CN109658717A - Method for controlling a vehicle, device, equipment and storage medium - Google Patents
Method for controlling a vehicle, device, equipment and storage medium Download PDFInfo
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- CN109658717A CN109658717A CN201811488768.2A CN201811488768A CN109658717A CN 109658717 A CN109658717 A CN 109658717A CN 201811488768 A CN201811488768 A CN 201811488768A CN 109658717 A CN109658717 A CN 109658717A
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- vehicle
- control signal
- target vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
In accordance with an embodiment of the present disclosure, a kind of method for controlling a vehicle, device, equipment and computer readable storage medium are provided.This method includes receiving the control signal from traffic guidance equipment, the attribute and pending operation of the targeted vehicle of control signal designation；Based on attribute, determine whether target vehicle is to control the targeted vehicle of signal；In response to determining that target vehicle is to control the targeted vehicle of signal, determine that target vehicle advances to the expeced time of the position of traffic guidance equipment；And it is less than threshold time in response to expeced time, so that target vehicle executes pending operation, threshold time is associated with pending operation.This method enables to vehicle that can receive the control signal remotely sent, and executes pending operation in the case where shorter apart from the traffic guidance equipment time.
Description
Technical field
Embodiment of the disclosure relates generally to intelligent transportation field, and more particularly, to the side for controlling vehicle
Method, device, equipment and computer readable storage medium.
Background technique
In the traffic condition (for example, traffic congestion) of some complexity, it usually needs the assistance of traffic-police is to traffic
It is combed.With the development of unmanned technology, automatic driving vehicle is increasingly becoming a part of driving vehicle on road.So
And automatic driving vehicle is difficult to be accurately received the command signal of traffic-police and timely be responded.Therefore, how to make
Response traffic control signals become current focus of attention to the vehicle travelled on road in time and accurately.
Summary of the invention
According to an example embodiment of the present disclosure, it provides a kind of for controlling the scheme of vehicle.
In the first aspect of the disclosure, a kind of method for controlling a vehicle is provided.This method includes receiving to come from
The control signal of traffic guidance equipment, the attribute and pending operation of the targeted vehicle of control signal designation；Based on attribute, really
Whether the vehicle that sets the goal is to control the targeted vehicle of signal；In response to determining that target vehicle is to control the targeted vehicle of signal
, determine that target vehicle advances to the expeced time of the position of traffic guidance equipment；And it is less than threshold value in response to expeced time
Time, so that target vehicle executes pending operation, threshold time is associated with pending operation.
In the second aspect of the disclosure, provide a kind of for providing the device of information of vehicles.The device includes receiving
Module, is configured as receiving the control signal from traffic guidance equipment, the attribute of the targeted vehicle of control signal designation and
Pending operation；First vehicle determining module is configured as determining whether target vehicle is that control signal is targeted based on attribute
Vehicle；First expeced time determining module, be configured to respond to determine that target vehicle is to control the targeted vehicle of signal,
Determine that target vehicle advances to the expeced time of the position of traffic guidance equipment；And execution module, it is configured to respond to pre-
Time phase is less than threshold time, so that target vehicle executes pending operation, threshold time is associated with pending operation.
In the third aspect of the disclosure, a kind of equipment, including one or more processors are provided；And storage dress
It sets, for storing one or more programs, when one or more programs are executed by one or more processors, so that one or more
The method that a processor realizes the first aspect according to the disclosure.
In the fourth aspect of the disclosure, a kind of computer readable storage medium is provided, is stored thereon with computer journey
Sequence realizes the method for the first aspect according to the disclosure when program is executed by processor.
It should be appreciated that content described in Summary be not intended to limit embodiment of the disclosure key or
Important feature, it is also non-for limiting the scope of the present disclosure.The other feature of the disclosure will become easy reason by description below
Solution.
