CN110544382B - Lane management method, device and system - Google Patents
Lane management method, device and system Download PDFInfo
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- CN110544382B CN110544382B CN201910989134.3A CN201910989134A CN110544382B CN 110544382 B CN110544382 B CN 110544382B CN 201910989134 A CN201910989134 A CN 201910989134A CN 110544382 B CN110544382 B CN 110544382B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/091—Traffic information broadcasting
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
The embodiment of the application provides a lane management method and a lane management device, and relates to the field of vehicle-road cooperation. The specific implementation scheme is as follows: generating a control command for a target lane according to vehicle information sent by first road side equipment corresponding to the target lane; determining second road side equipment in a target area connected to the front end of the target lane; and sending a control command to the second road side equipment so that the second road side equipment sends the control command to the vehicles within the communication range of the second road side equipment. The lane management method and the lane management system improve the efficiency of lane management and increase the flexibility of lane management.
Description
Technical Field
The present application relates to the field of artificial intelligence, and in particular, to a lane management method, apparatus, and system.
Background
With the continuous development of artificial intelligence technology, the artificial intelligence technology has entered the field of lane control. The restriction of some special lanes (such as bus lanes) is generally carried out by time-interval and region-by-region, the general method of the traffic management department at present is to draw marks on the road or directly and manually set roadblocks, so that on one hand, the special lanes cannot be flexibly configured, on the other hand, no matter whether the marks or the roadblocks are drawn, manual materials are consumed, meanwhile, pollution can be caused, the processes of drawing the marks and setting the obstacles occupy the lanes, and the use efficiency of the lanes is influenced.
Disclosure of Invention
The embodiment of the application provides a lane management method and a lane management device, which are used for solving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present application provides a lane management method, including:
generating a control command for a target lane according to vehicle information sent by first road side equipment corresponding to the target lane;
determining second road side equipment in a target area connected to the front end of the target lane;
and sending a control command to the second road side equipment so that the second road side equipment sends the control command to the vehicles within the communication range of the second road side equipment.
In one embodiment, generating a regulation command for a target lane according to vehicle information sent by a first road side device corresponding to the target lane comprises:
receiving vehicle information of the vehicle within each first roadside device communication range, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle;
and generating a control command for the target lane according to the information of each vehicle.
In one embodiment, generating the regulation command for the target lane according to the respective pieces of vehicle information includes any one of:
calculating the vehicle density in the target lane according to the vehicle information, and generating a control command when the vehicle density exceeds a first preset value;
and calculating the average speed of the vehicles in the target lane according to the information of the vehicles, and generating a control command when the average speed exceeds a second preset value.
In one embodiment, the method further comprises:
receiving vehicle information of vehicles in the communication range of each first road side device, wherein the vehicle information comprises vehicle types;
determining violation vehicles from the vehicles according to the vehicle types corresponding to the vehicles and preset passing vehicle types;
recording the violation information of the violation vehicle, wherein the violation information comprises the license plate number of the violation vehicle.
In a second aspect, an embodiment of the present application provides a lane management apparatus, including:
the command generation module is used for generating a control command for the target lane according to the vehicle information sent by the first road side equipment corresponding to the target lane;
the target determining module is used for determining second road side equipment in a target area connected to the front end of the target lane;
the first command sending module is used for sending a control command to the second road side equipment so that the second road side equipment sends the control command to vehicles within the communication range of the second road side equipment.
In one embodiment, the command generation module includes:
a receiving unit configured to receive vehicle information of a vehicle within each of the first roadside device communication ranges, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle;
and the command generating unit is used for generating a control command for the target lane according to each piece of vehicle information.
In one embodiment, the receiving unit comprises any one of the following:
calculating the vehicle density in the target lane according to the vehicle information, and generating the control command when the vehicle density exceeds a first preset value;
and calculating the average speed of the vehicles in the target lane according to the vehicle information, and generating the control command when the average speed exceeds a second preset value.
In a third aspect, an embodiment of the present application provides a lane management system, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the above method.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are configured to cause a computer to execute the above method.
