CN107219846B - Method for controlling lane direction, road command and segmentation equipment and vehicle terminal - Google Patents
Method for controlling lane direction, road command and segmentation equipment and vehicle terminal Download PDFInfo
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Abstract
The invention discloses a method for controlling lane direction, a road command and segmentation device and a vehicle terminal, comprising the following steps: the road command equipment monitors the state of each road segmentation equipment; when the condition of a first road segment device is monitored to meet a first condition, sending a first indication message to a second road segment device, wherein the first indication message is used for indicating the second road segment device to switch the direction of a lane controlled by the second road segment device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction. The second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
Description
Technical Field
The invention relates to the technology of vehicle networking, in particular to a method for controlling lane direction, road command and segmentation equipment and a vehicle terminal.
Background
At present, the automatic driving technology is realized by adding sensors such as radar, laser and camera on the existing vehicle, collecting information of surrounding environment, and using an algorithm to replace manual work to issue driving instructions related to vehicle driving through a vehicle-mounted computer, thereby realizing automatic driving.
The current automatic driving technology has the following defects: the information exchange between the vehicles and the road is not carried out, the driving behavior of each vehicle is based on self judgment, uncertainty and instability exist, and behaviors which influence road traffic efficiency and passenger safety such as collision, frequent lane change, slow running and the like are easy to occur. In addition, the existing road cannot flexibly configure the number of lanes per traveling direction according to the traffic volume.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present invention provide a method for controlling a lane direction, a road guidance and segmentation device, and a vehicle terminal.
The method for controlling the lane direction provided by the embodiment of the invention is applied to road command equipment, the road command equipment can perform data interaction with road segmentation equipment, and the method comprises the following steps:
monitoring the state of each road segmentation equipment;
when the condition of a first road segment device is monitored to meet a first condition, sending a first indication message to a second road segment device, wherein the first indication message is used for indicating the second road segment device to switch the direction of a lane controlled by the second road segment device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction.
In this embodiment of the present invention, when it is monitored that the state of the first road segmentation equipment satisfies the first condition, the method further includes:
and determining a second road segmentation device meeting a second condition, wherein the direction of the lane controlled by the second road segmentation device is the second direction.
In the embodiment of the present invention, the method further includes:
sending a second indication message to the first road segmentation equipment, wherein the second indication message is used for indicating the following information of the first road segmentation equipment: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction.
Another embodiment of the present invention provides a method of controlling a lane direction, applied to a second road segment device, the method including:
receiving a first indication message sent by road command equipment;
switching the direction of the lane controlled by the second road segment device from the second direction to the first direction according to the first indication message; wherein the direction of the lane controlled by the first road segment device is the first direction;
the second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
In an embodiment of the present invention, the switching the direction of the lane controlled by the second road segment device from the second direction to the first direction includes:
the second road segmentation equipment transmits control signals through a plurality of pairs of antennas at the bottom of a lane controlled by the second road segmentation equipment, and the control signals carry direction information of the lane;
switching the direction of the lane controlled by the second road-segment device from the second direction to the first direction by the control signal.
In the embodiment of the present invention, the method further includes:
and the second road segmentation equipment controls the vehicle terminal to enter the lane with the second direction through the lane changing lane.
In the embodiment of the present invention, the method further includes:
receiving a third indication message sent by the first road segmentation equipment;
and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
The method for accessing the vehicle to the internet of vehicles, provided by another embodiment of the invention, is applied to a vehicle terminal, and the vehicle terminal can perform data interaction with road segmentation equipment, and the method comprises the following steps:
receiving a third indication message of the road segmentation equipment;
determining a target speed according to the third indication message;
and controlling the vehicle terminal to run in the lane controlled by the road segmentation equipment according to the target speed.
In the embodiment of the present invention, the method further includes: when the vehicle terminal is controlled by a first road segmentation device to be controlled by a second road segmentation device, controlling the vehicle terminal to drive towards a first direction according to the indication message of the second road segmentation device; wherein the direction of the lane controlled by the second road-segment device is switched from a second direction to the first direction; the direction of the lane controlled by the first road-section device is the first direction.
The road commanding device provided by the embodiment of the invention can perform data interaction with road segmentation equipment, and comprises:
the monitoring unit is used for monitoring the state of each road segmentation device;
the indicating unit is used for sending a first indicating message to a second road segmentation device when the condition of a first road segmentation device is monitored to meet a first condition, wherein the first indicating message is used for indicating the second road segmentation device to switch the direction of a lane controlled by the second road segmentation device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction.