Detailed description of the invention
It refers to the following detailed description in conjunction with the accompanying drawings, the above and other feature, advantage and aspect of each embodiment of the disclosure
It will be apparent.In the accompanying drawings, the same or similar attached drawing mark indicates the same or similar element, in which:
Multiple embodiments that Fig. 1 shows the disclosure can be in the schematic diagram for the example context wherein realized；
Fig. 2 is according to an embodiment of the present disclosure for controlling the flow chart of the process of vehicle；
Fig. 3 shows according to an embodiment of the present disclosure for determining the flow chart of the process of expeced time；
Fig. 4 shows according to an embodiment of the present disclosure for providing the schematic block diagram of the device of information of vehicles；And
Fig. 5 shows the block diagram that can implement the calculating equipment of multiple embodiments of the disclosure.
Specific embodiment
Embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the certain of the disclosure in attached drawing
Embodiment, it should be understood that, the disclosure can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the disclosure.It should be understood that
It is that being given for example only property of the accompanying drawings and embodiments effect of the disclosure is not intended to limit the protection scope of the disclosure.
In the description of embodiment of the disclosure, term " includes " and its similar term should be understood as that opening includes,
I.e. " including but not limited to ".Term "based" should be understood as " being based at least partially on ".Term " one embodiment " or " reality
Apply example " it should be understood as " at least one embodiment ".Term " first ", " second " etc. may refer to different or identical right
As.Hereafter it is also possible that other specific and implicit definition.
As discussed above, the ability that intelligent vehicle needs to have perception traffic control signals.It is current it is some nobody drive
Commander's gesture of traffic police can be determined by image recognition technologys such as gesture identifications by sailing vehicle, or can pass through speech recognition
The sound and semanteme of traffic are identified with the technologies such as natural language processing.However, there are biggish limitation, examples for such scheme
Such as, in the environment of traffic congestion, image may be blocked due to front truck, the awareness apparatus of automatic driving vehicle can not receive traffic police and refer to
The image information waved.Alternatively, automatic driving vehicle is also difficult to from the language comprising a large amount of background noises in noisy traffic environment
The voice messaging of traffic police is extracted in message breath.
In accordance with an embodiment of the present disclosure, it proposes a kind of for controlling the scheme of vehicle.In this scenario, on target vehicle
Calculating equipment from traffic guidance equipment receive control signal, wherein control signal can indicate the targeted vehicle of the control signal
Attribute range and pending operation.Further, based on the received attribute of institute, calculate whether equipment determines target vehicle
It is to control the targeted vehicle of signal, if it is targeted vehicle, it is determined that target vehicle advances to traffic guidance equipment
The expeced time of position.Then, it when being less than with pending movement associated threshold time expeced time, calculates equipment and makes
Target vehicle executes pending operation.The scheme of the disclosure can make target vehicle come from based on wireless communication mode reception
The signal of traffic guidance equipment, and corresponding operation is carried out, to improve the accuracy that vehicle receives traffic control signals.
Hereinafter reference will be made to the drawings to specifically describe embodiment of the disclosure.Fig. 1 shows multiple embodiment energy of the disclosure
Enough schematic diagrames in the example context 100 wherein realized.In the example context 100, one or more vehicle 110-1,110-
2,110-3,110-4 and 110-5 are just travelled on road 102.Roadside device 120 and traffic are also shown in example context 100
Commanding 130.For example, traffic guidance personnel 130 can send traffic guidance by portable traffic guidance equipment 150-2
Signal.Alternatively, traffic guidance personnel 130 can also be sent by the traffic guidance equipment 150-1 being located on roadside device 120
Traffic control signals.For the convenience of description, multiple vehicle 110-1,110-2,110-3,110-4 and 110-5 are referred to as vehicle
110, and multiple traffic guidance equipment 150-1 and 150-2 are referred to as traffic guidance equipment 150.It should be appreciated that setting shown in these
Applying with object is only example, and there is the object being likely to occur according to the actual situation, in different traffic environments will change.The disclosure
Range be not limited in this respect.
In the example of fig. 1, vehicle 110, which can be, can carry people and/or object and by dynamical systems such as engines
Mobile any kind of vehicle, including but not limited to car, truck, bus, electric vehicle, motorcycle, caravan, train etc..
