a second target lane from the first vehicle information, and determining second target vehicle information on the second target lane from the second vehicle information; the second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type; and determining the target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information.

Optionally, the apparatus further comprises: a third determining module, configured to determine whether a fork exists in a preset area with the second roadside device as a center; the second determining module is configured to, if there is no intersection in a preset area with the second roadside device as a center, use lane information of the second target lane in the first one-way road segment as the target lane information.

Optionally, the first target vehicle information includes a first target vehicle number, a first straight-driving vehicle number, a first lane-changing vehicle number, and a first parking vehicle number with parking behavior, and the second target vehicle information includes a second target vehicle number, a second straight-driving vehicle number, a second lane-changing vehicle number, and a second parking vehicle number with parking behavior; the second determining module is configured to obtain first preset weights corresponding to the first lane change vehicle number, the first parked vehicle number, the second lane change vehicle number, and the second parked vehicle number respectively; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period.

Optionally, the second determining module is configured to, if an intersection exists in a preset area with the second roadside device as a center and the intersection is located between the first one-way road section and the second one-way road section, use lane information of all lanes of a target intersection in the first one-way road section as the target lane information; the target turnout is a turnout corresponding to the first target lane in the first unidirectional road section.

Optionally, the second determining module is configured to obtain a second preset weight and a third preset weight, where the second preset weight corresponds to the first lane change vehicle number and the second lane change vehicle number, and the third preset weight corresponds to the first parking vehicle number and the second parking vehicle number; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second preset weight, the third preset weight, the target lane information and the preset time period.

Optionally, the target data further includes weather data of the first unidirectional road segment, and the apparatus further includes: the fourth determining module is used for determining the weather speed limit corresponding to the first unidirectional road section according to the weather data; and the first sending module is used for sending the target speed limit to the second roadside device if the target speed limit is less than or equal to the weather speed limit.

Optionally, the apparatus further comprises: the speed limit updating module is used for taking the weather speed limit as an updated target speed limit if the target speed limit is greater than the weather speed limit; and the second sending module is used for sending the updated target speed limit to the second roadside device.

Optionally, the fourth determining module is configured to determine, according to the weather data, a target weather type corresponding to the first unidirectional road segment; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

In a third aspect, a computer readable storage medium is provided, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method according to the first aspect of the disclosure.

In a fourth aspect, an electronic device is provided, comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the disclosure.

Through the technical scheme, target data sent by first road side equipment is received, wherein the target data comprises road section data of a first one-way road section where the first road side equipment is located; determining a second unidirectional road segment with a road segment exit adjacent to the road segment entrance of the first unidirectional road segment; determining a target speed limit of the second unidirectional road section according to the road section data; and sending the target speed limit to a second road side device positioned on the second unidirectional road section, so that the second road side device adjusts the speed limit of the second unidirectional road section into the target speed limit, and thus, the server can determine the target speed limit of the second unidirectional road section of which the road section outlet is adjacent to the road section inlet of the first unidirectional road section in advance according to the road section data of the first unidirectional road section, so that a vehicle driver positioned on the second unidirectional road section can control the driving speed of the vehicle according to the target speed limit, thereby effectively relieving the traffic jam problem and improving the traffic efficiency of the vehicle.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a schematic view of a road segment and roadside device scenario shown in accordance with an exemplary embodiment;

FIG. 2 is a flow diagram illustrating a first method of adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 3 is a first road scenario diagram shown in accordance with an exemplary embodiment;

FIG. 4 is a diagram illustrating a second road scenario, according to an exemplary embodiment;

FIG. 5 illustrates a flow chart of a second method of adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 6 is a graph illustrating weather data versus maximum safe speed limit in accordance with an exemplary embodiment;

FIG. 7 is a graph illustrating a relationship between target speed limits for each of the segments in accordance with an exemplary embodiment;

FIG. 8 is a block diagram illustrating a first apparatus for adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 9 is a block diagram illustrating a second apparatus for adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 10 is a block diagram illustrating a third apparatus for adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 11 is a block diagram illustrating a fourth apparatus for adjusting a speed limit for a road segment in accordance with an exemplary embodiment;

FIG. 12 is a block diagram illustrating an electronic device in accordance with an example embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

The present disclosure is mainly applied to an application scenario for adjusting a safe speed limit of a road segment, fig. 1 is a schematic view of a road segment and a roadside device scenario shown according to an exemplary embodiment, as shown in fig. 1, R1, R2, and R3 represent three different road segments on the same road, and a roadside device (such as a roadside road indicator in fig. 1) is disposed on a roadside of each road segment, the roadside device can collect road segment data (for example, video road condition data) of the corresponding road segment and weather data of a weather condition of each road segment according to a preset period, and transmit the road segment data and the weather data to a server, so that the server can determine a target speed limit of each road segment according to the road segment data and the weather data, and the roadside device has a display function, and can be used to display information such as images, videos, and characters, and the arrow direction in fig. 1 represents a driving direction of a vehicle on the road, in addition, a plurality of roadside devices may be installed on the same road section, which is not limited by the present disclosure.

Specific embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Fig. 2 is a flowchart illustrating a method for adjusting a speed limit of a road segment according to an exemplary embodiment, which is applied to a server, as shown in fig. 2, and includes the following steps:

in step 201, target data sent by a first road side device is received, where the target data includes road segment data of a first unidirectional road segment where the first road side device is located.

The road data may include lane information of the first unidirectional road segment, and the lane information may include information such as the number of lanes, the length of lane, and the lane type (such as a straight lane, a left-turn lane, a right-turn lane, and the like) corresponding to each lane, and the first unidirectional road segment may be any road segment on a road, for example, the first unidirectional road segment may be any one of the three road segments R1, R2, R3 shown in fig. 1.