One technical scheme in the above application has the following advantages or beneficial effects: the method can effectively solve the limitation that a special time period needs to be set in advance for the special lane, and can issue the control command to the vehicle about to enter the special lane, thereby improving the flexibility of lane management.
Another technical scheme in the above application has the following advantages or beneficial effects: the real-time recording is carried out on the vehicles which violate the rule and illegally enter the special lane, so that the lane management efficiency is improved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 shows a block diagram of a lane management system according to an embodiment of the present application.
Fig. 2 shows an application scenario diagram of the lane management system according to the embodiment of the present application.
Fig. 3 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 4 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 5 shows a flowchart of a method performed by the map matching module according to an embodiment of the present application.
Fig. 6 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 7 shows a flowchart of an example of the second roadside apparatus receiving and transmitting the policing command.
Fig. 8 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 9 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 10 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 11 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 12 shows a flowchart of a lane management method according to an embodiment of the present application.
Fig. 13 is a flowchart showing an application example of the lane management method of the present application.
Fig. 14 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application.
Fig. 15 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application.
Fig. 16 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application.
Fig. 17 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application.
FIG. 18 illustrates a command generation module according to an embodiment of the present application.
Fig. 19 shows a schematic configuration diagram of a vehicle management system according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 shows a block diagram of a lane management system according to an embodiment of the present application. As shown in fig. 1, the lane management system of the present embodiment may include a Road end (Road end) and a Vehicle end (Vehicle end). The Road end may include Road Side equipment (RSU) and lane management equipment. In one example, as shown in fig. 1, the lane management device may be a Mobile Edge Computing (MEC) device. The vehicle end may include one or more vehicles. The roadside device can communicate with the vehicle within the communication range of the roadside device. The vehicle end and the road end can use a wireless communication mode to exchange data, and the road side equipment and the MEC can exchange data in an optical fiber mode and the like. In this embodiment, the target vehicle may be an autonomous vehicle or a non-autonomous vehicle operated by a driver.
In one example, the vehicle may include an On Board Unit (OBU) for broadcasting vehicle attribute information (vehicle information) including a vehicle number, a license plate number, a vehicle category, positioning information, and the like in real time through the wireless communication module, and receiving roadside device information of a roadside.
In one example, the vehicle end of the system may further include: the positioning module is used for providing real-time positioning information of the vehicle, wherein the real-time positioning information comprises position information, course angle, running speed and other information; the map matching device is used for judging whether the vehicle is in a state of needing to receive a lane control instruction according to the real-time positioning information of the vehicle; and the communication module is used for realizing the communication between the road end part and the vehicle end part.
In one example, the route end of the system may further include: the communication module is used for realizing the communication between the road end part and the vehicle end part and the communication between the road end part internal modules; the data processing module is used for analyzing the lane data and generating a control command; the map module is used for providing road high-precision map data of a range governed by the road side equipment; and the map matching module is used for judging whether the vehicle is in the vehicle management area or has the trend of entering the vehicle management area according to the vehicle coordinate position and the course angle.
Fig. 2 shows an application scenario diagram of the lane management system according to the embodiment of the present application. In one example, the MEC may communicate with RSU0, RSU1, RSU2, and RSU3, and RSU0, RSU1, RSU2, and RSU3 may each communicate with an OBU of a respective communication range. That is, the roadside apparatus may continuously receive information of all vehicles within its signal coverage range, thereby detecting whether a vehicle has entered the control range of the roadside apparatus, i.e., determining whether the vehicle has arrived for the roadside apparatus. In this embodiment, the roadside apparatus may include a first roadside apparatus, such as RSU1, RSU2, and RSU3, and may further include a second roadside apparatus, such as RSU 0.