One or more vehicles 110 in environment 100 can be the vehicle with certain automatic Pilot ability, and such vehicle is also claimed
For automatic driving vehicle.Certainly, another in environment 100 or multiple vehicles 110 can also be without automatic Pilot energy
The vehicle of power.As shown in Figure 1, showing taxi 110-1 and 110-3, lorry 110-2 and 110-4 and rescue in environment 110
Vehicle 110-5.It should be appreciated that type of vehicle shown in Fig. 1 is only schematical.The scope of the present disclosure is unrestricted in this regard
System.
Vehicle 110 can be communicably coupled to calculate equipment 140.Although being shown as individual entity, equipment is calculated
140 can be embedded in vehicle 110.Calculating equipment 140 can also be with the entity outside vehicle 110, and can be via wireless
Network is communicated with vehicle 110.Calculate equipment 140 may be implemented as it is one or more calculate equipment, include at least processor,
Memory and other be typically found in the component in general purpose computer, to realize the functions such as calculating, storage, communication, control.
Traffic guidance equipment 150 can also be communicably coupled to by calculating equipment 140, to receive from traffic guidance equipment 150
Control signal relevant to traffic guidance is to execute specific operation, for example, advancing, halting, pulling over observing, more changing trains
Road, slow down, left-hand bend, right-hand bend, turn left wait turn and turn right wait turn etc..
It should be appreciated that environment 100 shown in Fig. 1 is only a specific example.It according to the actual situation, can in environment 100
There can be more, less or different object.For example, for the road of vehicle driving, the type of vehicle, position and number, road
One or more arrangements such as the position and number of the position of side apparatus and number and traffic guidance personnel may not be identical.
In some embodiments, traffic guidance personnel 130 can send control signal to roadside device 120, so that road
Side apparatus 120 sends traffic control signals by traffic guidance equipment 150-1, so that specific vehicle executes specifically
Operation.In some embodiments, traffic guidance personnel 130 can transmit control letter to roadside device 120 by Cloud Server
Number.For example, traffic guidance equipment 150-1 can issue traffic control signals, to indicate the vehicle deceleration row travelled eastwards from west
It sails.In some embodiments, traffic guidance personnel 130 can directly send friendship by portable traffic guidance equipment 150-2
Logical command signal, so that specific vehicle executes specific operation.For example, traffic guidance personnel 130 can be referred to by traffic
Equipment 150-2 instruction is waved to check from the taxi pulling over observing that west travels eastwards.It should be appreciated that the above traffic control signals
Only schematical, traffic guidance personnel 130 can issue other any suitable commander's letters according to actual traffic condition
Number.
Particularly, vehicle 110 shown in Fig. 1 can be unmanned vehicle, for example, vehicle 110 can be a kind of nothing
People drives logistics vehicles.In some embodiments, traffic guidance personnel 130 can according to road conditions come to it is specific nobody drive
The vehicle 110 sailed sends traffic control signals, and unmanned vehicle 110 is allowed to execute specific movement.For example, handing over
Logical commanding 130 can send control signal so that specific unmanned vehicle 110 is replaced according to congestion in road situation
Previously determined lane, to intelligently dredge traffic.Alternatively, traffic guidance personnel 130 can also issue control letter
Number so that specific automatic driving vehicle pulling over observing, such as with to the goods information in unpiloted logistics vehicles into
Row checks.
The process of control vehicle is described in more detail hereinafter with reference to Fig. 2.Fig. 2 shows some implementations according to the disclosure
The flow chart of the process 200 for controlling vehicle of example.Process 200 can realize by the calculating equipment 140 of Fig. 1, the calculating
Equipment 140 can be embedded into vehicle 110-1 or as the autonomous device outside vehicle 110-1.In order to facilitate discussion, will combine
Fig. 1 describes process 200.