In this step, the target data sent by the first edge device may be received according to a preset period.

In a possible implementation manner, the first road side device may collect video road condition data of the first unidirectional road section, and send the video road condition data to the server, and the server may perform image tracking on the video road condition data (each frame of video is an image) based on a machine learning algorithm, so as to draw a driving track of each vehicle on the first unidirectional road section, and further may identify vehicles passing through the first unidirectional road section and staying in the first unidirectional road section within a preset time period, and meanwhile, the server may perform image identification on the video road condition data based on the machine learning algorithm, so as to identify lane information such as the number of lanes, lane types, and the like of the first unidirectional road section from the video road condition data.

In step 202, a second unidirectional segment is determined with the segment exit contiguous with the segment entrance of the first unidirectional segment.

The second unidirectional road section is a road section of which the road section exit is connected to the road section entrance of the first unidirectional road section, that is, a vehicle driving out from the second unidirectional road section can directly enter the first unidirectional road section, for example, if the first unidirectional road section is the road section R2 shown in fig. 1, the second unidirectional road section is the road section R1 shown in fig. 1, if the first unidirectional road section is the road section R3 shown in fig. 1, the second unidirectional road section is the road section R2 shown in fig. 1, which is only an example and is not limited by the present disclosure.

In step 203, the target speed limit of the second unidirectional road segment is determined according to the road segment data.

In this disclosure, the target speed limit of the second unidirectional road section may be determined according to the road section data of the first unidirectional road section, and in consideration of an actual application scenario, the same road may generally include a plurality of lanes, and different lanes may be different in lane type.

In this step, target lane information corresponding to a first target lane of the second unidirectional road segment may be determined from the lane information, where the first target lane is on the second unidirectional road segment, the lane type is a lane of a target lane type, and the target lane type is any lane type of the second unidirectional road segment; then, first target vehicle information on a second target lane is determined from the first vehicle information, and second target vehicle information on the second target lane is determined from the second vehicle information, wherein the second target lane is a lane on the first one-way section, and the lane type is the same as the target lane type, so that a target speed limit of the second one-way section can be determined according to the target lane information, the first target vehicle information and the second target vehicle information.

Fig. 3 and 4 are schematic diagrams of two possible road scenarios, considering that there are two road situations in practical application scenarios, one is a road without an intersection (as shown in fig. 3) and the other is a road with an intersection (as shown in fig. 4), and for different road scenarios, the lane corresponding to the road data according to which the target speed limit on the second one-way road segment is calculated is also different, for example, for the application scenario of a road without an intersection shown in fig. 3, when calculating the target speed limit on lane 1 (i.e. left-turn lane) of the second one-way road segment, the target speed limit can be calculated based on the road data of lane 1 of the first one-way road segment in fig. 3; in calculating the target speed limit for lanes 2 and 3 (i.e., the straight-through lanes) of the second unidirectional road segment, it may be calculated based on the road segment data for lanes 2 and 3 of the first unidirectional road segment in fig. 3; for the application scenario of the road with an intersection shown in fig. 4, since all the left-turns of the vehicle driving out from the lane 1 (i.e., left-turn lane) of the second one-way link enter the branch road 1, when the target speed limit of the lane 1 of the second one-way link is calculated, the target speed limit can be calculated based on the link data of all the lanes of the branch road 1 in fig. 4; since vehicles exiting from the lanes 2 and 3 of the second unidirectional link (i.e., the straight-going lanes) all go straight into the branch link 2, the target speed limit for the lanes 2 and 3 of the second unidirectional link may be calculated based on the link data for all the lanes of the branch link 2 in fig. 4 when calculating the target speed limit.

Based on the above application scenario, in the present disclosure, before determining the target lane information corresponding to the first target lane of the second one-way link from the lane information, it may be determined whether there is an intersection in the preset area centered on the second road side device, so that in the process of determining the target lane information corresponding to the first target lane of the second one-way link from the lane information, if there is no intersection in the preset area centered on the second road side device, it may be understood that there is no intersection between the second one-way link and the first one-way link (the road scenario shown in fig. 3), and at this time, the lane information of the second target lane in the first one-way link may be used as the target lane information; if an intersection exists in a preset area with the second roadside device as the center and the intersection is located between the first unidirectional road segment and the second unidirectional road segment (as shown in fig. 4), lane information of all lanes of a target intersection in the first unidirectional road segment can be used as the target lane information, wherein the target intersection is an intersection corresponding to the first target lane on the first unidirectional road segment, for example, if the first target lane is lane 1 of the second unidirectional road segment, the target intersection is branch 1 into which a vehicle can turn left after exiting lane 1 of the second unidirectional road segment; if the first target lane is the lane 2 and the lane 3 of the second one-way road, the target branch road is the branch road 2 into which the vehicle can go straight after exiting from the lane 2 and the lane 3 of the second one-way road.

Further, the first target vehicle information may include a first target vehicle number, a first straight-driving vehicle number, a first lane-change vehicle number, and a first parking vehicle number having parking behavior, and the second target vehicle information includes a second target vehicle number, a second straight-driving vehicle number, a second lane-change vehicle number, and a second parking vehicle number having parking behavior, considering that different vehicle driving behaviors (such as straight-driving, parking, lane-change, and the like) may have different degrees of influence on determination of the speed limit of the road section, so that, in the process of determining the target speed limit of the second unidirectional road section according to the target lane information, and the first target vehicle information and the second target vehicle information, if there is no intersection (such as the road scene shown in fig. 3) in the preset area centered on the second road side device, the first lane-change vehicle number may be acquired, The first number of parked vehicles, the second number of lane-changed vehicles and the second number of parked vehicles respectively correspond to first preset weights, and then the target speed limit of the second one-way road section is determined according to the first target number of vehicles, the second target number of vehicles, the first preset weights, the target lane information and the preset time period, specifically, an adjustment coefficient can be calculated according to the first number of straight-going vehicles, the first number of lane-changed vehicles, the first number of parked vehicles, the second number of straight-going vehicles, the second number of lane-changed vehicles, the second number of parked vehicles and the first preset weights, and then the target speed limit is determined according to the first target number of vehicles, the second target number of vehicles, the lane adjustment coefficient, the target lane information and the preset time period.

