CN110109159B

CN110109159B - Driving management method, device, electronic device and storage medium

Info

Publication number: CN110109159B
Application number: CN201910430629.2A
Authority: CN
Inventors: 温峥峰
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2021-06-04
Anticipated expiration: 2039-05-22
Also published as: CN110109159A

Abstract

The embodiment of the disclosure discloses a driving management method, a driving management device, an electronic device and a storage medium, wherein the driving management method comprises the following steps: acquiring position data respectively uploaded by at least two driving target objects, wherein the position data represent the relative position relation between the driving target objects and other driving target objects within a preset communication distance range; determining the driving position of each driving target object on the driving road surface according to the at least two position data; and sending corresponding navigation information to at least one driving target object according to the driving position. The positions of all the driving target objects can be estimated on the whole driving road surface by comparing the overlapped parts, the driving positions of all the driving target objects on the driving road surface are finally obtained, more accurate navigation can be carried out on all the driving target objects through the driving positions, and the accuracy and the dredging capability of the whole navigation system are improved.

Description

Driving management method, device, electronic device and storage medium

Technical Field

The present disclosure relates to the field of driving scheduling, and in particular, to a driving management method and apparatus, an electronic device, and a storage medium.

Background

The Global Navigation Satellite System (the Global Navigation Satellite System), also called Global Navigation Satellite System, is a space-based radio Navigation positioning System capable of providing users with all-weather 3-dimensional coordinate and velocity and time information at any location on the earth's surface or in near-earth space. Satellite navigation systems have been widely used in aviation, navigation, communications, personnel tracking, consumer entertainment, mapping, time service, vehicle monitoring management, and car navigation and information services, and a general trend is to provide high-precision services for real-time applications.

In the prior art, limited by the accuracy problem of a positioning system in a navigation system, a running vehicle is defined as a coordinate point in the navigation system, and a running route is defined as a line, so that only the position change of the coordinate point of the vehicle on the running route is provided when navigation is carried out. However, the navigation system can only specify the approximate position of the traveling vehicle by the positioning information, but cannot specify the specific position of the traveling vehicle in the traveling group, and therefore cannot provide accurate navigation information to different vehicles in a differentiated manner.

Disclosure of Invention

The embodiment of the disclosure provides a driving management method and device for navigation by acquiring a relative position relationship between driving targets, an electronic device and a storage medium.

According to a first aspect of an embodiment of the present disclosure, there is provided a travel management method including:

acquiring position data respectively uploaded by at least two driving target objects, wherein the position data represent the relative position relation between the driving target objects and other driving target objects within a preset communication distance range;

determining the driving position of each driving target object on the driving road surface according to the at least two position data;

and sending corresponding navigation information to at least one driving target object according to the driving position.

Optionally, before sending corresponding navigation information to at least one driving target object according to the driving position, the method includes:

determining a travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is a distance between the traveling target object and the traveling target object in front of the traveling target object;

comparing the distance to be travelled with a preset distance threshold;

when the distance capable of driving is larger than a preset distance threshold value, defining that the driving target object has a preset driving attribute, wherein the driving attribute is used for defining the driving target object which has a speed-limiting effect on a driving group formed by the at least two driving target objects;

the sending of the corresponding navigation information to at least one driving target object according to the driving position comprises:

and sending the navigation information to the driving target object with the driving attribute.

Optionally, after comparing the distance to a preset distance threshold, the method includes:

and when the distance capable of driving is smaller than or equal to a preset distance threshold value, expanding the comparison area until the driving target object with the driving attribute is determined.

acquiring the running speed of a running target object with the running attribute;

comparing the running speed with a preset speed threshold;

and when the running speed is smaller than the speed threshold value, confirming that the navigation information is sent to the running target object with the running attribute, wherein the speed threshold value is the lowest running speed of the road section where the running target object is located.

Optionally, after confirming that the navigation information is sent to the driving target object of the driving attribute when the driving speed is less than the speed threshold, the method includes:

acquiring road condition information of a road section where the driving target object is located;

judging whether external conditions for limiting the driving speed of the driving target object are met or not according to the road condition information;

and when the external condition is not achieved, confirming that the navigation information is transmitted to the driving target object with the driving attribute.

Optionally, the navigation information includes preset first prompt information, where the first prompt information is used to prompt the driving target object to change lanes, and the sending the corresponding navigation information to at least one driving target object according to the driving position includes:

acquiring the driving speed of a lane where the driving target object is located;

searching a target lane with a speed demand smaller than the speed threshold value on the driving road surface;

and generating first prompt information sent to the driving target object according to the target lane so that the driving target object prompts a user to change the lane to the target lane according to the first prompt information.

Optionally, the sending the corresponding navigation information to at least one driving target object according to the driving position includes:

confirming lane information that the external condition is fulfilled when the external condition is fulfilled;

generating second prompt information sent to each driving target object according to the lane information, wherein the second prompt information is used for prompting each driving target object to avoid a lane meeting the external condition;

and sending the second prompt information to each driving target object.

generating a driving distribution map according to the driving position of each driving target object;

inputting the driving distribution map into a preset road condition analysis model for road condition analysis, wherein the road condition analysis model is a neural network model which is trained to a convergence state in advance and used for classifying the driving distribution map;

and determining the road condition information of the driving road surface according to the classification result output by the road condition analysis model.

According to a second aspect of the embodiments of the present disclosure, there is provided a travel management apparatus including:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring position data respectively uploaded by at least two driving target objects, and the position data represents the relative position relation between the driving target objects and other driving target objects within a preset communication distance range;

the processing module is used for determining the driving position of each driving target object on the driving road surface according to the at least two position data;

and the execution module is used for sending corresponding navigation information to at least one driving target object according to the driving position.

Optionally, the driving management device further includes:

the first processing submodule is used for determining the travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is the distance between the traveling target object and the traveling target object in front of the traveling target object;

the first comparison sub-module is used for comparing the distance to be travelled with a preset distance threshold;

and the first execution submodule is used for defining the running target object to have a preset running attribute when the distance capable of running is greater than a preset distance threshold value, wherein the running attribute is used for defining the running target object which has a speed limiting effect on a running group formed by the at least two running target objects.

Optionally, the driving management device further includes: and the seventh execution submodule is used for expanding the comparison area until the driving target object with the driving attribute is determined when the distance capable of driving is less than or equal to a preset distance threshold value.

Optionally, the driving management device further includes:

a first acquisition submodule for acquiring a travel speed of a travel target object having the travel attribute;

the second comparison submodule is used for comparing the running speed with a preset speed threshold;

and the second execution submodule is used for confirming that the navigation information is sent to the driving target object of the driving attribute when the driving speed is smaller than the speed threshold value, wherein the speed threshold value is the lowest driving speed of the road section where the driving target object is located.