In this embodiment of the present invention, the indicating unit is further configured to send a second indication message to the first road segmentation device, where the second indication message is used to indicate the following information to the first road segmentation device: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction.
The embodiment of the invention provides a road segmentation device, which comprises:
the interaction unit is used for receiving a first indication message sent by the road command equipment;
a control unit for switching the direction of the lane controlled by the second road segment device from a second direction to a first direction according to the first indication message; wherein the direction of the lane controlled by the first road segment device is the first direction; the second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
In the embodiment of the invention, the control unit is further configured to control the vehicle terminal to enter the lane in the second direction through the lane change lane.
In this embodiment of the present invention, the interaction unit is further configured to receive a third indication message sent by the first road segmentation device; and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
The embodiment of the invention provides a vehicle terminal, which comprises:
an interaction unit, configured to receive a third indication message of the road segmentation equipment;
the determining unit is used for determining the target speed according to the third indication message;
and the control unit is used for controlling the vehicle terminal to run in the lane controlled by the road segmentation equipment according to the target speed.
In the technical scheme of the embodiment of the invention, the road command equipment monitors the state of each road segmentation equipment; when the condition of a first road segment device is monitored to meet a first condition, sending a first indication message to a second road segment device, wherein the first indication message is used for indicating the second road segment device to switch the direction of a lane controlled by the second road segment device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction. The second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
Therefore, the vehicle terminal is commanded to run from the angle of the road system, the switching of the vehicle terminal in the internet of vehicles is completed through the interaction between the vehicle terminal and the road equipment (namely, the road segmentation equipment and the road command equipment), and compared with the current vehicle terminal, the automatic driving is only carried out according to the factors of the current vehicle terminal, so that the safety degree of the automatic driving can be obviously improved.
In addition, the road advancing direction can be flexibly changed according to the instruction of the road command center, and the number of lanes in two driving directions can be flexibly configured, so that the urban commuting efficiency is improved.
Drawings
Fig. 1 is a flowchart illustrating a method for controlling lane direction according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for controlling lane direction according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for controlling lane direction according to a third embodiment of the present invention;
fig. 4 is a schematic structural component view of a road guidance device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural component diagram of a road segmentation apparatus according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural composition diagram of a vehicle terminal according to a sixth embodiment of the present invention;
FIG. 7 is a first schematic diagram of a vehicle terminal according to an embodiment of the present invention;
FIG. 8 is a second schematic diagram of a vehicle terminal according to an embodiment of the present invention;
FIG. 9 is a third schematic view of a vehicle terminal according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating an interface between devices according to an embodiment of the present invention;
FIG. 11 is a schematic view of a road segment office of an embodiment of the present invention;
FIG. 12 is a diagram illustrating a scene before lane change according to an embodiment of the present invention;
FIG. 13 is a diagram illustrating a scene after lane change according to an embodiment of the present invention;
fig. 14 is a schematic flow chart of switching of the vehicle terminal in the internet of things according to the embodiment of the present invention.
Detailed Description
So that the manner in which the features and aspects of the embodiments of the present invention can be understood in detail, a more particular description of the embodiments of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
Fig. 1 is a flowchart illustrating a method for controlling a lane direction according to a first embodiment of the present invention, where the method for controlling a lane direction in this example is applied to a road directing device, and the road directing device is capable of performing data interaction with a road segmentation device, as shown in fig. 1, the method for controlling a lane direction includes the following steps:
step 101: the status of the individual road segment devices is monitored.
In this embodiment of the present invention, when it is monitored that the state of the first road segmentation equipment satisfies the first condition, the method further includes: and determining a second road segmentation device meeting a second condition, wherein the direction of the lane controlled by the second road segmentation device is the second direction.
Here, the first condition means: the lanes controlled by the road segmentation equipment encounter obstacles in the lanes, limited capacity, accidents and other events which influence the traffic efficiency.
In an embodiment of the invention, the direction of the lane controlled by the first road-section device is a first direction and the direction of the lane controlled by the second road-section device is a second direction, wherein the first direction is opposite to the second direction.
The second condition is that: the lane capacity controlled by the road segmentation apparatus is sufficient.