In the process of determining the target speed limit of the second one-way road segment according to the target lane information, the first target vehicle information and the second target vehicle information, if an intersection exists in a preset area with the second road side device as the center and the intersection is located between the first one-way road segment and the second one-way road segment (as shown in fig. 4), a second preset weight corresponding to the number of first lane-change vehicles and the number of second lane-change vehicles, a third preset weight corresponding to the number of first parking vehicles and the number of second parking vehicles may be obtained, and then the target speed limit of the second one-way road segment may be determined according to the number of first target vehicles, the number of second target vehicles, the second preset weight, the third preset weight, the target lane information and the preset time period, specifically, the target speed limit of the second one-way road segment may be determined according to the number of first straight vehicles, the second preset weight, the third preset weight, the target lane information and the preset time period, And calculating lane regulating coefficients according to the first lane changing vehicle number, the first parking vehicle number, the second straight-going vehicle number, the second lane changing vehicle number, the second parking vehicle number, the second preset weight and the third preset weight, and then determining the target speed limit according to the first target vehicle number, the second target vehicle number, the lane regulating coefficients, the target lane information and the preset time period.

It should be noted that, in another possible implementation manner, in the process of determining the target speed limit of the second unidirectional road section according to the road section data, the lane types may not be distinguished, at this time, the target speed limits of all lanes of the second unidirectional road section may be calculated according to the road section data of all lanes of the first unidirectional road section, and a specific implementation manner may refer to an implementation manner of calculating the target speed limit of a lane of the target lane type, which is not described herein again.

In step 204, the target speed limit is sent to a second roadside device located at the second unidirectional road segment, so that the second roadside device adjusts the speed limit of the second unidirectional road segment to the target speed limit.

In a practical application scenario considered, in order to improve the safety of vehicle operation, the speed limit of each road section may be further adjusted according to the weather condition of each road section, and therefore, the target data may further include weather data of the first one-way road section, where the weather data may include data such as air temperature, air humidity, air pressure, wind speed, wind direction, rainfall, and the like.

Therefore, in the present disclosure, before the target speed limit is sent to the second roadside device located at the second unidirectional road segment, the weather speed limit corresponding to the first unidirectional road segment may also be determined according to the weather data, so that if the target speed limit is less than or equal to the weather speed limit, the target speed limit is sent to the second roadside device; if the target speed limit is larger than the weather speed limit, taking the weather speed limit as the updated target speed limit; and sending the updated target speed limit to the second road side equipment, namely determining the weather speed limit according to the weather data as the maximum value of the road section speed limit, so as to improve the accuracy and the safety of speed limit setting and further improve the safety of traffic operation of each road section.

In the process of determining the weather speed limit corresponding to the first unidirectional road section according to the weather data, the target weather type corresponding to the first unidirectional road section can be determined according to the weather data; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

By adopting the method, the server can determine the target speed limit of the second one-way road section adjacent to the road section inlet of the first one-way road section at the road section outlet in advance according to the road section data of the first one-way road section, so that a vehicle driver at the second one-way road section can control the driving speed of the vehicle according to the target speed limit, thereby effectively relieving the traffic jam problem and improving the traffic efficiency of the vehicle.

Fig. 5 is a flowchart illustrating a method of adjusting a speed limit of a road segment, which is applied to a server, according to an exemplary embodiment, and as shown in fig. 5, the method includes the following steps:

in step 501, target data sent by a first road side device is received, where the target data includes road segment data of a first unidirectional road segment where the first road side device is located.

The road data may include lane information of the first unidirectional road, the lane information may include information such as the number of lanes, the length of lanes, and the lane type (such as a straight lane, a left-turn lane, a right-turn lane) corresponding to each lane, and the like of the first unidirectional road, and the first unidirectional road may be any road on a road, for example, the first unidirectional road may be any road among three road segments of R1, R2, and R3 shown in fig. 1.

The specific implementation of this step may refer to the related description in step 201 in embodiment 1 shown in fig. 2, and is not described herein again.

In step 502, a second unidirectional segment is determined with the segment exit contiguous with the segment entrance of the first unidirectional segment.

In this embodiment, the target speed limit of the second unidirectional road segment may be determined according to the road segment data of the first unidirectional road segment by performing steps 503 to 507, considering that in an actual application scenario, a plurality of lanes may be generally included on the same road, and different lanes, lane types may also be different, in one possible implementation manner of the present disclosure, the corresponding target speed limit may be determined for different lane types on the second unidirectional road segment, and of course, in another possible implementation manner, the present disclosure may not distinguish lane types in determining the target speed limit of the second unidirectional road segment according to the road segment data, at this time, the target speed limit of all lanes of the second unidirectional road segment may be calculated according to the road segment data of all lanes of the first unidirectional road segment, in this embodiment, the target speed limit corresponding to each of the different lane types on the second unidirectional road section is determined as an example.

In the embodiment, in the process of calculating the target speed limit, the step 503 to the step 505 may be executed to determine target lane information corresponding to a first target lane of the second one-way road segment from the lane information, where the first target lane is a lane whose lane type is a target lane type, and the target lane type is any lane type of the second one-way road segment.