Optionally, the driving management device further includes:

the second acquisition submodule is used for acquiring the road condition information of the road section where the driving target object is located;

the second processing submodule is used for judging whether external conditions for limiting the running speed of the running target object are achieved or not according to the road condition information;

and a third execution submodule configured to confirm that the navigation information is transmitted to the travel target object of the travel attribute when the external condition is not achieved.

Optionally, the navigation information includes preset first prompt information, where the first prompt information is used to prompt the driving target object to change lanes, and the driving management device further includes:

the third obtaining submodule is used for obtaining the driving speed of the driving lane where the driving target object is located;

the third processing submodule is used for searching a target lane with the speed requirement smaller than the speed threshold value on the running road surface;

and the fourth execution submodule is used for generating first prompt information sent to the driving target object according to the target lane so that the driving target object prompts a user to change the lane to the target lane according to the first prompt information.

Optionally, the driving management device further includes:

a first confirming submodule for confirming lane information that the external condition is fulfilled, when the external condition is fulfilled;

the fourth processing submodule is used for generating second prompt information sent to each driving target object according to the lane information, wherein the second prompt information is used for prompting each driving target object to avoid a lane meeting the external condition;

and the fifth execution submodule is used for sending the second prompt information to each driving target object.

Optionally, the driving management device further includes:

the first generation submodule is used for generating a driving distribution map according to the driving position of each driving target object;

the fifth processing submodule is used for inputting the driving distribution map into a preset road condition analysis model for road condition analysis, wherein the road condition analysis model is a neural network model which is trained in advance to be in a convergence state and is used for classifying the driving distribution map;

and the sixth execution submodule is used for determining the road condition information of the driving road surface according to the classification result output by the road condition analysis model.

According to a third aspect of the embodiments of the present disclosure, there is provided an electronic apparatus, including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the travel management method described above.

According to a fourth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the driving management method described above.

According to a fifth aspect of an embodiment of the present disclosure, there is provided a vehicle control method including:

acquiring position data, wherein the position data represent the relative position relation between a driving target object and other driving target objects within a preset communication distance range;

uploading the position data to a preset server end so that the server end determines the running position of the running target object on the running road surface according to the position data;

and receiving navigation information generated by the server according to the driving position.

Optionally, the position data includes a distance that the driving target object can travel in the driving direction, and after the collecting the position data, the method includes:

uploading the position data to a preset server end, so that the server end determines whether the distance to empty of the running target object is greater than a preset distance threshold value according to the distance to empty, and if so, defining that the running target object has a preset running attribute;

and receiving navigation information generated by the server according to the driving attribute.

According to a sixth aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus including:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring position data, and the position data represents the relative position relation between a driving target object and other driving target objects in a preset communication distance range;

the sending module is used for uploading the position data to a preset server end so that the server end can determine the driving position of the driving target object on the driving road surface according to the position data;

and the receiving module is used for receiving navigation information generated by the server according to the driving position.

Optionally, the vehicle control apparatus further includes:

the first uploading sub-module is used for uploading the position data to a preset server end so that the server end determines whether the distance to be travelled of the travelling target object is greater than a preset distance threshold value according to the distance to be travelled, and if so, the travelling target object is defined to have a preset travelling attribute;

and the first receiving submodule is used for receiving the navigation information generated by the server according to the driving attribute.

According to a seventh aspect of the embodiments of the present disclosure, there is provided an automobile terminal including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the automobile control method described above.

The beneficial effects of the embodiment of the disclosure are: and when the external condition is not achieved, the navigation information is confirmed to be sent to the driving target object with the driving attribute. The relative position relation distribution between each driving target object and other driving target objects has mutually overlapped parts, the position of each driving target object can be estimated on the whole driving road surface by comparing the overlapped parts, the driving position of each driving target object on the driving road surface is finally obtained, more accurate navigation can be carried out on each driving target object through the driving position, and the accuracy and the dredging capability of the whole navigation system are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a basic flow diagram of a routine travel management method according to an exemplary implementation;

FIG. 2 is a schematic diagram of one embodiment of a method for travel management, according to an example implementation;

FIG. 3 is a schematic flow diagram for determining a travel attribute of a travel target according to an exemplary embodiment;

FIG. 4 is a schematic flow diagram illustrating a routine fleet group head vehicle determination, according to one exemplary implementation;

FIG. 5 is a schematic flow diagram for detecting whether a travel target speed with a travel attribute is met according to an exemplary embodiment;

FIG. 6 is a schematic flow diagram for rejecting interference from objective factors in accordance with an exemplary embodiment;

FIG. 7 is a schematic flow diagram of sending a lane-change cue to a driving target in accordance with an exemplary embodiment;

FIG. 8 is a schematic flow chart illustrating road condition notification for a driving target according to an exemplary embodiment;

FIG. 9 is a schematic flow chart illustrating road condition analysis by a neural network model according to an exemplary embodiment;

FIG. 10 is a schematic illustration of a travel profile of a travel group in a four lane travel surface in accordance with an exemplary embodiment;

FIG. 11 is a schematic diagram of a basic configuration of a travel management apparatus according to an exemplary embodiment;

FIG. 12 is a block diagram of a basic electronic device structure in accordance with an exemplary embodiment;

FIG. 13 is a schematic diagram of a basic configuration of a travel management apparatus according to an exemplary embodiment;

FIG. 14 is a block diagram of a basic electronic device structure in accordance with an exemplary embodiment;

fig. 15 is a schematic diagram of a basic configuration of a travel management device according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure.

Example 1

Referring to fig. 1, fig. 1 is a basic flow chart of the driving management method according to the embodiment.

As shown in fig. 1, a travel management method includes:

s1100, position data uploaded by at least two running target objects respectively are obtained, wherein the position data represent the relative position relation between the running target objects and other running target objects within a preset communication distance range;

in the present embodiment, the traveling target object may be a land-based vehicle such as an existing automobile, a motorcycle, or a bicycle, and the driving method of the vehicle may include automatic driving or manual driving. In some embodiments, the driving target can also be a marine vessel, a submersible, or a low-altitude flying object, among others.

In this embodiment, the driving target is installed with a vehicle-mounted communication system, and the vehicle-mounted communication system can collect information of the vehicle, including (without limitation): the method comprises the steps that information such as the speed, the acceleration, the angular speed measurement, the longitude and latitude, the located height and the like of a vehicle is obtained, then the information of the vehicle is broadcasted in a limited communication distance in a broadcasting mode, all other vehicles with vehicle-mounted communication systems in the communication distance can receive signals, the vehicle condition of the vehicle is obtained, and the vehicle can also obtain the vehicle condition information of other vehicles in the communication distance in the same mode. In the present embodiment, the communication distance is set to a range of 100m, but the setting of the communication distance is not limited thereto, and the range of the communication distance can be larger or smaller, for example, 10m or 1000m, depending on the specific application.

It should be noted that, in some embodiments, to ensure information security, information exchanged between the vehicle-mounted communication systems needs to be encrypted, and after receiving vehicle condition information of other driving objects, the information needs to be decrypted and then can be read.