Step 102: when the condition of a first road segment device is monitored to meet a first condition, sending a first indication message to a second road segment device, wherein the first indication message is used for indicating the second road segment device to switch the direction of a lane controlled by the second road segment device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction.
In the embodiment of the present invention, the method further includes: sending a second indication message to the first road segmentation equipment, wherein the second indication message is used for indicating the following information of the first road segmentation equipment: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction. In this way, the first road-section device can be informed that the direction of the lane controlled by the second road-section device has switched.
In the embodiment of the invention, the road command equipment further has the following functions: and authenticating the vehicle terminal entering the automatic driving road. And checking whether the self-checking result and the correction result of the vehicle terminal meet the condition of automatic driving.
Referring to fig. 10, the road command center (i.e. road command device) and the adjacent road command center (i.e. road command device) perform data interaction through the interface C to adjust the capacities and the average speeds of the different road segmentation bureaus.
In the embodiment of the invention, the road command equipment is used for resetting the parameters of the road segmentation equipment in the whole road, so that the advancing direction of the vehicle terminal is changed.
Fig. 2 is a flowchart illustrating a method for controlling a lane direction according to a second embodiment of the present invention, where the method for controlling a lane direction is applied to a second road segment device, and as shown in fig. 2, the method for controlling a lane direction includes the following steps:
step 201: and receiving a first indication message sent by the road command equipment.
Here, the first indication message is for indicating that the direction of the lane controlled by the second road segment device is switched from the second direction to the first direction.
Step 202: switching the direction of the lane controlled by the second road segment device from the second direction to the first direction according to the first indication message; wherein the direction of the lane controlled by the first road segmentation equipment is the first direction.
In an embodiment of the present invention, the switching the direction of the lane controlled by the second road segment device from the second direction to the first direction includes: the second road segmentation equipment transmits control signals through a plurality of pairs of antennas at the bottom of a lane controlled by the second road segmentation equipment, and the control signals carry direction information of the lane; switching the direction of the lane controlled by the second road-segment device from the second direction to the first direction by the control signal.
In the embodiment of the present invention, the method further includes: and the second road segmentation equipment controls the vehicle terminal to enter the lane with the second direction through the lane changing lane.
Step 203: the second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
In the embodiment of the present invention, the method further includes: receiving a third indication message sent by the first road segmentation equipment; and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
In the embodiment of the invention, the road segmentation equipment also has the following functions:
referring to fig. 11, each road segment bureau (i.e., road segment device) controls a vehicle terminal within a segment of a lane, and is capable of data interaction with the vehicle terminal within the segment of the lane.
Referring to fig. 7 to 9 and 11, antennas are buried under the lane lines on both sides of the lane, and the antennas are connected to road distribution equipment placed on the roadside through feeder lines. Here, the corresponding antenna in a lane is connected to the road branch device corresponding to the lane. Therefore, data interaction between the road segmentation equipment and the vehicle terminal is realized.
Referring to fig. 10, the road segmentation bureau (i.e. the road segmentation equipment) is connected with the road command center (i.e. the road command equipment) through an optical fiber, and data interaction is carried out through an interface B. And the road section bureau carries out data interaction with the vehicle terminal through an interface A through an antenna buried under the road.
Referring to fig. 10, a road segment office (i.e., a road segment facility) is connected to an adjacent road segment office (i.e., a road segment facility) through an optical fiber, and data interaction is performed through an interface Bb.
In addition, the road segmentation equipment is also provided with a laser range finder and a standardized correction program for controlling the correction work of the vehicle terminal before entering the automatic driving road.
Fig. 3 is a schematic flow chart of a method for accessing a vehicle to a vehicle networking system according to a third embodiment of the present invention, where the method for accessing a vehicle to a vehicle networking system in this example is applied to a vehicle terminal, and the vehicle terminal can perform data interaction with a road segmentation device, as shown in fig. 3, the method for accessing a vehicle to a vehicle networking system includes the following steps:
step 301: receiving a third indication message of the road segment device.
Step 302: and determining the target speed according to the third indication message.
Step 303: and controlling the vehicle terminal to run in the lane controlled by the road segmentation equipment according to the target speed.
In the embodiment of the invention, the vehicle terminal also has the following functions:
referring to fig. 7 to 9, the position and speed of the vehicle terminal in the lane are calculated from the signal strengths received by the six antennas. Then, according to the first indication message sent by the road section bureau, sending a proper driving instruction to adjust the driving state of the vehicle terminal to the state required by the road section equipment.