In step 503, it is determined whether an intersection exists in a preset area centered on the second roadside apparatus.

The second roadside device may be a roadside device located on the second unidirectional road section, such as a roadside road sign, and in addition, the second roadside device may be the same as or different from the first roadside device, which is not limited in this disclosure.

As described in connection with step 203 in the first embodiment shown in fig. 2, in an actual application scenario, there are two road situations, one is a road without an intersection (as shown in fig. 3), and the other is a road with an intersection (as shown in fig. 4), and for different road scenarios, the lanes corresponding to the link data according to which the target speed limit on the second unidirectional link is calculated are also different, so that, before determining the target lane information corresponding to the first target lane of the second unidirectional link from the lane information, it can be determined whether an intersection exists by executing this step.

In a possible implementation manner of this step, the location of the second roadside device may be located in a preset map according to device identification information such as a device number, a location coordinate, and a road segment identifier of the second roadside device, and then whether an intersection exists in a preset area with the second roadside device as a center is determined according to road information around the second roadside device marked in the map.

If it is determined that a fork exists in the preset area with the second roadside device as the center, executing step 504;

if it is determined that there is no intersection in the preset area centered on the second roadside device, step 505 is executed.

In step 504, if an intersection exists in a predetermined area centered on the second roadside device and the intersection is located between the first one-way link and the second one-way link, lane information of all lanes of a target intersection in the first one-way link is used as the target lane information.

The target turnout is a turnout corresponding to the first target lane on the first unidirectional road section.

For example, taking the road scenario shown in fig. 4 as an example for explanation, as shown in fig. 4, it is assumed that the first target lane is lane 1 (i.e., left-turn lane) on the second unidirectional road section, the target branch is branch 1 into which the vehicle can enter after driving out of lane 1 of the second unidirectional road section and left-turn, and the target lane information is lane information of all lanes of branch 1; if the first target lane is the lane 2 and the lane 3 of the second unidirectional road section (i.e. straight lanes), the target branch is the branch 2 into which the vehicle can go straight after exiting from the lane 2 and the lane 3 of the second unidirectional road section, and the target lane information is lane information of all lanes of the branch 2.

In step 505, if there is no intersection in the preset area centered on the second road side device, the lane information of the second target lane on the first one-way link is used as the target lane information.

The second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type.

For example, taking the road scene shown in fig. 3 as an example for explanation, as shown in fig. 3, the target lane type of the second one-way road segment may be a left-turn lane or a straight-through lane, if the target lane type is a left-turn lane, the second target lane is a lane 1 of the first one-way road segment whose lane type is a left-turn lane, and the target lane information is lane information of the lane 1 of the first one-way road segment; if the target lane type is a straight lane, the second target lane is the lane 2 and the lane 3 of the first one-way road section where the lane type is a straight lane, and the target lane information is the lane information of the lane 2 and the lane 3 of the first one-way road section.

It should be noted that, if an intersection exists in a preset area with the second roadside device as the center, and the intersection is located between the first one-way road section and the second one-way road section, the second target lane is all lanes on the target intersection corresponding to the first target lane on the first one-way road section.

In step 506, first target vehicle information on a second target lane is determined from the first vehicle information, and second target vehicle information on the second target lane is determined from the second vehicle information.

Considering that different driving behaviors of the vehicle (such as straight-ahead driving, parking, lane-changing and the like) have different degrees of influence on the determination of the speed limit of the road segment, the first target vehicle information may further include a first target vehicle number, a first straight-ahead driving vehicle number, a first lane-changing vehicle number and a first parking vehicle number with parking behaviors, and the second target vehicle information includes a second target vehicle number, a second straight-ahead driving vehicle number, a second lane-changing vehicle number and a second parking vehicle number with parking behaviors.

In step 507, a target speed limit of the second unidirectional road segment is determined according to the target lane information, and the first target vehicle information and the second target vehicle information.

In this step, if there is no intersection in the preset area centered on the second roadside apparatus, first preset weights respectively corresponding to the first lane change vehicle number, the first parking vehicle number, the second lane change vehicle number and the second parking vehicle number can be obtained, and then determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period, specifically, the lane adjustment coefficient may be calculated according to the first number of straight vehicles, the first number of lane-change vehicles, the first number of parked vehicles, the second number of straight vehicles, the second number of lane-change vehicles, the second number of parked vehicles, and the first preset weight, and then determining the target speed limit according to the first target vehicle number, the second target vehicle number, the lane adjusting coefficient, the target lane information and the preset time period.

For example, continuing with the description of the road scenario shown in fig. 3 as an example, as shown in fig. 3, assuming that a target speed limit of a straight-going lane (i.e. lane 2 and lane 3) of the second unidirectional road section is to be determined, the target lane information is lane information of lane 2 and lane 3 on the first unidirectional road section, the first target vehicle information is vehicle information passing through lanes 2 and 3 on the first unidirectional road section within a preset time period, the second target vehicle information is vehicle information staying on lanes 2 and 3 on the first unidirectional road section within a preset time period, for convenience of description, the target speed limit of the straight-going lane is denoted as Vs, the first target number of vehicles passing through lanes 2 and 3 on the first unidirectional road section within a preset time period is denoted as Nscar, the second target number of vehicles staying on lanes 2 and 3 on the first unidirectional road section within a preset time period is denoted as Mscar, the first straight-ahead vehicle number is represented by Ns1car, the first lane-change vehicle number is represented by Ns2car, the first parking vehicle number is represented by Ns3car, the second straight-ahead vehicle number is represented by Ms1car, the second lane-change vehicle number is represented by Ms2car, and the second parking vehicle number is represented by Ms3car, such that Ns1car + Ns2car + Ns3car, Ms1car + Ms2car + Ms3car, if the first preset weight corresponding to the first lane-change vehicle number is x, the first preset weight corresponding to the first parking vehicle number is y, the first preset weight corresponding to the second lane-change vehicle number is z, the first preset weight corresponding to the second parking vehicle number is w, the lane adjusting coefficient (which may be represented by b) may be calculated according to equation (1):

thus, the target speed limit Vs may be determined according to the first target vehicle number, the second target vehicle number, the lane adjustment coefficient, the target lane information, and the preset time period according to equation (2):