The vehicle-mounted communication system in the embodiment can be integrally installed in a vehicle, and can also be additionally installed by installing external equipment. For example, a T-Box peripheral is used.

The vehicle-mounted communication system performs data interaction and transmission through wireless signals, for example, data transmission is performed by adopting 4G or 5G signals. However, depending on the specific application scenario, in some embodiments, the vehicle-mounted communication system can also communicate via infrared or bluetooth communication. The vehicle-mounted communication system can also be connected with the server end through a wireless network, and the acquired vehicle condition information is uploaded to the server end. And the information transmission between the vehicle-mounted communication system and the server side is carried out through 4G, 5G or WiFi.

Specifically, the Vehicle-mounted terminals T-Box are installed on the automobiles through OBD interfaces, and the Vehicle-mounted terminals T-Box on each automobile can carry out networking communication with other automobiles or infrastructures in a certain range nearby the automobile through 5G V2X (Vehicle to evolution) technology, so that the relative positions of the nearby automobiles can be found and located; then, the vehicle-mounted terminal T-Box communicates with a background server in a mobile communication technology (4G or 5G) mode, and reports the relative position of the nearby automobile; the background server combs and summarizes the automobile distribution conditions on the expressway to obtain a driving distribution map by calculating the position information of the GPS reported by the automobile, the relative position information obtained by V2X, the third-party road navigation information and the like.

In the present embodiment, the GPS coordinate information is transmitted alternately between the different travel targets within the communication distance range, but the form of the coordinate information is not limited thereto, and in some embodiments, the coordinate information may be (without being limited to): a Beidou system, a Glonass system, or a Galileo system.

After acquiring the coordinate information of other driving targets, each driving target calculates the relative distance between them. For example, relative position coordinates (X, Y) of the nearby vehicle are acquired.

Obtaining the relative position of the surrounding vehicle, firstly, converting a coordinate system of the vehicle position, wherein the coordinate system is defined as:

a) y-axis-points forward of the vehicle in the direction of travel;

b) the x-axis, when facing forward from the vehicle, points to the right of the vehicle.

Then, obtaining the relative distance between the front, the back, the left and the right of the vehicle and the vehicle through an Euclidean distance formula between two points, namely the Euclidean distance between a (x1, y1) and b (x2, y2) on a two-dimensional plane;

wherein, the Euclidean distance:

after the position of a vehicle is determined, traversing the positions of the vehicles within a certain range (for example, 100m) around the vehicle, assuming that the number of the vehicles around is A, B … … N, and obtaining corresponding relative distances A (xA, yA), B (xB, yB) … N (xN, yN);

finally, the relative positional relationship between the vehicle and the other vehicle is obtained.

And then sending the obtained relative position relation as position data to a server.

In some embodiments, in order to facilitate accurate server-side positioning of the driving target object, the position data further includes coordinate information of the driving target object, such as GPS coordinate data; or also coordinate information of other traveling target objects.

The server receives the position data uploaded by each driving target object.

S1200, determining the driving position of each driving target object on the driving road surface according to at least two pieces of position data;

after receiving the position data uploaded by each driving target object, the server end roughly determines the position of each driving target object according to the coordinate information contained in the position data, but the server end is limited by the precision of the coordinate position and cannot further determine the driving position of each driving target object on the driving road surface. For example, on a road surface having a standard four-lane width, a travel target travels on which lane.

Therefore, more accurate positioning is required through the relative distance between the driving targets, since the position data of each driving target records the relative distance between the position data and each driving target in the periphery, which is equivalent to planning the reference distribution map of the driving target, since the probability of the distance similarity between the driving targets is small, especially when there are many other driving targets in the periphery of the driving target (for example, more than 3), the probability of the complete repetition of the relative distance is further reduced, and the probability of the more repeated driving targets for reference is smaller. However, since the distances between the two travel targets that are reference to each other are the same, the specific travel position of each travel target on the travel surface can be accurately determined by the overlapping of the relative distances.

In some embodiments, the driving targets are converted into points, the relative distances between the driving targets are converted into lines, then the road surface is used as a carrier with a certain width, the overlapped parts in the position data are used as the splicing rules of the driving targets to be distributed on the driving road surface, namely the distribution maps of the driving targets are spliced, and the splicing rules are that the lines with equal overlapped length are spliced together, so that the specific driving positions of the driving targets are determined. In the present embodiment, the position data includes direction data, and the direction data is specified by an on-vehicle camera of the travel target object, that is, by capturing images of the travel target object in four directions, the relative direction between the travel target object and another travel target object is specified. The map of the traveling target objects can be created only when the relative direction between the traveling target objects is determined.

In some embodiments, to identify the driving direction of the driving target object, the real-time position coordinates of each driving target object can be collected to form a driving track, and then the driving direction of the driving target object can be obtained according to the extending direction pointed by the driving track, namely the extending direction pointed by the driving track is the driving direction.

In some embodiments, the position data further includes ID information of each driving target, that is, identity information of each driving target, which can be obtained through interaction or through image recognition of a license plate of the driving target. When the ID information is included in the position data, the position of the travel target object can be determined quickly, for example, when the position data indicates that the distance from the vehicle with the ID number of mysterious cantonensis BXX543 is 10m, and when the position of mysterious cantonensis BXX543 is known, the position of the vehicle is uniquely determined.

And S1300, sending corresponding navigation information to at least one driving target object according to the driving position.

And sending the navigation information in a targeted manner according to the acquired running position server end of each running target object. For example, when the navigation route shows that the driving target object needs to turn left, the user needs to be reminded of driving on the lane dedicated for turning left, but when the driving target object is determined to be on the lane dedicated for turning left through the steps, the reminding is not needed. Or when the navigation route shows that the driving target object needs to turn left, the driving target object is determined to be on the straight road and pass through the left-turn road section through the steps, the navigation route needs to be re-planned, and the vehicle does not need to be re-planned after the vehicle is determined to miss the left-turn intersection.

In some embodiments, the vehicles on the highway tend to slowly form a cluster to advance under actual road conditions, and at least two lead vehicles in front of each cluster advance at a similar relative speed, usually at a similar distance. They approach each other and go ahead side by side below the highest speed limit, making it difficult for the rear vehicles to overtake and pass, but only have to follow the vehicle at a slow speed, resulting in slow forward of the whole travel group. Therefore, through the above embodiment, the leading vehicle in the traveling group is determined, the traveling speed of the leading vehicle is monitored, and when the traveling speed of the leading vehicle is less than the highway speed limit, the traveling group may be jammed, and the leading vehicle needs to be prompted to speed up or change the lane to a slow lane for traveling through navigation, so as to avoid causing congestion.

In the above embodiment, when performing navigation, each driving target acquires coordinate information of other driving targets within a certain range by means of small-range communication, and when the external condition is not achieved, it is determined that the navigation information is transmitted to the driving target with the driving attribute. The relative position relation distribution between each driving target object and other driving target objects has mutually overlapped parts, the position of each driving target object can be estimated on the whole driving road surface by comparing the overlapped parts, the driving position of each driving target object on the driving road surface is finally obtained, more accurate navigation can be carried out on each driving target object through the driving position, and the accuracy and the dredging capability of the whole navigation system are improved.