In frame 202, calculates equipment 140 and receive the control signal from traffic guidance equipment 150, control signal designation institute needle
Pair vehicle attribute and pending operation.In some embodiments, calculating equipment 140 can be by calculating in equipment 140
Wireless receiving module receives the control signal broadcasted from traffic guidance equipment 150.
In some embodiments, traffic guidance personnel 130 can select control signal institute on traffic guidance equipment 150-2
For vehicle attribute, and determine the attribute range.Traffic guidance personnel 130 can pass through traffic guidance equipment 150-
Input equipment (such as touch screen, mouse, keyboard etc.) on 2 determines the attribute of targeted vehicle, and determines the attribute
Range.In some embodiments, traffic guidance personnel 130 can also send the targeted vehicle of instruction control signal to server
The range of attribute, and the traffic guidance equipment 150-1 in roadside device 120 is transmitted this information to, for generating control
Signal processed.
In some embodiments, the attribute of vehicle may include in one at least one of: the product of the type of vehicle, vehicle
Board, the model of vehicle, the position of vehicle, the license plate number of vehicle and speed of vehicle etc..In some instances, the control signal
The vehicle of specific type range can be directed to.In some instances, type of vehicle may include the operation type of vehicle, for example,
Taxi, bus, private car and ambulance etc..In some instances, type of vehicle may include the power type of vehicle, example
Such as, electric vehicle, fuel vehicle, diesel vehicle, mixed motor-car and solar vehicle etc..In some instances, type of vehicle may include
The using type of vehicle, for example, passenger carrying vehicle, goods stock and private vehicle etc..It should be appreciated that other vehicles can also be used
Classification of type.
In some embodiments, which can be directed to the vehicle of specific position range.In one example, the control
Signal processed can be directed in crossing west side from western toward the eastbound vehicle sailed.In one example, which can be directed to
It sails and from west toward eastbound positioned at the vehicle of left turn lane in crossing west side.In one example, which can for example be directed to
Positioned at the vehicle travelled at specific lane (for example, dedicated bus lanes).In some embodiments, which can be with
It is expressed as road section information, the i.e. final position of the start position including section and section.In some embodiments, the control signal
The vehicle of particular speed range can also be directed to.For example, the control signal can be more than for the speed travelled on road 102
The vehicle of fixing speed threshold value.
It should be appreciated that the range of the attribute of the above vehicle is only illustrative.Traffic guidance personnel 130 can be according to traffic
The actual needs of business, to determine the range for the vehicle being directed to required for control command.
In some embodiments, traffic guidance personnel 130 can also select control signal on traffic guidance equipment 150-2
The pending operation of targeted vehicle.Traffic guidance personnel 130 can pass through the input equipment on traffic guidance equipment 150-2
(such as touch screen, mouse, keyboard etc.) selects indicated by the control signal wait hold from preset pending operation set
Row operation.In some embodiments, traffic guidance personnel 130 can also to server send instruction control signal indicated by
The information of operation is executed, and transmits this information to the traffic guidance equipment 150-1 in roadside device 120, for giving birth to
At control signal.In some embodiments, which may include at least one in following information: sending time, friendship
The position of logical commander's equipment and pending operation.
In some embodiments, with actual traffic commander instruction it is similar, pending operation may include in following extremely
One item missing: advance, halt, pulling over observing, replacement lane, slow down, left-hand bend, right-hand bend, turning left wait turn and right
Turn wait turn etc..
In frame 204, it is based on attribute, equipment 140 is calculated and determines whether target vehicle 110-1 is to control the targeted vehicle of signal
?.In some embodiments, in order to determine whether target vehicle 110-1 is to control the targeted vehicle of signal, equipment 140 is calculated
The value of the attribute of target vehicle 110-1 can be obtained first.For example, the attribute of the vehicle of control signal pin pair may is that vehicle
Type (taxi) and vehicle position (from West to East travel).At this point, calculating the available target vehicle of equipment 140
The value of the position attribution of 110-1 and the value of type attribute.