Referring to fig. 7 to 9, the front part of the vehicle terminal is equipped with a vehicle-mounted array radar, so that an obstacle at the front end of the vehicle terminal can be detected, the probability of collision of the vehicle terminal can be calculated, and a command for deceleration or parking can be automatically issued. When the vehicle-mounted radar is used for detecting that an obstacle exists in front of a road where the vehicle terminal is located and the road segmentation equipment does not issue a first indication message (namely a command instruction), the vehicle terminal can autonomously decelerate or stop.
In the embodiment of the invention, the vehicle terminal can carry out self-checking to check whether the engine, the tire pressure, the water temperature, the oil pressure and the oil temperature of engine oil, the fuel allowance and various functional indexes of the vehicle-mounted electronic equipment are normal or not and whether an alarm is given or not. Specifically, the vehicle terminal is provided with a sensor and an alarm module in an engine, a tire pressure, a water temperature, an oil pipeline, an oil tank and vehicle-mounted electronic equipment, and an alarm can be given if the functions or states of the parts are abnormal.
In the embodiment of the invention, the vehicle terminal can complete the correction and switching process under the indication of the road segmentation equipment.
In the embodiment of the invention, when the vehicle terminal is controlled by a first road segmentation device to be controlled by a second road segmentation device, the vehicle terminal is controlled to run towards a first direction according to the indication message of the second road segmentation device; wherein the direction of the lane controlled by the second road-segment device is switched from a second direction to the first direction; the direction of the lane controlled by the first road-section device is the first direction.
Fig. 4 is a schematic structural composition diagram of a road directing device according to a fourth embodiment of the present invention, where the road directing device is capable of performing data interaction with a road segmentation device, as shown in fig. 4, the road directing device includes:
a monitoring unit 41 for monitoring the status of each road segment device;
an indicating unit 42, configured to send a first indication message to a second road-segment device when it is monitored that a state of a first road-segment device satisfies a first condition, the first indication message being used to instruct the second road-segment device to switch a direction of a lane controlled by the second road-segment device from a second direction to a first direction; wherein the direction of the lane controlled by the first road segment device is the first direction.
The road directing equipment further comprises: a determining unit 43 for determining a second road segmentation equipment satisfying a second condition, the direction of the lane controlled by the second road segmentation equipment being the second direction.
The indicating unit 42 is further configured to send a second indication message to the first road segmentation device, where the second indication message is used to indicate the following information to the first road segmentation device: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction.
It will be understood by those skilled in the art that the implementation functions of the units in the road directing equipment shown in fig. 4 can be understood by referring to the related description of the method for controlling the lane direction. The functions of the units in the road direction device shown in fig. 4 can be realized by a program running on a processor, and can also be realized by a specific logic circuit.
Fig. 5 is a schematic structural component diagram of a road segmentation apparatus according to a fifth embodiment of the present invention, and as shown in fig. 5, the road segmentation apparatus includes:
the interaction unit 51 is configured to receive a first indication message sent by a road command device;
a control unit 52 for switching the direction of the lane controlled by the second road-segment device from the second direction to the first direction according to the first indication message; wherein the direction of the lane controlled by the first road segment device is the first direction; the second road-segmentation device controls the vehicle terminal to travel in the first direction when the vehicle terminal is switched from being controlled by the first road-segmentation device to being controlled by the second road-segmentation device.
The control unit 52 is further configured to transmit a control signal through multiple antennas at the bottom of the lane controlled by the second road segmentation equipment, where the control signal carries direction information of the lane; switching the direction of the lane controlled by the second road-segment device from the second direction to the first direction by the control signal.
The control unit 52 is further configured to control the vehicle terminal to enter the lane in the second direction through the lane change lane.
The interaction unit 51 is further configured to receive a third indication message sent by the first road segmentation device; and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
It will be appreciated by those skilled in the art that the function of the various elements of the road segmentation apparatus shown in fig. 5 may be understood with reference to the foregoing description of the method of controlling the direction of a lane. The functions of the units in the road-segmentation apparatus shown in fig. 5 may be implemented by a program running on a processor, or may be implemented by specific logic circuits.