For example, referring to fig. 2, fig. 2 is a schematic diagram illustrating an embodiment of a driving management method according to the present embodiment.

As shown in fig. 2, the in-vehicle terminal T-Box of each traveling target object 1 performs information exchange by 5G V2X internet of vehicles technology, and calculates the relative positional relationship between the traveling target object 1 and itself by acquiring the positional coordinates of the communicating vehicle. In some embodiments, to avoid the problem that communication between the driving objects 1 cannot be performed due to too long distance, a drive test infrastructure is arranged at the edge of the driving road surface, and the drive test infrastructure is a fixed T-Box terminal and can be used as a relay for information interaction between the driving objects 1.

After information synchronization is carried out on the driving target object 1, the position information of the driving target object 1 and the relative position relation of other surrounding driving target objects 1 are sent to a cloud server system, after the cloud server system receives the position information and the relative position relation information of the driving target object 1, the information is processed through functional modules such as an automobile road comprehensive modeling service, an automobile positioning position service, a road congestion analysis service, a road navigation information service and a third-party road navigation comprehensive information system, and then corresponding navigation information is generated and fed back to the driving target object 1.

In some embodiments, in order to detect the position of the travel target object in the travel group and the influence thereof on the overall traveling speed of the entire travel group, it is necessary to determine the form attribute of each travel target object. Referring to fig. 3, fig. 3 is a schematic flow chart illustrating the determination of the driving attribute of the driving target object according to the embodiment.

As shown in fig. 3, before step S1300, the method further includes:

s1211, determining a travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is a distance between the traveling target object and the traveling target object in front of the traveling target object;

whether another traveling target object is traveling ahead of each traveling target object is detected in the traveling direction of the traveling target object, or a relative distance between the traveling target object and the traveling target object ahead is determined. The detection of the travelable distance can be obtained by detecting the images shot by the automobile data recorder and the vehicle-mounted communication system.

S1212, comparing the distance to be travelled with a preset distance threshold;

and comparing the distance to the distance threshold, wherein the distance threshold is a preset distance for detecting whether the distance exceeds the standard. The distance threshold value is 20m, but the distance threshold value is not limited to this, and may be 10m, 50m, 80m, 100m, or the like according to different application scenarios.

S1213, when the distance to empty is greater than a preset distance threshold, defining that the driving target object has a preset driving attribute, wherein the driving attribute is used for defining a driving target object having a speed-limiting function on a driving group formed by the at least two driving target objects;

when the distance to be traveled is greater than the preset distance threshold value, it is indicated that the position of the travel target object in the travel group is in the front row, and no other vehicle limits the speed of the travel target object. The method for determining the leading car through the relative distance in front of the travelling crane is simple and rapid, and has high accuracy.

And when the running distance is less than or equal to the preset distance threshold value, determining that the running target object is a common running vehicle in the running group, and having small influence on the running speed of the running group. When a plurality of driving groups exist on the driving road, when the head vehicle of a certain driving group pair does not have the speed limiting function on the driving vehicles on the whole road surface, the comparison range is continuously expanded, and whether the head vehicles of other driving groups have the driving attributes or not is searched.

And S1214, sending the navigation information to the driving target object with the driving attribute.

When the driving target object is determined to be the head vehicle influencing the driving speed of the whole driving group, the navigation information is sent to the driving target object, and the content of the navigation information is as follows: prompting the running vehicle to run with acceleration or lane change.

In some embodiments, when the traveling road surface has a plurality of traveling groups, when it is determined that the head vehicle of one traveling group has no speed-limiting effect on the entire road surface vehicle, the head vehicles of the other traveling groups should be searched for whether the speed of the entire road surface vehicle is limited. Referring to fig. 4, fig. 4 is a schematic flow chart illustrating the determination of the head vehicle of the driving group according to the embodiment. As shown in fig. 4, the head vehicles 14 of the first travel group 11, the second travel group 12, and the third travel group 13 are all travel targets 1 traveling in the front of the respective travel groups, and after determining that the head vehicle of the first travel group does not limit the travel speed at the time of determination, it is continuously determined whether the head vehicle 14 of the next travel group is functioning at a limited speed until the head vehicle 14 at which the travel speed is finally determined, and then the navigation information is transmitted to the travel target 1.

In some embodiments, after determining that the one or more driving targets are leading vehicles, it is necessary to determine the driving speed of the leading vehicle, and determine whether the driving speed of the leading vehicle affects the driving speed of the whole driving group, thereby causing traffic jam. Referring to fig. 5, fig. 5 is a schematic flow chart illustrating a process of detecting whether a speed of a driving object with a driving attribute reaches a standard.

As shown in fig. 5, before step S1300, the method further includes:

s1221, acquiring the running speed of the running target object with the running attribute;

the vehicle-mounted communication system collects the running speed of the running target object with the running attribute and sends the running speed to the server end through a wireless signal.

And the server receives and stores the data of the running speed uploaded by the running target object.

S1222, comparing the running speed with a preset speed threshold;

and the server compares the received running speed of the running target object with a preset speed threshold value. In this embodiment, the speed threshold is a preset speed value used for determining whether the driving speed reaches the standard. The speed threshold is dynamically changed and takes the value of 80% of the speed limit speed of the current running road section. For example, if the link speed limit is 100 km/hour, the speed threshold is 80 km/hour.

And S1223, when the running speed is smaller than the speed threshold, confirming that the navigation information is sent to the running target object with the running attribute, wherein the speed threshold is the lowest running speed of the road section where the running target object is located.

And comparing the driving speed of the driving target object with a speed threshold, and determining that the driving target object has influence on the driving speed of the driving group when the comparison result shows that the driving speed is less than the driving speed, wherein whether the road condition of the driving road section influences the driving of the driving target object needs to be examined.

And when the running speed sum of the running target object is greater than the speed threshold value, the running speed sum of the running target object does not influence the running speed of the running group, and the running group belongs to normal running behaviors.

When the running speed of the running target object is less than the set speed threshold value, the system confirms that the navigation information is sent to the running target object, and the content of the navigation information is as follows: prompting the running vehicle to run with acceleration or lane change.

By detecting the driving speed of the leading vehicle at the head of the driving group, whether the leading vehicle influences the driving speed of the driving group can be quickly determined, the information of the vehicle causing the congestion can be quickly determined, and the traffic congestion can be evacuated and relieved.

In some embodiments, it is determined that the traveling speed of the leading vehicle affects the traveling speed of the traveling group, and objective factors defining the traveling speed of the traveling target object need to be excluded. Referring to fig. 6, fig. 6 is a schematic flow chart illustrating objective factor interference elimination according to the present embodiment.