In some embodiments, calculate equipment 140 then can determine the range of the attribute from control signal, and determine
Whether the value of the attribute of target vehicle 110-1 falls into the range of the value by the attribute of control signal designation.For example, for
The range of the example of the taxi travelled from West to East, attribute can be expressed as, the type of vehicle: taxi and vehicle
Position: it travels from West to East.Calculate equipment 140 can determine target vehicle 110-1 driving direction value (from West to East) with
And the value (taxi) of the type of target vehicle 110-1.Calculating equipment 140 then can be by the attribute of target vehicle 110-1
Value be compared with the range of the targeted attribute of control signal, if fallen within the scope of this, then it is assumed that target vehicle 110-1
It is to control the targeted vehicle of signal；If do not fallen within the scope of this, then it is assumed that target vehicle 110-1 is not control signal institute needle
Pair vehicle, so as to ignore the control signal.For example, the vehicle 110-2 in Fig. 1 is belonged to head west from east orientation and be sailed
Lorry, and be not belonging to the targeted vehicle of control signal, the control signal can be ignored.
If determining that target vehicle 110-1 is to control the targeted vehicle of signal in frame 204, method 200 proceeds to frame
206, i.e. calculating equipment 140 determines that target vehicle 110-1 advances to the expeced time of the position of traffic guidance equipment.Still consider
The example that taxi travels from West to East, calculating equipment 140 can determine that the value of the attribute of target vehicle 110-1 falls into control letter
In the range of attribute indicated by number.The detailed process of frame 206 is described below with reference to Fig. 3, Fig. 3 is shown according to the disclosure
The flow chart of the process 300 for determining expeced time of embodiment.
The position that equipment 140 determines traffic guidance equipment 150 is calculated based on control signal in frame 302.In some implementations
It can also include the location information of traffic guidance equipment 150 from the control signal generated of traffic guidance equipment 150 in example.It should
Location information may include longitude, latitude and height above sea level of the traffic guidance equipment 150 etc..Calculating equipment 140 can be from being received
Control signal in determine traffic guidance equipment 150 position.
In some embodiments, calculate equipment 140 can based on the cartographic information stored on target vehicle 110-1 or
The cartographic information of Cloud Server is stored in determine the position of traffic guidance equipment 150.In some embodiments, equipment is calculated
140 can also obtain the identification information of traffic guidance equipment 150 from control signal, and sending to the server for being located at cloud should
Identification information is to obtain position corresponding with the identification information.
In frame 304, present speed and current location that equipment 140 obtains target vehicle 110-1 are calculated.In some embodiments
In, the present speed of target vehicle 110-1 can be obtained by the OBD interface of target vehicle 110-1 by calculating equipment 140.One
In a little embodiments, calculating equipment 140 can be obtained by positioning system outside the vehicle positioning system or vehicle of target vehicle 110-1
Take the current location of target vehicle 110-1.In some embodiments, current location may include the current institute of target vehicle 110-1
Longitude, latitude and altitude information.
It calculates equipment 140 based on determining position, present speed and current location in frame 306 and determines target vehicle 110-
1 advances to the expeced time of the position of traffic guidance equipment.In some embodiments, calculating equipment 140 can be referred to based on traffic
Position and the current location of equipment 150 are waved to determine the distance of traffic guidance equipment 150, and is based on the distance and present speed
To determine the expeced time.In some embodiments, calculating equipment 140 can also be using being stored on target vehicle 110-1
Cartographic information is stored in the cartographic information of Cloud Server to determine the position from current location to traffic guidance equipment 150
Accurate distance, and determine expeced time using the distance and present speed.