In one example, the roadside devices RSU1, RSU2, and RSU3 continuously receive vehicle information within a collection area (roadside devices RSU1, RSU2, and RSU3 communication range), and transmit the collected vehicle information to the MEC. The MEC obtains whether the lane (target lane) in the acquisition area needs to be controlled or not through calculation. If lane control is required, the target lane is determined as a controlled lane, and a control command (also called a control command) for the controlled lane is transmitted to the RSU0 in a command area (communication range of the roadside apparatus RSU 0). The RSU0, upon receiving the regulation command, broadcasts the regulation command to vehicles entering the instruction area. The vehicle entering the instruction area may issue a warning to the driver or a warning to the vehicle main control unit after receiving the control command from the RSU0 so that the main control unit controls the vehicle to avoid.
In one example, the roadside device may communicate with vehicles within its communication range to obtain vehicle information for those vehicles. In one embodiment, the vehicle information includes, but is not limited to, the location, speed, heading angle, vehicle number, vehicle type, license plate number of the vehicle.
An embodiment of the present application provides a lane management method, which may be applied to a first road side device. As shown in fig. 3, the lane management method includes:
and step S31, vehicle information of the vehicle in the communication range is received.
Step S32 is a step of determining whether or not a vehicle enters the target lane based on the vehicle information.
If the determination result is yes, step S33 is to transmit the vehicle information of the vehicle entering the target lane to the lane management device.
The target lane is located in the communication range of the first road side device. The target lane may be a dedicated lane or a regulated lane (as shown in fig. 2), for example, when restricted access to the target lane is required, the target lane may be a dedicated lane or a regulated lane. The lane management apparatus may be the MEC described above. The exclusive lane may be a special purpose lane such as a bus lane, an emergency lane, or the like. The regulated lane may be a lane temporarily regulated at a specific time period and a specific road section.
In one embodiment, as shown in fig. 4, step S32 may include:
continuously receiving vehicle information sent by vehicles on a lane;
after receiving the vehicle information, sending the vehicle information to a map matching module;
and judging whether the vehicle enters the information collection area, and if so, sending the vehicle information to the MEC.
In one example, the RSUs of the vehicle information collection area each receive vehicle information within a respective signal coverage area, including vehicle number, license plate number, vehicle type, coordinate location, heading angle, speed, etc. In one example, this step may be implemented by RSU1, RSU2, and RSU3 in fig. 1, where it can be seen from fig. 1 that RSU1, RSU2, and RSU3 continuously receive vehicle information transmitted by vehicles in the lane.
In one example, the map matching module determines whether the vehicle is within the RSU information collection area and the travel track is traveling toward the front of the area based on the coordinate position and the heading angle of the vehicle. In one example, this step may be implemented by the map matching module in FIG. 2.
In one example, the information forwarded to the MEC includes all vehicle information received by RSU1, RSU2, and RSU 3. In one example, this step may be implemented by the communication module in fig. 2.
As shown in fig. 5, the execution method of the map matching module may include:
continuously receiving map messages;
when the map message comes, starting to receive the vehicle information;
when the vehicle information arrives, judging whether the vehicle is in a map area;
and when the vehicle running course angle is consistent with the road end passing direction, the map matching is successful.
In one example, the vehicle position may refer to vehicle coordinates in the vehicle information. The heading angle may refer to an angle between a vehicle traveling direction and an earth preparation direction, the heading angle being included in the vehicle information.
In one example, the above method steps may be implemented by the geographic matching module shown in FIG. 1.
An embodiment of the present application provides a lane management method, which may be applied to a second roadside device. As shown in fig. 6, the lane management method includes:
and step S61, vehicle information of the vehicle in the communication range is received.
And step S62, when the control command sent by the moving edge computing device is received, the control command is sent to the vehicles in the communication range.
Fig. 7 shows a flowchart of an example of the second roadside apparatus receiving and transmitting the policing command. As shown in fig. 7, in this example, the second roadside apparatus performs the task of receiving and transmitting the policing command by the following flow:
continuously waiting for receiving the instruction;
when the command comes, the command is sent to the vehicles within the signal coverage range.
In one example, the MEC issues a regulatory command for the target lane to the RSU 0.
In one example, the RSU0 broadcasts a regulatory command for the target lane to the OBU via the wireless communication module. This broadcast communication process may be implemented by a communication module as in fig. 1.