As shown in fig. 6, after step S1223, the method further includes:

s1231, acquiring road condition information of a road section where the driving target object is located;

when the driving target object is determined to be a leading vehicle and the driving speed is lower than the speed threshold value, the server side acquires road condition information of a road section where the driving target object is located, wherein the road condition information refers to objective factors which hinder vehicle operation, such as whether a traffic accident or road maintenance exists in the driving road section.

When the server side acquires the road condition information, the server side can acquire the road condition information by requesting the third-party service server, wherein the server side can request the third-party navigation server side to acquire the road condition information, and the server side of the police system can also request to acquire the road condition information of the road section.

In some embodiments, the server analyzes the traffic information according to a distribution map uploaded by the driving target object. The method comprises the steps of inputting a driving target distribution diagram of a road section where a leading vehicle is located into a preset road condition analysis model, wherein the road condition analysis model is a neural network model which is trained through a large number of distribution diagrams and learns the relevance between the distribution diagrams and road condition information. After the distribution map is input into the road condition analysis model, the road condition analysis model can output the classification result of the road condition information corresponding to the distribution map, and the road condition information of the road section where the driving target object is located can be obtained according to the classification result.

S1232, judging whether external conditions for limiting the driving speed of the driving target object are met or not according to the road condition information;

judging whether the road condition information is a set external condition influencing the speed of the driving target object, wherein the external condition is as follows: whether the road section has an accident or not or whether the road section has an objective factor which influences the running speed of the running target object, such as road maintenance and the like. However, the set external conditions are not limited to this, and according to different application scenarios, in some embodiments, natural disasters such as debris flow silting, trees or boulder barrage also belong to the external conditions affecting the traveling speed of the traveling target object.

When the listed time or objective fact exists in the road condition information of the driving road section, determining that the external condition for limiting the driving speed of the driving target object is achieved; otherwise, this is not achieved. The determination method comprises the following steps: the external condition is used as a key, and when one of the keys is included in the description of the road condition information, the external condition is determined to be achieved.

And S1233, when the external condition is not achieved, confirming that the navigation information is transmitted to the driving target object with the driving attribute.

When the external condition influencing the driving speed of the driving target object at the leading position is determined to be absent through detection, the driving target object is indicated to limit the driving speed of the whole driving group without the restriction of external factors, the road congestion phenomenon is caused, and a user needs to be reminded of lane change driving or the driving speed is accelerated in a navigation prompting mode.

In some embodiments, after determining that the driving speed of the driving target object affects the driving speed of the whole driving group, the driver of the driving target object needs to be prompted to drive the driving target object to a slow driving lane through the prompt message so as to avoid the driving target object from blocking other vehicles from driving at a high speed. Referring to fig. 7, fig. 7 is a schematic flow chart illustrating the transmission of the lane change prompt to the driving target object according to the present embodiment.

As shown in fig. 7, step S1300 includes:

s1311, obtaining the driving speed of the lane where the driving target object is located;

and when the driving lane of the driving target object on the driving road surface is obtained through comparison, determining the driving speed required by the driving lane through a third-party navigation server or stored road data.

S1312, searching a target lane with the speed requirement smaller than the speed threshold value on the driving road surface;

the driving speed requirement of the whole driving road surface is obtained in the same way, for example, limit values of the driving speed on four lanes on a four-lane driving road surface are obtained. The driving road surface is generally provided with a slow lane for slowing the vehicle, the driving requirement of the vehicle speed is lower than the average driving speed required by the whole driving road surface, for example, an expressway with a speed limit of 100 km/h, and the driving requirement of the slow lane is 80 km/h. Therefore, the driving lane with the driving speed requirement smaller than the driving speed of the current driving target object is searched among different lanes on the driving road surface.

In some real-time modes, when the driving speed of each lane of the vehicle is greater than the driving speed of the driving target object, the lane with the lowest driving speed is selected as the target lane.

S1313, generating first prompt information sent to the driving target object according to the target lane, so that the driving target object prompts a user to change lanes to the target lane according to the first prompt information.

And generating first prompt information sent to a driving target object according to the target lane, wherein the first prompt information is preset navigation information, and generating corresponding prompt information after receiving the position of the target lane. For example, when the target lane is located in the rightmost lane and the vehicle is traveling in the leftmost lane, the first prompt information is provided to prompt the user to drive the vehicle to change lane to the right lane of the road.

In some embodiments, the driving target object belongs to the unmanned device, and when the first prompt message is received, the lane change instruction recorded in the first prompt message is executed, and the vehicle changes lanes to corresponding lanes to drive.

When the driving target object does not accelerate, the user is prompted to drive the driving target object to the corresponding lane to continue driving, so that the speed limit of the leading vehicle on the driving group during low-speed driving can be effectively relieved, and the traffic jam pressure is greatly relieved.

In some embodiments, when it is determined that there is an external influence factor influencing the driving speed in the driving road section, it is required to confirm that the external influence factor is generated on the driving lane, and prompt the following vehicles to avoid the driving lane, so as to avoid traffic jam caused by forced lane change and congestion at the traffic position. Referring to fig. 8, fig. 8 is a schematic flow chart illustrating road condition prompting of the driving target object according to the embodiment.

As shown in fig. 8, step S1300 includes:

s1321, when the external condition is achieved, confirming the lane information achieving the external condition;

when external conditions affecting the traveling speed of the traveling group are confirmed to be achieved, namely, when accidents or road maintenance occur on part of or all of the traffic lanes on the traveling road surface, lane information for achieving the external conditions, namely, the state distribution diagram of the traffic lanes where the events occur specifically or the state distribution diagram of the accident traffic lanes are further confirmed.

And obtaining the lane information by requesting a third-party navigation server side. In some embodiments, the current driving profile is analyzed by the road condition information model to determine lane information that achieves the external condition.

S1322, generating second prompt information sent to each driving target object according to the lane information, wherein the second prompt information is used for prompting each driving target object to avoid the lane which achieves the external condition;

and sending second prompt information to each driving target object of the driving group according to the acquired lane information achieving the external condition, wherein the second prompt information is preset navigation information, and generating corresponding prompt information after receiving the lane information. For example, if a traffic accident occurs in the passing lane on the left side of the driving section, a second prompt message "a traffic accident occurs in the passing lane on the left side of the front, please detour" is generated.

S1323, sending the second guidance information to each driving target object.

And sending second prompt information to each driving target object of the driving group after the second prompt information is generated, and prompting the user to detour. In some embodiments, the distance from the point where the specific accident or repair occurs to each driving target object is calculated, and the distance from the driving target object to the starting point is simultaneously reminded in the second prompt message.

In some embodiments, the driving target object belongs to the unmanned device, and when the second prompt message is received, the detour driving instruction recorded in the second prompt message is executed, and the unmanned device detours to the corresponding driving lane to drive.

By acquiring lane information achieved by external conditions, the early warning effect on each driving target object can be effectively achieved, lane changing is not needed after driving to a place of affairs, and the probability of traffic jam caused by temporary traffic jam is reduced.