Fig. 6 is a schematic structural composition diagram of a vehicle terminal according to a sixth embodiment of the present invention, and as shown in fig. 6, the vehicle terminal includes:
an interaction unit 61, configured to receive a third indication message of the road segmentation apparatus;
a determining unit 62, configured to determine a target speed according to the third indication message;
a control unit 63 for controlling the vehicle terminal to travel within the lane controlled by the road-segmentation apparatus according to the target speed.
It will be understood by those skilled in the art that the functions implemented by the units in the vehicle terminal shown in fig. 6 can be understood with reference to the foregoing description of the method of controlling the lane direction. The functions of the respective units in the vehicle terminal shown in fig. 6 may be implemented by a program running on a processor, or may be implemented by specific logic circuits.
Referring to fig. 12 and 13, fig. 12 is a schematic view of a scene before lane changing, and fig. 13 is a schematic view of a scene after lane changing, as shown in the figure, before the lane traveling direction is changed, there are two lanes respectively to the left and the right in the figure, namely lane left 1, lane left 2, lane right 1, and lane right 2. The direction of a certain lane in the road command center (namely the road command device) can be changed according to the requirement. For example, the direction of the right 2 of the lane needs to be changed to the left, and since the road segment office (i.e. the road segment device) controlling the right 2 of the lane is the road segment office a, the road segment office a controls the antenna in the corresponding road segment to transmit the signal carrying the lane direction, and the road segment office a sets the direction change information in the signal transmitted by the antenna; and arranging a lane change lane to change the vehicle on the right 2 of the lane to the right 1 of the lane, a new lane can be established: and 3, changing the vehicle terminal of the lane left 2 to the lane left 3.
Fig. 14 is a schematic flow chart of switching of the vehicle terminal in the internet of things according to the embodiment of the present invention, in this flow, the road segmentation bureau is a road segmentation device, and the road command center is a road command device; as shown in fig. 14, the process includes:
1. the control link is already established. The speed control link is already established. That is, a normal speed control link already exists between the vehicle terminal and the original road segment bureau a, and the vehicle terminal can receive the speed indication of the road segment bureau a in the scheduling period and report the speed state of the vehicle terminal and the distance between the vehicle terminal and the front vehicle and the rear vehicle.
2. Triggering lane direction change. The road command center can monitor the state of the road segmentation bureau in real time, and if the road segmentation bureau C is found to encounter the events affecting the traffic efficiency, such as obstacles in the lane, limited capacity, accidents and the like, and the capacity of the road in the opposite direction is enough, the road direction change process is triggered. After triggering, the road command center will send "lane right 2 switch direction resource preparation command" to the road segment office A that needs to arrange lane change direction, the message has the road segment office ID, the lane ID of the direction change lane, the direction change start position, the direction change end position, the direction change start time, and the direction change end time.
3. And issuing a lane right 2 change direction resource preparation command. After receiving a lane right 2 conversion direction resource preparation command issued by a road command center, the road segmentation bureau A starts to prepare resources required by the lane right 2 conversion direction, wherein the resources comprise certain spaces arranged at two ends of a direction conversion road section, and the vehicle terminals running in two directions are protected from being too close to each other. In addition, the vehicle terminals arranged to run in the road section with the changed direction are changed, and the subsequent vehicle terminals which are about to enter the road section with the changed direction are changed, so that the vehicle terminals are prevented from entering the road section with the changed direction.
4. And reporting the confirmation that the lane right 2 direction conversion preparation is finished. When the road section bureau A finishes transferring the vehicle terminal in the lane right 2 needing direction change, arranges lane change for the subsequent vehicle terminal which is about to enter the direction change road section, changes the traveling direction of the lane right 2 and reports 'the confirmation of completion of lane right 2 direction change preparation'. The subsequent wait indicates a vehicle terminal from the road segment bureau C before the lane change.
5. And issuing a command of adding a lane. And after receiving the message of 'confirmation of completion of lane right 2 direction change preparation' reported by the road section bureau A, the road command center issues a lane adding command to the road section bureau C. The message contains the ID of the newly added lane, the ID of the road segment office where the lane is located, the lane ID of the direction change lane, the direction change starting position, the direction change ending position, the direction change starting time and the direction change ending time.
6. And reporting confirmation of the newly added lane. And after receiving a newly added lane command issued by the road command center, the road segmentation bureau C verifies whether the information of the newly added lane is available. If the lane change is verified to be correct, the lane change method can be used, the confirmation of the newly added lane is reported, and the lane change is performed to the left 3 of the lane by the vehicle terminal.