An embodiment of the present application provides a lane management method, which may be applied to a lane management device (e.g., MEC). As shown in fig. 8, the lane management method includes:
step S81, generating a control command for a target lane according to vehicle information sent by first road side equipment corresponding to the target lane;
and step S82, determining a second road side device in the target area connected with the front end of the target lane.
And step S83, sending a control command to the second road side equipment so that the second road side equipment sends the control command to the vehicles in the communication range of the second road side equipment.
In one example, the target lane may be a regulated lane, set by the lane management system according to the instructions of the traffic authority. Whether to generate the control command for the target lane may also be determined based on the vehicle information transmitted by the first road-side device. The front end of the target lane is understood to be the region which is about to enter the target lane and is connected to the target lane, depending on the direction of travel of the vehicle. For example, an intersection that is about to enter the target lane, an entrance of the target lane, or the like. The MEC can receive vehicle information of each vehicle within a communication range of the first road side equipment and generate a control command for the target lane according to the vehicle information.
That is, the MEC may determine whether to generate a regulation command for the target lane according to the vehicle information of the vehicle within the first roadside device communication range, and transmit the regulation command to the second roadside device located in the target area at the front end of the target lane, so that the second roadside device transmits the regulation command to the vehicle within the second roadside device communication range.
In one example, the MEC sends a policing command to the second roadside device after determining the second roadside device. After receiving the regulation command, the second roadside device can transmit the regulation command to all vehicles within the coverage range of the signal in a broadcast mode.
In one embodiment, the first roadside apparatus may act as the second roadside apparatus. For example: when major activities occur, road control is often required to be actively and temporarily carried out, and at the moment, control commands can be sent through all roadside devices in the MEC communication range, so that control commands can be sent to all vehicles in the lane management system, and large-range road control is achieved. Therefore, the road can be flexibly regulated at the specified time and the specified road section.
That is, all roadside apparatuses may respectively perform the lane management method described above. That is, the first roadside apparatus and the second roadside apparatus may be interchanged according to different application scenarios or application times.
In one example, the vehicle end may send its own vehicle information to the road end, and may also receive a control command, so as to avoid or bypass a target lane corresponding to the control command. As shown in fig. 9, the method may include:
and sending the vehicle information of the vehicle, namely sending the vehicle information of the vehicle to the outside.
And judging whether a control command is received.
The map matching module judges whether the vehicle is in the RSU instruction area or not according to the coordinate position and the course angle of the vehicle, and the driving track is driving towards the front of the area.
It is determined whether the vehicle is traveling in the command area. And if the vehicle is judged to be running in the instruction area, prompting the vehicle to avoid a target lane corresponding to the control command through the OBU.
In one example, the own vehicle information may include vehicle number, coordinate position, traveling direction, current speed, and the like.
In one example, the regulatory command may be sent by the RSU corresponding to the intersection before entering the target lane (e.g., RSU0 in fig. 1).
In one embodiment, the determining whether to generate the regulation command for the target lane according to the vehicle information of the vehicle in the first roadside device communication range may include any one of the following manners: calculating the vehicle density in the target lane according to the vehicle information, and generating a control command when the vehicle density exceeds a first preset value; and calculating the average speed of the vehicles in the target lane according to the information of the vehicles, and generating a control command when the average speed exceeds a second preset value.
Specifically, the order of determining the vehicle density and the vehicle average speed may be adjusted according to actual conditions, that is, the vehicle density may be compared first and then the vehicle average speed may be compared, or the vehicle average speed may be compared first and then the vehicle density may be compared. Moreover, the vehicle density and the average speed of the vehicle can be simultaneously compared, and the vehicle density and the average speed of the vehicle can be comprehensively evaluated in a priority weighting mode, so that whether the control command needs to be generated or not can be determined.
In one example, as shown in fig. 10, when the judgment vehicle information has come, the repeatedly collected vehicle information is deduplicated. Because the coverage range of each roadside device may overlap, the vehicles are still in a running state in the road, and therefore the roadside devices are likely to acquire multiple sets of vehicle information of the same vehicle. In the process of filtering the vehicle information, the MEC can filter the vehicle information with the same number at the same time according to the vehicle number in the vehicle information.