In some embodiments, the profile uploaded by each travel target is converted into a form profile composed of points and lines, which constitutes travel information for the entire travel group. By carrying out AI processing on the driving distribution map, the road condition of a driving road section can be timely analyzed, and the time of navigation early warning and accident response is shortened. Referring to fig. 9, fig. 9 is a schematic flow chart illustrating a traffic analysis performed by the neural network model according to the present embodiment.

As shown in fig. 9, before step S1300, the method further includes:

s1241, generating a driving distribution map according to the driving positions of the driving targets;

the driving target objects are converted into points, the relative distance between each driving target object is converted into lines, then the road surface is used as a carrier with a certain width, the overlapped parts in the position data are used as splicing rules for distributing the driving target objects on the driving road surface, namely the distribution maps of the driving target objects are spliced, and the splicing rules are that the lines with equal length which are overlapped with each other are spliced together, so that the specific driving position of each driving target object is determined. In the present embodiment, the position data includes direction data, and the direction data is specified by an on-vehicle camera of the travel target object, that is, by capturing images of the travel target object in four directions, the relative direction between the travel target object and another travel target object is specified. The travel profile of the travel target object can only be established when the relative direction between the travel target objects is determined.

Referring to fig. 10, fig. 10 is a schematic view illustrating a driving distribution of a driving group on a four-lane driving road according to the present embodiment. As shown in fig. 10, the black origin in the figure indicates the travel target 1 on the road surface, and in the travel distribution map of the four lanes, the left overtaking lane 2 is in an accident, and the travel target 1 is in an avoidance regression distribution state at the position of the accident point 3, and the accident can be accurately determined by the distribution map, and the determination needs to be performed by the neural network model.

The generated driving distribution map can image the driving state of the driving group on a macroscopic level, provides basic technical support for image analysis of the driving road condition, and improves the timeliness of driving management.

S1242, inputting the driving distribution map into a preset road condition analysis model for road condition analysis, wherein the road condition analysis model is a neural network model which is trained in advance to a convergence state and is used for classifying the driving distribution map;

and taking the formed driving distribution map as input, and inputting the input into a preset road condition analysis model for road condition analysis.

The road condition analysis model can be a convolutional neural network model (CNN) trained to a convergence state, but is not limited thereto, and the road condition analysis model can also be: a deep neural network model (DNN), a recurrent neural network model (RNN), or a variant of the three network models described above.

When the road condition analysis model is trained, an initialized neural network model is selected as a training object.

A large number of driving distribution maps are selected and collected as training samples, and calibration is carried out in a manual mode, wherein the calibration refers to correspondingly marking each driving distribution map according to the type of events of the driving distribution maps, such as normality, traffic accidents, road maintenance or natural disasters, and simultaneously marking lanes where the events occur.

Inputting the training samples into an initial neural network model, obtaining a classification result output by the model, calculating the distance (such as Euclidean distance, Mahalanobis distance or cosine distance) between the classification result and a calibration result through a loss function of the neural network model, comparing the calculation result with a set distance threshold, continuing training of the next training sample through verification if the calculation result is less than or equal to the distance threshold, calculating the difference between the two through the loss function if the calculation result is greater than the distance threshold, and correcting the weight in the neural network model through back propagation, so that the neural network model can improve the weight of pixel points describing an event occurrence place and embodying the event occurrence place in the training samples, thereby increasing the accuracy of judgment of the neural network model.

Through a large number of training samples, the accuracy rate of the face image judgment obtained by training is greater than a certain numerical value, for example, 90%, the neural network model is trained to be in a convergence state, the judgment accuracy rate of the convergence state is related to the model accuracy requirement and the diversity and the number of the samples for training, and the number of the training samples and the training times are in direct proportion to the accuracy rate to a certain extent. And when the judgment accuracy of the neural network model is greater than the set accuracy requirement, the neural network trained to be converged is the recognition model. At this time, the traffic analysis model is considered to learn the relevance of the driving distribution map and the practice type.

S1243, determining the road condition information of the driving road surface according to the classification result output by the road condition analysis model.

The analysis result output by the road condition analysis model is a classification result, and the content of the classification result is the event type of the driving distribution diagram obtained by analyzing the road condition analysis model. In some embodiments, the classification result further includes lane information where the event type occurred. And defining the time type and the incident lane information of the road condition information according to the classification result.

By generating the driving distribution map, AI analysis of road condition information becomes possible, the road condition of a driving road section is obtained through timely analysis, and the time of navigation early warning and accident response is shortened.

In order to solve the technical problem, an embodiment of the present disclosure further provides a driving management device.

Referring to fig. 11, fig. 11 is a schematic view of a basic structure of the driving management device according to the embodiment.

As shown in fig. 11, a travel management device includes: an acquisition module 2100, a processing module 2200, and an execution module 2300. The obtaining module 2100 is configured to obtain position data uploaded by at least two driving targets respectively, where the position data is relative position data between the driving target and another driving target within a preset communication distance range; the processing module 2200 is configured to determine a driving position of each driving target object on the driving road surface according to the at least two position data; the execution module 2300 is configured to send corresponding navigation information to each driving target object according to the driving position.

When the navigation is carried out, the running management device mutually acquires coordinate information of other running targets in a certain range in a small-range communication mode, and confirms that the navigation information is sent to the running targets with the running attributes when the external condition is not achieved. The relative position relation distribution between each driving target object and other driving target objects has mutually overlapped parts, the position of each driving target object can be estimated on the whole driving road surface by comparing the overlapped parts, the driving position of each driving target object on the driving road surface is finally obtained, more accurate navigation can be carried out on each driving target object through the driving position, and the accuracy and the dredging capability of the whole navigation system are improved.

In some embodiments, the travel management apparatus further includes: the device comprises a first processing submodule, a first comparison submodule and a first navigation module of a first execution submodule. The first processing submodule is used for determining the travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is the distance between the traveling target object and the traveling target object in front of the traveling target object; the first comparison sub-module is used for comparing the distance to be travelled with a preset distance threshold; the first execution submodule is used for defining the running target object to have a preset running attribute when the distance capable of running is greater than a preset distance threshold value, wherein the running attribute is used for defining the running target object which has a speed limiting effect on a running group formed by at least two running target objects; the first navigation module is used for sending navigation information to a driving target object with driving attributes.

In some embodiments, the travel management apparatus further includes: and the seventh execution submodule is used for expanding the comparison area until the driving target object with the driving attribute is determined when the distance capable of driving is less than or equal to a preset distance threshold value.

In some embodiments, the travel management apparatus further includes: the device comprises a first obtaining submodule, a second comparing submodule and a second executing submodule. The first acquisition submodule is used for acquiring the running speed of a running target object with running attributes; the second comparison submodule is used for comparing the running speed with a preset speed threshold; and the second execution submodule is used for determining to evaluate the road condition of the driving road section of the driving target object when the driving speed is less than the driving speed.