With continued reference to Fig. 2, in frame 208, when calculating equipment 140 can determine whether expeced time calculated is less than threshold value
Between, wherein threshold time is associated with pending operation.In view of controlling equipment apart from traffic guidance as target vehicle 110-1
150 farther out when, if target vehicle 110-1 directly executes pending operation (for example, pulling over observing), it is likely to result at this time
Unexpected lane change and parking, to influence normal traffic.However, only by judging that the difference of distance is also not enough to indicate target
Whether vehicle 110-1 is operated with performance objective.For example, when although target vehicle is relatively close apart from traffic guidance equipment 150, its
When can not advance due to traffic congestion, it will be unable to execute pending operation.Therefore, friendship is advanced to by comparing target vehicle 110-1
The expeced time of logical commander's equipment 150 and scheduled threshold time, the scheme of the disclosure can to avoid target vehicle 110-1 away from
Pending operation is directly executed from farther away situation, it is also contemplated that the current operating conditions of target vehicle 110-1, to make mesh
Mark vehicle 110-1 can more precisely execute pending operation.
In some embodiments, different threshold times can be arranged for different pending operations by calculating equipment 140.Example
Such as, threshold time corresponding with the pending operation of " halting " can be relatively small, so that target vehicle 110-1 exists
Band is just executed when close to traffic guidance equipment 150 executes operation.On the contrary, threshold value corresponding to the pending operation in " replacement lane "
Time can be relatively long, and target vehicle 110-1 is allowed to carry out lane change preparation in advance.Dynamic setting in this way, meter
Calculating equipment 140 can make target device 110-1 more precisely execute with executing operation.
If determining that expeced time is less than threshold time in frame 208, method 200 proceeds to frame 210, i.e. calculating equipment
140 make target vehicle 110-1 execute pending operation.In some embodiments, calculating equipment 140 can be by pending operation
The control module being sent on target vehicle 110-1, so that target vehicle 110-1 executes pending operation.In some implementations
In example, target vehicle 110-1 can be using pending operation as target instruction target word, and combines current perception information, guarantees target
Safety of the vehicle 110-1 when executing the pending operation.In some embodiments, when executing pending operation, target
Vehicle 110-1 can also be by the output equipment on target vehicle 110-1 (for example, display, light, voice, projection
Deng) come to other vehicles prompt target vehicle 110-1 be carrying out specific pending operation.
If determining that expeced time is greater than or equal to threshold time in frame 208, method 200 proceeds to frame 212, that is, calculates
Equipment 140 provides information related with pending operation using the output equipment of target vehicle 110-1.In some embodiments,
Control signal is received when calculating equipment 140, but determines that target vehicle 110-1 drives to needed for traffic guidance equipment 150
When time is also longer, calculating equipment 140 can be by the output equipment of target vehicle 110-1 come driving to target vehicle 110-1
Person's of sailing (if not automatic driving vehicle) or passenger are specific according to instruction execution to remind target vehicle 110-1 to need
Pending operation.For example, with the taxi 110-1 in Fig. 1 as an example, target vehicle 110-1 can multiply into taxi
Visitor's prompt: pulling over observing is checked in front.
By the scheme of control vehicle herein, (such as V2X) can be transmitted by reliable signal and be come to obtain
The control signal of traffic guidance equipment, to avoid the inaccuracy as brought by image recognition or speech recognition technology and shakiness
Fixed defect.In addition, the program, which also contemplates target vehicle, advances to the time of traffic guidance equipment, and then avoid premature hold
Row traffic instructions, so that the execution that target vehicle instructs traffic control is more accurate.
Fig. 4 shows the schematic block diagram of the device 400 for controlling vehicle according to the embodiment of the present disclosure.Device 400
It can be included in the calculating equipment 140 of Fig. 1 or be implemented as to calculate equipment 140.As shown in figure 4, device 400 includes:
Receiving module 410 is configured as receiving the control signal from traffic guidance equipment, the targeted vehicle of control signal designation
Attribute and pending operation.Device 400 further include: the first vehicle determining module 420 is configured as determining target based on attribute
Whether vehicle is to control the targeted vehicle of signal.In addition, device 400 further include first expeced time determining module 430, matched
It is set in response to determining that target vehicle is to control the targeted vehicle of signal, determines that target vehicle advances to traffic guidance equipment
The expeced time of position.Device 400 further comprises execution module 440, when being configured to respond to expeced time less than threshold value
Between, so that target vehicle executes pending operation, threshold time is associated with pending operation.