Vs＝(Nscar-Mscar)*b*(Lway/T)/Nsway (2)

in formula (2), Lway represents a lane length of lane 2 or lane 3 on the first unidirectional road (lane 2 and lane 3 are parallel and on the same road, the lane lengths of lane 2 and lane 3 are the same), T represents the preset time period, and Nsway represents the number of lanes of the straight lane on the first unidirectional road, in this example, Nsway is 2, which is merely an example and is not limited by the present disclosure.

It should be noted that, when calculating the target speed limit of another lane type on the second unidirectional road section (e.g., calculating the target speed limit of lane 1 and the left-turn lane on the second unidirectional road section shown in fig. 3), the calculation method is similar to the above example, and is not repeated here.

If an intersection exists in a preset area with the second roadside device as the center and the intersection is located between the first one-way road section and the second one-way road section, a second preset weight and a third preset weight can be obtained, wherein the second preset weight corresponds to the number of the first lane-change vehicles and the number of the second lane-change vehicles, the third preset weight corresponds to the number of the first parking vehicles and the number of the second parking vehicles, and then the target speed limit of the second one-way road section is determined according to the number of the first target vehicles, the number of the second target vehicles, the second preset weight, the third preset weight, the target information and the preset time period, specifically, the number of the first straight-going vehicles, the number of the first lane-change vehicles, the number of the first parking vehicles, the number of the second straight-going vehicles, the number of the second lane-change vehicles, the number of the second parking vehicles and the second preset weight, And calculating a lane regulation coefficient by the third preset weight, and then determining the target speed limit according to the first target vehicle number, the second target vehicle number, the lane regulation coefficient, the target lane information and the preset time period.

For example, continuing with the description of the road scenario shown in fig. 4 as an example, as shown in fig. 4, it is assumed that a target speed limit of a left-turn lane (i.e. lane 1) of the second unidirectional link is to be determined, the target lane information is lane information of all lanes of the branch road 1 on the first unidirectional link, the first target vehicle information is vehicle information passing through the branch road 1 within a preset time period, the second target vehicle information is vehicle information staying on the branch road 1 within the preset time period, for convenience of description, the target speed limit of the left-turn lane is denoted as Vs, the first target number of vehicles passing through the branch road 1 on the first unidirectional link within the preset time period is denoted as Ncar, the second target number of vehicles staying on the branch road 1 within the preset time period is denoted as Mcar, the first number of straight-run vehicles is denoted as N1car, the first lane-changed number of vehicles is denoted as N2car, the first number of parked vehicles is represented by N3car, the second number of straight-ahead vehicles is represented by M1car, the second number of lane-change vehicles is represented by M2car, and the second number of parked vehicles is represented by M3car, such that Ncar is N1car + N2car + N3car, Mcar is M1car + M2car + M3car, and if the second preset weight corresponding to the first number of lane-change vehicles and the second number of lane-change vehicles is e, the third preset weight corresponding to the first number of parked vehicles and the second number of parked vehicles is g, the lane adjustment coefficient b may be calculated according to equation (3):

thus, the target speed limit Vs may be determined according to the first target vehicle number, the second target vehicle number, the lane adjustment coefficient, the target lane information, and the preset time period according to equation (4):

Vs＝(Ncar-Mcar)*b*(Lway/T)/Nsway (4)

in the formula (4), Lway represents the lane length of the branch road 1 on the first one-way link, T represents the preset time period, and Nsway represents the number of lanes of all lanes on the branch road 1, and in this example, Nsway is 3.

It should be noted that, when calculating the target speed limit of other lane types on the second unidirectional road section (for example, calculating the target speed limits of the straight lane, lane 2 and lane 3 on the second unidirectional road section shown in fig. 4), the calculation manner is similar to the above example, and is not described again here.

In a practical application scenario considered, in order to improve the safety of vehicle operation, the speed limit of each road section may be further adjusted according to the weather condition of each road section, and therefore, the target data may further include the weather data of the first one-way road section.

After the target speed limit is determined, the vehicle driver at the second one-way road section can control the vehicle to control the running speed of the vehicle according to the target speed limit, a certain vehicle speed can be kept within a period of time, and the vehicle does not need to be controlled to accelerate or decelerate frequently, so that the energy consumption of the vehicle is reduced.

In step 508, the weather speed limit corresponding to the first unidirectional road segment is determined according to the weather data.

The weather data may include temperature, humidity, pressure, wind speed, wind direction, rainfall, and the like.

In this step, the target weather type corresponding to the first unidirectional road section may be determined according to the weather data; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

The target weather type can be any one of a plurality of severe weather types such as rainfall weather, strong wind weather, heavy fog weather, snowfall weather, rainfall + strong wind weather and the like.

Fig. 6 is a graph illustrating a relationship between weather data and a maximum safety speed limit, in which an abscissa represents the weather data and an ordinate represents the maximum safety speed limit, and the relationship may be preset according to an empirical value, so that the maximum safety speed limit corresponding to the weather data may be determined according to the relationship.