7. The vehicle terminal is arranged to enter the lane change lane from lane left 2. After the confirmation of the newly added lane is reported, the road section bureau C arranges the vehicle terminal to enter the lane change lane from the lane 2, and the specific flow comprises the following steps: and triggering lane change, preparing lane change resources, measuring and judging whether a lane change lane meets the driving requirement, establishing a speed indication link on the lane change lane, and stopping receiving speed indication on the left 2 of the lane.
8. In the lane change period, the road section bureau C forwards the speed indication to the road section bureau A, so that when the vehicle terminal enters the left 3 of the lane from the lane change lane, the road section bureau C and the road section bureau A can jointly send the speed indication to the vehicle terminal, and the lane change failure is prevented.
9. The vehicle terminal is arranged to enter the left 3 lane from the lane change lane. When the vehicle terminal travels in the lane change lane to overlap lane left 3, the road segment bureau C will arrange for the vehicle terminal to enter lane left 3 from the lane change lane. And measuring and judging whether the left 3 of the lane meets the driving requirement, establishing a speed indication link on the left 3 of the lane, and stopping receiving the speed indication on the lane change lane. At this point, the road direction change is over, and the vehicle terminal which drives to the left can drive in the left 3 of the lane in the set road section and time.
The technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed method and intelligent device may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one second processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (15)
1. A method of controlling lane direction for use with a road directing device capable of data interaction with a road segmentation device, the method comprising:
monitoring the state of each road segmentation equipment;
when the condition of a first road segment device is monitored to meet a first condition, sending a first indication message to a second road segment device, wherein the first indication message is used for indicating the second road segment device to switch the direction of a lane controlled by the second road segment device from a second direction to a first direction through an antenna at the bottom of the lane controlled by the second road segment device; wherein the direction of the lane controlled by the first road segment device is the first direction; the first road segment device can send a third indication message to the second road segment device when determining that the direction of the lane controlled by the second road segment device is switched from the second direction to the first direction, wherein the third indication message is used for sending the third indication message to the vehicle terminal by using an antenna at the bottom of the lane when the vehicle terminal is switched from the control of the first road segment device to the control of the second road segment device, so that the vehicle terminal can drive in the road controlled by the second road segment device according to the target speed indicated by the third indication message.
2. The method of controlling a lane direction according to claim 1, wherein when it is monitored that the state of the first road-section device satisfies the first condition, the method further comprises:
and determining a second road segmentation device meeting a second condition, wherein the direction of the lane controlled by the second road segmentation device is the second direction.
3. The method of controlling lane direction according to claim 1, further comprising:
sending a second indication message to the first road segmentation equipment, wherein the second indication message is used for indicating the following information of the first road segmentation equipment: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction.
4. A method of controlling lane direction, applied to a second road segmentation apparatus, the method comprising:
receiving a first indication message sent by road command equipment;
according to the first indication message, the direction of the lane controlled by the antenna at the bottom of the lane controlled by the antenna is switched from the second direction to the first direction; wherein the direction of the lane controlled by the first road segment device is the first direction;
and receiving a third indication message sent by a first road segmentation device, and sending the third indication message to the vehicle terminal by using an antenna at the bottom of the lane when the vehicle terminal is controlled by the first road segmentation device and switched to be controlled by a second road segmentation device, wherein the third indication message is used for indicating the vehicle terminal to determine a target speed based on the third indication message and to drive in the lane controlled by the second road segmentation device according to the target speed.
5. The method of controlling lane direction according to claim 4, wherein the second road segment device switches the direction of the controlled lane from the second direction to the first direction, including:
transmitting control signals through a plurality of pairs of antennas at the bottom of a lane controlled by the antenna, wherein the control signals carry direction information of the lane;
and switching the direction of the controlled lane from the second direction to the first direction by the control signal.
6. The method of claim 4, wherein after the antenna at the bottom of the lane controlled by the antenna switches the direction of the lane controlled by the antenna from the second direction to the first direction, the method further comprises:
and controlling the vehicle terminal to enter the lane with the second direction through the lane changing lane.