In some embodiments, it wherein the first vehicle determining module 420 includes: acquisition module, is configured as obtaining target
The value of the attribute of vehicle；Range determination module is configured as determining the range of attribute from control signal；And second vehicle determine
Module is configured to respond to determine that value is fallen into the range of attribute, determines that target vehicle is to control the targeted vehicle of signal.
In some embodiments, wherein attribute includes at least one of the following: the model of vehicle, the position of vehicle, vehicle
The speed of number and vehicle.
In some embodiments, wherein first expeced time determining module 430 include: position determination module, be configured as
Based on control signal, the position of traffic guidance equipment is determined；
Speed and position acquisition module are configured as obtaining present speed and the current location of target vehicle；And second
Expeced time, determining module, was configured as determining expeced time based on determining position, present speed and current location.
In some embodiments, device 400 further include: module is provided, is configured to respond to be greater than expeced time or wait
In threshold time, information related with pending operation is provided using the output equipment of target vehicle.
In some embodiments, wherein pending operation includes at least one of the following: advancing, halts, keeps to the side
Parking, slow down, left-hand bend, right-hand bend, is turned left wait turn and turn right wait turn at replacement lane.
Fig. 5 shows the schematic block diagram that can be used to implement the example apparatus 500 of embodiment of the disclosure.Equipment 500
It can be used to implement the calculating equipment 140 of Fig. 1.As shown, equipment 500 includes central processing unit (CPU) 501, it can be with
Random access is loaded into according to the computer program instructions being stored in read-only memory (ROM) 502 or from storage unit 508
Computer program instructions in memory (RAM) 503, to execute various movements appropriate and processing.In RAM 503, may be used also
Storage equipment 500 operates required various programs and data.CPU 501, ROM 502 and RAM 503 pass through bus 504 each other
It is connected.Input/output (I/O) interface 505 is also connected to bus 504.
Multiple components in equipment 500 are connected to I/O interface 505, comprising: input unit 506, such as keyboard, mouse etc.；
Output unit 507, such as various types of displays, loudspeaker etc.；Storage unit 508, such as disk, CD etc.；And it is logical
Believe unit 509, such as network interface card, modem, wireless communication transceiver etc..Communication unit 509 allows equipment 500 by such as
The computer network of internet and/or various telecommunication networks exchange information/data with other equipment.
Processing unit 501 executes each method as described above and processing, such as process 300.For example, in some implementations
In example, process 200 and/or process 300 can be implemented as computer software programs, be tangibly embodied in machine readable Jie
Matter, such as storage unit 508.In some embodiments, computer program it is some or all of can via ROM 502 and/
Or communication unit 509 and be loaded into and/or be installed in equipment 500.When computer program loads are to RAM 503 and by CPU
When 501 execution, the one or more steps of procedures described above 300 can be executed.Alternatively, in other embodiments, CPU
501 can be configured as implementation procedure 200 and/or process by other any modes (for example, by means of firmware) appropriate
300。
Function described herein can be executed at least partly by one or more hardware logic components.Example
Such as, without limitation, the hardware logic component for the exemplary type that can be used includes: field programmable gate array (FPGA), dedicated
Integrated circuit (ASIC), Application Specific Standard Product (ASSP), the system (SOC) of system on chip, load programmable logic device
(CPLD) etc..
For implement disclosed method program code can using any combination of one or more programming languages come
It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units
Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution
Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software
Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.
In the context of the disclosure, machine readable media can be tangible medium, may include or is stored for
The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can
Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity
Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction
Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter
Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM
Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or
Any appropriate combination of above content.
Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order
Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result.
Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above
Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment
Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized
Various features can also realize individually or in any suitable subcombination in multiple realizations.
Although having used specific to this theme of the language description of structure feature and/or method logical action, answer
When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary,
Special characteristic described in face and movement are only to realize the exemplary forms of claims.