For example, taking the target weather type as rainfall weather as an example for explanation, the weather speed limit corresponding to the first unidirectional road segment may be determined according to the weather data according to formula (5) and formula (6):

a＝f(Lrain) (5)

Vrain＝Vr max*a (6)

wherein, a represents the speed adjustment coefficient in the rainfall weather, f represents the preset weather function corresponding to the rainfall weather, Lrain represents the rainfall in the weather data, Vrmax represents the highest safety speed limit corresponding to the rainfall Lrain determined according to the relationship curve (the highest safety speed limit corresponding to different rainfall is also different), and Vrain represents the weather speed limit corresponding to the first unidirectional road section in the rainfall weather.

In step 509, if the target speed limit is less than or equal to the weather speed limit, the target speed limit is sent to the second roadside device, so that the second roadside device adjusts the speed limit of the second unidirectional road segment to the target speed limit.

It should be noted that, in order to improve the safety of traffic operation under different weather types, the weather speed limit determined according to the weather data is the maximum value of the speed limit of the road segment, and therefore, in this step, if the target speed limit is less than or equal to the weather speed limit, the target speed limit may be sent to the second roadside device.

In addition, if the target speed limit is greater than the weather speed limit, the method can take the weather speed limit as an updated target speed limit, and then send the updated target speed limit to the second roadside device, so that the speed limit of the second one-way road section is not greater than the weather speed limit, and the running safety of the vehicle under the severe weather condition is improved.

It should be further noted that, in the process of actually adjusting the speed limit of each road segment, if the roadside device of the corresponding road segment fails or other reasons cannot acquire the road segment data of the corresponding road segment, the speed limit information of the second unidirectional road segment corresponding to the corresponding road segment (the corresponding road segment can be understood as the first unidirectional road segment) cannot be provided, fig. 7 is a graph showing a relationship between the target speed limit corresponding to each road segment according to an exemplary embodiment, wherein the abscissa represents the length of each road segment, and the ordinate represents the target speed limit, as shown in fig. 7, different road segments correspond to different target speed limits, if the acquisition function of the roadside device at the point B fails, the speed limit at the point a cannot be normally provided, as shown in fig. 7, the server may fit a relationship curve according to the speed limit values of other road segments, and then according to the variation trend of the curve, determining a speed limit value corresponding to the point A according to the abscissa value of the point A and the fitted relation curve; in another possible implementation manner, if the acquisition function of the wayside equipment at the point a fails, the wayside equipment at the point a may also display a preset default speed limit to maintain the basic safety reminding function.

In addition, when determining that a certain roadside device has a fault, the server can send identification information (such as the number of the roadside device, the road section where the roadside device is located) of the roadside device with the fault to the traffic management platform in time so as to carry out maintenance tasks in time.

In the method for adjusting the speed limit of the road section provided by the disclosure, the roadside equipment on each road section can also carry out the fine adjustment of the speed limit locally according to the real-time road conditions, for example, a plurality of speed limit values are preset in each roadside device, each speed limit value corresponds to a road condition scene (for example, a traffic accident, a road section maintenance, etc., image recognition can be performed on the collected video road condition data according to a machine learning algorithm to recognize different road condition scenes), so that, after any road condition scene is identified, the current speed limit can be adjusted to the speed limit corresponding to the road condition scene, the safety and the accuracy of speed limit adjustment are further improved, in addition, the roadside device can send the currently recognized road condition scene to the traffic management platform in time, so that traffic management personnel can master the real-time road conditions of all road sections in time, and the accident handling efficiency is improved.

Fig. 8 is a block diagram illustrating an apparatus for adjusting a speed limit of a road segment according to an exemplary embodiment, applied to a server, as shown in fig. 8, the apparatus including:

a receiving module 801, configured to receive target data sent by a first road side device, where the target data includes road segment data of a first unidirectional road segment where the first road side device is located;

a first determining module 802 for determining a second unidirectional segment with a segment exit adjacent to the segment entrance of the first unidirectional segment;

a second determining module 803, configured to determine a target speed limit of the second unidirectional road segment according to the road segment data;

a first sending module 804, configured to send the target speed limit to a second roadside device located in the second unidirectional road segment, so that the second roadside device adjusts the speed limit of the second unidirectional road segment to the target speed limit.

Optionally, the road segment data includes: the lane information of the first one-way road section, and the first vehicle information passing through the first one-way road section and the second vehicle information staying at the first one-way road section in a preset time period; the second determining module 803 is configured to determine, from the lane information, target lane information corresponding to a first target lane of the second unidirectional road segment, where the first target lane is a lane whose lane type is a target lane type, and the target lane type is any lane type of the second unidirectional road segment; determining first target vehicle information on a second target lane from the first vehicle information, and determining second target vehicle information on the second target lane from the second vehicle information; the second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type; and determining the target speed limit of the second one-way road section according to the target lane information, the first target vehicle information and the second target vehicle information.

Optionally, fig. 9 is a block diagram of an apparatus for adjusting speed limit of a road segment according to the embodiment shown in fig. 8, and as shown in fig. 9, the apparatus further includes:

a third determining module 805, configured to determine whether an intersection exists in a preset area centered on the second roadside device;

the second determining module 803 is configured to, if there is no intersection in a preset area with the second roadside device as the center, use the lane information of the second target lane in the first one-way road segment as the target lane information.

Optionally, the first target vehicle information includes a first target vehicle number, a first straight-driving vehicle number, a first lane-changing vehicle number, and a first parking vehicle number with parking behavior, and the second target vehicle information includes a second target vehicle number, a second straight-driving vehicle number, a second lane-changing vehicle number, and a second parking vehicle number with parking behavior; the second determining module 803 is configured to obtain first preset weights corresponding to the number of the first lane change vehicles, the number of the first parked vehicles, the number of the second lane change vehicles, and the number of the second parked vehicles respectively; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period.