In some embodiments, the travel management apparatus further includes: the system comprises a second acquisition submodule, a second processing submodule and a third execution submodule. The second acquisition submodule is used for acquiring road condition information of a road section where the driving target object is located; the second processing submodule is used for judging whether the external condition for limiting the running speed of the running target object is achieved according to the road condition information; the third execution submodule is used for confirming that the driving target object is prompted when the external condition is not achieved.

In some embodiments, the navigation information includes preset first prompt information for prompting the driving target object to perform lane change driving, and the driving management device further includes: a third obtaining submodule, a third processing submodule and a fourth executing submodule. The third acquisition submodule is used for acquiring the driving speed of a lane where the driving target object is located; the third processing submodule is used for searching a target lane with the speed demand smaller than the driving speed on the driving road surface; the fourth execution submodule is used for generating first prompt information sent to the driving target object according to the target lane so that the driving target object prompts a user to change the lane to the target lane according to the first prompt information.

In some embodiments, the travel management apparatus further includes: a first confirming submodule, a fourth processing submodule and a fifth executing submodule. The first confirming submodule is used for confirming the lane information of the external condition when the external condition is achieved; the fourth processing submodule is used for generating second prompt information sent to each driving target object according to the lane information, wherein the second prompt information is used for prompting each driving target object to avoid a lane achieving the external condition; and the fifth execution submodule is used for sending second prompt information to each running target object.

In some embodiments, the travel management apparatus further includes: a first generation submodule, a fifth processing submodule and a sixth execution submodule. The first generation submodule is used for generating a driving distribution diagram according to the driving position of each driving target object; the fifth processing submodule is used for inputting the driving distribution map into a preset road condition analysis model for road condition analysis, wherein the road condition analysis model is a neural network model which is trained in advance to be in a convergence state and is used for classifying the driving distribution map; and the sixth execution submodule is used for determining the road condition information of the driving road surface according to the classification result output by the road condition analysis model.

In order to solve the technical problem, an embodiment of the present disclosure further provides an electronic device. Referring to fig. 12, fig. 12 is a block diagram of a basic structure of the electronic device according to the embodiment.

As shown in fig. 12, the internal structure of the electronic device is schematically illustrated. The electronic device includes a processor, a non-volatile storage medium, a memory, and a network interface connected by a system bus. The non-volatile storage medium of the electronic device stores an operating system, a database and computer readable instructions, the database can store control information sequences, and the computer readable instructions can enable the processor to realize a driving management method when being executed by the processor. The processor of the electronic device is used for providing calculation and control capability and supporting the operation of the whole electronic device. The memory of the electronic device may have computer-readable instructions stored therein that, when executed by the processor, may cause the processor to perform a method of travel management. The network interface of the electronic equipment is used for connecting and communicating with the terminal. Those skilled in the art will appreciate that the structure shown in fig. 12 is a block diagram of only a portion of the structure relevant to the present disclosure, and does not constitute a limitation on the electronic device to which the present disclosure may be applied, and that a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

In this embodiment, the processor is configured to execute specific functions of the obtaining module 2100, the processing module 2200, and the executing module 2300 in fig. 11, and the memory stores program codes and various data required for executing the modules. The network interface is used for data transmission to and from a user terminal or a server. The memory in the present embodiment stores program codes and data necessary for executing all the submodules in the travel management device, and the server can call the program codes and data of the server to execute the functions of all the submodules.

The electronic equipment acquires coordinate information of other driving objects within a certain range mutually in a small-range communication mode when the driving objects perform navigation, and confirms that the navigation information is sent to the driving objects with the driving attributes when the external conditions are not achieved. The relative position relation distribution between each driving target object and other driving target objects has mutually overlapped parts, the position of each driving target object can be estimated on the whole driving road surface by comparing the overlapped parts, the driving position of each driving target object on the driving road surface is finally obtained, more accurate navigation can be carried out on each driving target object through the driving position, and the accuracy and the dredging capability of the whole navigation system are improved.

The present disclosure also provides a storage medium having stored thereon computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform any of the steps described above to implement the routine travel management method.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).

Example 2

Referring to fig. 13, fig. 13 is a basic flowchart of a vehicle control method according to the present embodiment.

As shown in fig. 13, a vehicle control method includes:

s3100, collecting position data, wherein the position data represent relative position relations between a driving target object and other driving target objects within a preset communication distance range;

a) y-axis-points forward of the vehicle in the direction of travel;

wherein, the Euclidean distance:

S3200, uploading the position data to a preset server end so that the server end determines the driving position of the driving target object on the driving road surface according to the position data;

And S3300, receiving navigation information generated by the server according to the driving position.

After the server side generates the navigation information, the server side sends the navigation information to the corresponding driving target object, and the target object in the form of the navigation information plays the navigation information.

In some embodiments, the location data uploaded by the driving target is used to determine a driving target having driving attributes. Referring to fig. 14, fig. 14 is a schematic flow chart illustrating a process of receiving driving attribute navigation information by a driving target object.

As shown in fig. 14, S3100 thereafter comprises:

s3111, uploading the position data to a preset server, so that the server determines whether the distance to be traveled of the travel target object is greater than a preset distance threshold value according to the distance to be traveled, and if so, defining the travel target object to have a preset travel attribute;

And after the driving target object sends the distance to the server section, the server end compares the distance to the distance threshold value, wherein the distance threshold value is the preset distance for detecting whether the distance to the driving target object exceeds the standard. The distance threshold value is 20m, but the distance threshold value is not limited to this, and may be 10m, 50m, 80m, 100m, or the like according to different application scenarios.

S3112, receiving navigation information generated by the server side according to the driving attribute.

When the server side determines that the driving target object has the driving attribute, navigation information is sent to the driving target object, and the content of the navigation information is as follows: prompting the running vehicle to run with acceleration or lane change.

In order to solve the technical problem, the embodiment of the present disclosure further provides a vehicle control device.

Referring to fig. 15, fig. 15 is a schematic view of a basic structure of the vehicle control device according to the embodiment.

As shown in fig. 15, a vehicle control apparatus includes: an acquisition module 3100, a transmission module 3200, and a reception module 3300. The acquisition module 3100 is configured to acquire position data, where the position data represents a relative position relationship between a driving target object and other driving target objects within a preset communication distance range; the sending module 3200 is configured to upload the position data to a preset server, so that the server determines a driving position of the driving target object on the driving road surface according to the position data; the receiving module 3300 is configured to receive navigation information generated by the server according to the driving position.

In some embodiments, the vehicle control apparatus further includes: a first upload sub-module and a first receive sub-module. The first uploading sub-module is used for uploading the position data to a preset server end so that the server end determines whether the distance to be travelled of the travelling target object is greater than a preset distance threshold value according to the distance to be travelled, and if so, the travelling target object is defined to have a preset travelling attribute; the first receiving submodule is used for receiving navigation information generated by the server according to the driving attribute.