Claims (14)
1. a kind of method for controlling vehicle, comprising:
Receive the control signal from traffic guidance equipment, the attribute of the targeted vehicle of the control signal designation and pending
Operation；
Based on the attribute, determine whether target vehicle is the targeted vehicle of the control signal；
It is the targeted vehicle of the control signal in response to the determination target vehicle, determines that the target vehicle advances to institute
State the expeced time of the position of traffic guidance equipment；And
It is less than threshold time in response to the expeced time, so that the target vehicle executes the pending operation, the threshold
It is associated with the pending operation to be worth the time.
2. according to the method described in claim 1, wherein determining whether the target vehicle is that the control signal is targeted
Vehicle includes:
Obtain the value of the attribute of the target vehicle；
The range of the attribute is determined from the control signal；And
It is fallen into the range of the attribute in response to described value, determines that the target vehicle is that the control signal is targeted
Vehicle.
3. according to the method described in claim 1, wherein the attribute includes at least one of the following: the model of vehicle, vehicle
Position, the number of vehicle and vehicle speed.
4. according to the method described in claim 1, wherein determining that the target vehicle advances to the position of the traffic guidance equipment
The expeced time set includes:
Based on the control signal, the position of the traffic guidance equipment is determined；
Obtain present speed and the current location of the target vehicle；And
Based on the determining position, the present speed and the current location, the expeced time is determined.
5. according to the method described in claim 1, further include:
In response to the expeced time be greater than or equal to the threshold time, using the target vehicle output equipment provide with
The related information of the pending operation.
6. according to the method described in claim 1, wherein the pending operation includes at least one of the following:
Advance, halt, pulling over observing, replacement lane, slow down, left-hand bend, right-hand bend, turning left wait turn and turn right
Wait turn.
7. a kind of for controlling the device of vehicle, comprising:
Receiving module is configured as receiving the control signal from traffic guidance equipment, and the control signal designation is targeted
The attribute and pending operation of vehicle；
First vehicle determining module is configured as determining whether target vehicle is control signal institute needle based on the attribute
Pair vehicle；
First expeced time determining module, be configured to respond to determine that the target vehicle is that the control signal is targeted
Vehicle determines that the target vehicle advances to the expeced time of the position of the traffic guidance equipment；And
Execution module is configured to respond to the expeced time less than threshold time, so that described in target vehicle execution
Pending operation, the threshold time are associated with the pending operation.
8. device according to claim 7, wherein the first vehicle determining module includes:
Module is obtained, is configured as obtaining the value of the attribute of the target vehicle；
Range determination module is configured as determining the range of the attribute from the control signal；And
Second vehicle determining module is configured to respond to described value and falls into the range of the attribute, determines the mesh
Mark vehicle is the targeted vehicle of the control signal.
9. device according to claim 7, wherein the attribute includes at least one of the following: the model of vehicle, vehicle
Position, the number of vehicle and vehicle speed.
10. device according to claim 7, wherein first expeced time determining module include:
Position determination module is configured as determining the position of the traffic guidance equipment based on the control signal；
Speed and position acquisition module are configured as obtaining present speed and the current location of the target vehicle；And
Second expeced time determining module, be configured as based on the determining position, the present speed and the present bit
It sets, determines the expeced time.
11. device according to claim 7, further includes:
Module is provided, the expeced time is configured to respond to more than or equal to the threshold time, utilizes the target carriage
Output equipment related with pending operation information is provided.
12. device according to claim 7, wherein the pending operation includes at least one of the following:
Advance, halt, pulling over observing, replacement lane, slow down, left-hand bend, right-hand bend, turning left wait turn and turn right
Wait turn.
13. a kind of electronic equipment, the electronic equipment include:
One or more processors；And
Memory, for storing one or more programs, when one or more of programs are by one or more of processors
When execution, so that the electronic equipment realizes method according to claim 1 to 6.
14. a kind of computer readable storage medium is stored thereon with computer program, realization when described program is executed by processor
Method according to claim 1 to 6.
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| CN109658717B (en) | 2020-08-11 |
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