Optionally, the second determining module 803 is configured to, if an intersection exists in a preset area with the second road-side device as a center and the intersection is located between the first one-way road segment and the second one-way road segment, use lane information of all lanes of a target intersection in the first one-way road segment as the target lane information; the target intersection is an intersection corresponding to the first target lane in the first unidirectional road section.

Optionally, the second determining module 803 is configured to obtain a second preset weight and a third preset weight, where the second preset weight corresponds to the first lane change number of vehicles and the second lane change number of vehicles, and the third preset weight corresponds to the first parking number of vehicles and the second parking number of vehicles; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second preset weight, the third preset weight, the target lane information and the preset time period.

Optionally, fig. 10 is a block diagram of an apparatus for adjusting speed limit of a road segment according to the embodiment shown in fig. 9, and as shown in fig. 10, the apparatus further includes:

a fourth determining module 806, configured to determine a weather speed limit corresponding to the first unidirectional road segment according to the weather data; the first sending module 804 is configured to send the target speed limit to the second roadside device if the target speed limit is less than or equal to the weather speed limit.

Optionally, fig. 11 is a block diagram of an apparatus for adjusting speed limit of a road segment according to the embodiment shown in fig. 10, and as shown in fig. 11, the apparatus further includes:

a speed limit updating module 807 for taking the weather speed limit as the updated target speed limit if the target speed limit is greater than the weather speed limit;

a second sending module 808, configured to send the updated target speed limit to the second roadside device.

Optionally, the fourth determining module 806 is configured to determine, according to the weather data, a target weather type corresponding to the first unidirectional road segment; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

By adopting the device, the server can determine the target speed limit of the second one-way road section adjacent to the road section inlet of the first one-way road section at the road section outlet in advance according to the road section data of the first one-way road section, so that a vehicle driver at the second one-way road section can control the driving speed of a vehicle according to the target speed limit, thereby effectively relieving the traffic jam problem and improving the traffic efficiency of the vehicle.

Fig. 12 is a block diagram illustrating an electronic device 1200 in accordance with an example embodiment. For example, the electronic device 1200 may be provided as a server. Referring to fig. 12, the electronic device 1200 includes a processor 1222, which may be one or more in number, and a memory 1232 for storing computer programs executable by the processor 1222. The computer programs stored in memory 1232 may include one or more modules that each correspond to a set of instructions. Further, the processor 1222 may be configured to execute the computer program to perform the above-described method of adjusting the speed limit of the road segment.

Additionally, electronic device 1200 may also include a power component 1226 and a communication component 1250, the power component 1226 may be configured to perform power management of the electronic device 1200, and the communication component 1250 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1200. In addition, the electronic device 1200 may also include input/output (I/O) interfaces 1258. The electronic device 1200 may operate based on an operating system stored in the memory 1232, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, and the like.

In another exemplary embodiment, a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the above-described method of adjusting a speed limit for a road segment is also provided. For example, the computer readable storage medium may be the memory 1232 including program instructions executable by the processor 1222 of the electronic device 1200 to perform the method for adjusting the speed limit of the road segment described above.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable device, the computer program having code portions for performing the above-mentioned method of adjusting a speed limit of a road segment when the computer program is executed by the programmable device.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method for adjusting speed limit of a road section is applied to a server, and the method comprises the following steps:

receiving target data sent by a first roadside device, wherein the target data comprises road section data of a first unidirectional road section where the first roadside device is located, and the road section data comprises: lane information of the first unidirectional road section, and first vehicle information passing through the first unidirectional road section and second vehicle information staying at the first unidirectional road section within a preset time period;

determining a second unidirectional road segment with a road segment exit adjacent to the road segment entrance of the first unidirectional road segment;

determining a target speed limit of the second unidirectional road section according to the road section data;

sending the target speed limit to a second roadside device located on the second unidirectional road section, so that the second roadside device adjusts the speed limit of the second unidirectional road section to the target speed limit;

the determining the target speed limit of the second unidirectional road section according to the road section data comprises: determining target lane information corresponding to a first target lane of the second unidirectional road section from the lane information, wherein the first target lane is a lane of which the lane type is a target lane type, and the target lane type is any lane type of the second unidirectional road section; determining first target vehicle information on a second target lane from the first vehicle information, and determining second target vehicle information on the second target lane from the second vehicle information; the second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type; and determining the target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information.

2. The method of claim 1, wherein prior to said determining from the lane information, target lane information corresponding to a first target lane of the second unidirectional segment, the method further comprises:

determining whether a fork exists in a preset area with the second roadside device as the center;

the determining, from the lane information, target lane information corresponding to a first target lane of the second unidirectional segment includes:

and if no intersection exists in a preset area with the second roadside device as the center, taking the lane information of the second target lane in the first one-way road section as the target lane information.

3. The method according to claim 2, wherein the first target vehicle information includes a first target vehicle number, a first straight-driving vehicle number, a first lane-change vehicle number, and a first parked vehicle number where parking behavior exists, and the second target vehicle information includes a second target vehicle number, a second straight-driving vehicle number, a second lane-change vehicle number, and a second parked vehicle number where parking behavior exists;

the determining the target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information comprises:

acquiring first preset weights corresponding to the first lane changing vehicle number, the first parking vehicle number, the second lane changing vehicle number and the second parking vehicle number respectively;

and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period.