7. The method of claim 4, wherein the antenna at the bottom of the lane controlled by the antenna switches the direction of the lane controlled by the antenna from the second direction to the first direction, and further comprising:
receiving a third indication message sent by the first road segmentation equipment;
and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
8. A method for accessing a vehicle to a vehicle networking is applied to a vehicle terminal, the vehicle terminal can perform data interaction with a road segmentation device, and the method comprises the following steps:
after the road segmentation equipment switches the lane direction controlled by the road segmentation equipment from the second direction to the first direction through the antenna at the bottom of the lane controlled by the road segmentation equipment, receiving a third indication message sent by the antenna at the bottom of the lane controlled by the road segmentation equipment;
determining a target speed according to the third indication message;
and driving in a lane controlled by the road segmentation equipment according to the target speed.
9. The method for accessing the internet of vehicles of claim 8, further comprising:
when the vehicle terminal is controlled by a first road segmentation device to be controlled by a second road segmentation device, controlling the vehicle terminal to drive towards a first direction according to the indication message of the second road segmentation device; wherein the direction of the lane controlled by the second road-segment device is switched from a second direction to the first direction; the direction of the lane controlled by the first road-section device is the first direction.
10. A road directing device capable of data interaction with a road segmentation device, the road directing device comprising:
the monitoring unit is used for monitoring the state of each road segmentation device;
the device comprises an indicating unit, a judging unit and a judging unit, wherein the indicating unit is used for sending a first indicating message to a second road segmentation device when monitoring that the state of a first road segmentation device meets a first condition, and the first indicating message is used for indicating the second road segmentation device to switch the direction of a lane controlled by the second road segmentation device from a second direction to a first direction through an antenna at the bottom of the lane controlled by the second road segmentation device; wherein the direction of the lane controlled by the first road segment device is the first direction; the first road segment device can send a third indication message to the second road segment device when determining that the direction of the lane controlled by the second road segment device is switched from the second direction to the first direction, wherein the third indication message is used for sending the third indication message to the vehicle terminal by using an antenna at the bottom of the lane when the vehicle terminal is switched from the control of the first road segment device to the control of the second road segment device, so that the vehicle terminal can drive in the road controlled by the second road segment device according to the target speed indicated by the third indication message.
11. The road directing device of claim 10, wherein the indicating unit is further configured to send a second indication message to the first road segment device, and the second indication message is configured to indicate the following information to the first road segment device: the direction of the lane controlled by the second road-segment device is switched from the second direction to the first direction.
12. A second road segmentation apparatus, characterized in that the second road segmentation apparatus comprises:
the interaction unit is used for receiving a first indication message sent by the road command equipment;
the control unit is used for switching the direction of the lane controlled by the antenna at the bottom of the lane controlled by the control unit from the second direction to the first direction according to the first indication message; wherein the direction of the lane controlled by the first road segment device is the first direction; and receiving a third indication message sent by a first road segmentation device, and sending the third indication message to the vehicle terminal by using an antenna at the bottom of the lane when the vehicle terminal is controlled by the first road segmentation device and switched to be controlled by a second road segmentation device, wherein the third indication message is used for indicating the vehicle terminal to determine a target speed based on the third indication message and to drive in the lane controlled by the second road segmentation device according to the target speed.
13. The road-segment apparatus of claim 12, wherein the control unit is further configured to control the vehicle terminal to enter the lane in the second direction via the lane-change lane.
14. The road-segmentation device of claim 12, wherein the interaction unit is further configured to receive a third indication message sent by the first road-segmentation device; and when the vehicle terminal is controlled by the first road segmentation equipment and is switched to be controlled by the second road segmentation equipment, sending a third indication message to the vehicle terminal, wherein the third indication message is used for indicating the vehicle terminal to run in a road controlled by the second road segmentation equipment according to the target speed.
15. A vehicle terminal, characterized in that the vehicle terminal comprises:
the interaction unit is used for receiving a third indication message sent by the antenna at the bottom of the lane controlled by the road segmentation equipment after the road segmentation equipment switches the lane direction controlled by the road segmentation equipment from the second direction to the first direction through the antenna at the bottom of the lane controlled by the road segmentation equipment;
the determining unit is used for determining the target speed according to the third indication message;
a control unit for driving within a lane controlled by the road segmentation apparatus in accordance with the target speed.
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| CN201610164858.0A CN107219846B (en) | 2016-03-21 | 2016-03-21 | Method for controlling lane direction, road command and segmentation equipment and vehicle terminal |
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