In order to solve the above technical problem, an embodiment of the present disclosure further provides a vehicle terminal, where the vehicle terminal includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the above-described automobile control method.

In this embodiment, the processor is configured to execute specific functions of the acquisition module 3100, the sending module 3200, and the receiving module 3300 in fig. 15, and the memory stores program codes and various types of data required for executing the modules. The network interface is used for data transmission to and from a user terminal or a server. The memory in the present embodiment stores program codes and data necessary for executing all the submodules in the travel management device, and the server can call the program codes and data of the server to execute the functions of all the submodules.

In some embodiments, acquisition module 3100 is a T-Box peripheral.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Claims

1. A travel management method, characterized by comprising:

acquiring position data respectively uploaded by at least two driving target objects, wherein the position data represent the relative position relation between the driving target objects and other driving target objects within a preset communication distance range; the driving target object is provided with a vehicle-mounted communication system, the vehicle-mounted communication system is used for acquiring vehicle information of the vehicle, broadcasting the vehicle information to other vehicles in the communication distance range, which are also provided with the vehicle-mounted communication system, receiving vehicle information sent by the other vehicles, and obtaining the position data according to the vehicle information of the vehicle and the vehicle information sent by the other vehicles;

comparing the distance to be travelled with a preset distance threshold;

when the distance to empty is greater than a preset distance threshold, defining that the running target object has a preset running attribute; the driving attribute is used for defining a driving target object which has a speed limiting effect on a driving group formed by the at least two driving target objects; when the distance capable of driving is smaller than or equal to a preset distance threshold value, expanding a comparison area until a driving target object with the driving attribute is determined;

sending corresponding navigation information to at least one driving target object according to the driving position, wherein the navigation information comprises the following steps: and sending the navigation information to the driving target object with the driving attribute.

2. The driving management method according to claim 1, wherein before transmitting corresponding navigation information to at least one driving target object according to the driving position, the method comprises:

comparing the running speed with a preset speed threshold;

3. The travel management method according to claim 1, wherein the defining that the travel target object has the preset travel attribute when the travelable distance is greater than a preset distance threshold value includes:

4. The driving management method according to claim 3, wherein the navigation information includes preset first prompt information for prompting lane change driving of the driving target object, and the sending of the corresponding navigation information to at least one driving target object according to the driving position includes:

searching a target lane with a speed demand smaller than a speed threshold value on the driving road surface;

5. The travel management method according to claim 3, wherein the transmitting of the corresponding navigation information to at least one travel target object according to the travel position includes:

and sending the second prompt information to each driving target object.

6. The driving management method according to claim 1, wherein before transmitting corresponding navigation information to at least one driving target object according to the driving position, the method comprises:

7. A travel management device, characterized by comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring position data respectively uploaded by at least two driving target objects, and the position data represents the relative position relation between the driving target objects and other driving target objects within a preset communication distance range; the driving target object is provided with a vehicle-mounted communication system, the vehicle-mounted communication system is used for acquiring vehicle information of the vehicle, broadcasting the vehicle information to other vehicles in the communication distance range, which are also provided with the vehicle-mounted communication system, receiving vehicle information sent by the other vehicles, and obtaining the position data according to the vehicle information of the vehicle and the vehicle information sent by the other vehicles;

the processing module is used for determining the driving position of each driving target object on the driving road surface according to the at least two position data; determining a travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is a distance between the traveling target object and the traveling target object in front of the traveling target object; comparing the distance to be travelled with a preset distance threshold; when the distance to empty is greater than a preset distance threshold, defining that the running target object has a preset running attribute; the driving attribute is used for defining a driving target object which has a speed limiting effect on a driving group formed by the at least two driving target objects; when the distance capable of driving is smaller than or equal to a preset distance threshold value, expanding a comparison area until a driving target object with the driving attribute is determined;

the execution module is used for sending corresponding navigation information to at least one driving target object according to the driving position, and comprises: and sending the navigation information to the driving target object with the driving attribute.

8. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the driving management method of any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform the travel management method of any one of claims 1-6.

10. A vehicle control method characterized by comprising:

acquiring position data, wherein the position data represent the relative position relation between a driving target object and other driving target objects within a preset communication distance range; the driving target object is provided with a vehicle-mounted communication system, the vehicle-mounted communication system is used for acquiring vehicle information of the vehicle, broadcasting the vehicle information to other vehicles in the communication distance range, which are also provided with the vehicle-mounted communication system, receiving vehicle information sent by the other vehicles, and obtaining the position data according to the vehicle information of the vehicle and the vehicle information sent by the other vehicles;

uploading the position data to a preset server end so that the server end determines the running position of the running target object on the running road surface according to the position data; determining a travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is a distance between the traveling target object and the traveling target object in front of the traveling target object; comparing the distance to be travelled with a preset distance threshold; when the distance to empty is greater than a preset distance threshold, defining that the running target object has a preset running attribute; the driving attribute is used for defining a driving target object which has a speed limiting effect on a driving group formed by the at least two driving target objects; when the distance capable of driving is smaller than or equal to a preset distance threshold value, expanding a comparison area until a driving target object with the driving attribute is determined;

11. The vehicle control method according to claim 10, wherein the position data includes a travelable distance of the travel target in the traveling direction, and after the collecting the position data, includes:

receiving navigation information generated by the server according to the driving attribute, wherein the navigation information comprises: and receiving the navigation information generated by the server side according to the driving position and sent to the driving target object with the driving attribute.

12. A vehicle control apparatus characterized by comprising:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring position data, and the position data represents the relative position relation between a driving target object and other driving target objects in a preset communication distance range; the driving target object is provided with a vehicle-mounted communication system, the vehicle-mounted communication system is used for acquiring vehicle information of the vehicle, broadcasting the vehicle information to other vehicles in the communication distance range, which are also provided with the vehicle-mounted communication system, receiving vehicle information sent by the other vehicles, and obtaining the position data according to the vehicle information of the vehicle and the vehicle information sent by the other vehicles;

the sending module is used for uploading the position data to a preset server end so that the server end can determine the driving position of the driving target object on the driving road surface according to the position data; determining a travelable distance of each traveling target object in the traveling direction according to the traveling position, wherein the travelable distance is a distance between the traveling target object and the traveling target object in front of the traveling target object; comparing the distance to be travelled with a preset distance threshold; when the distance to empty is greater than a preset distance threshold, defining that the running target object has a preset running attribute; the driving attribute is used for defining a driving target object which has a speed limiting effect on a driving group formed by the at least two driving target objects; when the distance capable of driving is smaller than or equal to a preset distance threshold value, expanding a comparison area until a driving target object with the driving attribute is determined;

the receiving module is used for receiving navigation information generated by the server according to the driving position, and comprises: and receiving the navigation information generated by the server side according to the driving position and sent to the driving target object with the driving attribute.

13. An automotive terminal, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the vehicle control method of any one of claims 10-11 above.