4. The method of claim 3, wherein the determining, from the lane information, target lane information corresponding to a first target lane of the second unidirectional segment comprises:

if an intersection exists in a preset area with the second road side equipment as the center and the intersection is located between the first one-way road section and the second one-way road section, taking the lane information of all lanes of a target intersection in the first one-way road section as the target lane information; the target turnout is a turnout corresponding to the first target lane on the first unidirectional road section.

5. The method of claim 4, wherein the determining the target speed limit for the second unidirectional segment as a function of the target lane information, and the first and second target vehicle information comprises:

acquiring a second preset weight and a third preset weight, wherein the second preset weight corresponds to the number of the first lane-changing vehicles and the number of the second lane-changing vehicles, and the third preset weight corresponds to the number of the first parking vehicles and the number of the second parking vehicles;

and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second preset weight, the third preset weight, the target lane information and the preset time period.

6. The method according to any one of claims 1 to 5, wherein the target data further comprises weather data for the first unidirectional segment, and wherein the method further comprises, before the sending the target speed limit to a second roadside device located at the second unidirectional segment:

determining a weather speed limit corresponding to the first unidirectional road section according to the weather data;

the sending the target speed limit to a second roadside device located at the second unidirectional road segment includes:

and if the target speed limit is less than or equal to the weather speed limit, sending the target speed limit to the second roadside device.

7. The method of claim 6, further comprising:

if the target speed limit is larger than the weather speed limit, taking the weather speed limit as the updated target speed limit;

and sending the updated target speed limit to the second roadside device.

8. The method of claim 6, wherein the determining the weather speed limit corresponding to the first unidirectional segment from the weather data comprises:

determining a target weather type corresponding to the first unidirectional road section according to the weather data;

acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions;

determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function;

acquiring the highest safety speed limit corresponding to the weather data;

and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

9. A device for adjusting speed limit of a road section is applied to a server, and the device comprises:

a receiving module, configured to receive target data sent by a first road side device, where the target data includes road segment data of a first unidirectional road segment where the first road side device is located, and the road segment data includes: lane information of the first unidirectional road section, and first vehicle information passing through the first unidirectional road section and second vehicle information staying at the first unidirectional road section within a preset time period;

a first determination module for determining a second unidirectional road segment with a road segment exit adjacent to a road segment entrance of the first unidirectional road segment;

a second determining module, configured to determine, from the lane information, target lane information corresponding to a first target lane of the second unidirectional road segment, where the first target lane is a lane whose lane type is a target lane type, and the target lane type is any lane type of the second unidirectional road segment; determining first target vehicle information on a second target lane from the first vehicle information, and determining second target vehicle information on the second target lane from the second vehicle information; the second target lane is a lane on the first one-way road section, and the lane type is the same as the target lane type; determining a target speed limit of the second unidirectional road section according to the target lane information, the first target vehicle information and the second target vehicle information;

and the first sending module is used for sending the target speed limit to second roadside equipment positioned on the second unidirectional road section, so that the second roadside equipment can adjust the speed limit of the second unidirectional road section to the target speed limit.

10. The apparatus of claim 9, further comprising:

a third determining module, configured to determine whether a fork exists in a preset area with the second roadside device as a center;

the second determining module is configured to, if there is no intersection in a preset area with the second roadside device as a center, use lane information of the second target lane in the first one-way road segment as the target lane information.

11. The apparatus according to claim 10, characterized in that the first target vehicle information includes a first target vehicle number, a first straight-going vehicle number, a first lane-change vehicle number, and a first parked vehicle number where parking behavior exists, and the second target vehicle information includes a second target vehicle number, a second straight-going vehicle number, a second lane-change vehicle number, and a second parked vehicle number where parking behavior exists;

the second determining module is configured to obtain first preset weights corresponding to the first lane change vehicle number, the first parked vehicle number, the second lane change vehicle number, and the second parked vehicle number respectively; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second target vehicle number, the first preset weight, the target lane information and the preset time period.

12. The apparatus according to claim 11, wherein the second determining module is configured to, if an intersection exists in a preset area centered on the second roadside device and the intersection is located between the first unidirectional link and the second unidirectional link, use lane information of all lanes of a target intersection in the first unidirectional link as the target lane information; the target turnout is a turnout corresponding to the first target lane in the first unidirectional road section.

13. The apparatus according to claim 12, wherein the second determining module is configured to obtain a second preset weight and a third preset weight, the second preset weight corresponds to the first lane change vehicle number and the second lane change vehicle number, and the third preset weight corresponds to the first parking vehicle number and the second parking vehicle number; and determining the target speed limit of the second one-way road section according to the first target vehicle number, the second preset weight, the third preset weight, the target lane information and the preset time period.

14. The apparatus of any of claims 9 to 13, wherein the target data further comprises weather data for the first unidirectional segment, the apparatus further comprising:

the fourth determining module is used for determining the weather speed limit corresponding to the first unidirectional road section according to the weather data;

and the first sending module is used for sending the target speed limit to the second roadside device if the target speed limit is less than or equal to the weather speed limit.

15. The apparatus of claim 14, further comprising:

the speed limit updating module is used for taking the weather speed limit as an updated target speed limit if the target speed limit is greater than the weather speed limit;

and the second sending module is used for sending the updated target speed limit to the second roadside device.

16. The apparatus according to claim 14, wherein the fourth determining module is configured to determine a target weather type corresponding to the first unidirectional segment according to the weather data; acquiring a preset weather function corresponding to the target weather type, wherein different weather types correspond to different preset weather functions; determining a speed adjusting coefficient corresponding to the weather data according to the preset weather function; acquiring the highest safety speed limit corresponding to the weather data; and determining the weather speed limit according to the highest safety speed limit and the speed adjusting coefficient.

17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.

18. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8.