After the vehicle information filtering step, the vehicle density in the designated area can be counted. The vehicle density may be the number of filtered vehicles received by the MEC. The calculation of the vehicle density can be updated typically 10 seconds. And comparing the vehicle density with a preset density threshold value to judge whether the lane control is required to be carried out on the target lane.
Meanwhile, whether lane control is required or not can be judged by calculating the average speed of the vehicle and comparing the average speed of the vehicle with a preset average speed threshold, wherein the average speed of the vehicle can be the average value of all filtered vehicles received by the MEC. The calculation of the average speed can be updated typically once in 10 seconds.
It should be noted that, in actual operation, whether to perform lane control may be determined by one of the vehicle density and the average speed, or may be determined by integrating the vehicle density and the average speed.
In one embodiment, as shown in fig. 11, the lane management method further includes:
and step S111, receiving vehicle information of vehicles in the communication range of each first road side device, wherein the vehicle information comprises vehicle types.
And S112, determining the violation vehicles from the vehicles according to the vehicle types corresponding to the vehicles and the preset passing vehicle types.
And S113, recording violation information of the violation vehicle, wherein the violation information comprises the license plate number of the violation vehicle.
In one example, as shown in fig. 12, the MEC continuously receives vehicle information sent by a plurality of first roadside devices, thereby determining whether a vehicle enters a monitoring area. The MEC can filter repeated vehicle information according to the unique vehicle number, calculate the vehicle density and the traffic flow speed in the whole vehicle information collection area (target lane), compare the obtained result with a preset threshold value, and issue a control command if the result exceeds the threshold value. When a control command is issued, if a vehicle enters a target lane, the MEC screens out the illegal vehicles entering the target lane through a preset vehicle type, and extracts vehicle numbers from the vehicle information of the illegal vehicles.
Fig. 13 is a flowchart showing an application example of the lane management method of the present application. As shown in fig. 13, the entire lane management process is as follows: OBU broadcast vehicle information, RSU receives this vehicle information broadcast after, judges whether in the collection region through map matching: if the vehicle is not in the acquisition area, continuously receiving the vehicle information; if in the acquisition area, the vehicle data is uploaded to the MEC. And after receiving the vehicle information, the MEC performs data processing to judge whether the vehicle needs to generate a control command: if the control command does not need to be generated, continuously receiving the vehicle information; if a policing command needs to be generated, a policing command is generated. After the control command is generated, the control command is sent to the RSU, the RSU transmits the command to the OBU, and the OBU judges whether the vehicle is in a command area or not through map matching after receiving the command: if the vehicle is not in the instruction area, directly ending; if the vehicle is in the command zone, an avoidance warning is issued to the vehicle.
In some application scenes, the traffic control of a special lane (such as a bus lane) is generally carried out by time-interval and region-by-region, and the current general method of traffic control departments is to draw a mark on a road or directly and manually set a roadblock, so that on one hand, the special lane cannot be flexibly configured, on the other hand, no matter whether the mark is drawn or the roadblock is set, manual materials are consumed, meanwhile, pollution can be caused, and the process of drawing the mark and setting the roadblock occupies the lane, thereby influencing the use efficiency of the lane. The solution of the application can realize flexible configuration of the special lane in the designated time period and the designated area, and improve the use efficiency of the lane.
Fig. 14 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application.
The command generating module 141 is configured to generate a control command for the target lane according to the vehicle information sent by the first road side device corresponding to the target lane;
a target determination module 142 for determining a second road side device within a target area connected to a front end of the target lane;
the first command sending module 143 is configured to send a control command to the second roadside device, so that the second roadside device sends the control command to a vehicle within a communication range of the second roadside device.
In one embodiment, the command generating module 141 may include: a vehicle information receiving unit for receiving vehicle information of the vehicle within each first roadside device communication range, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle; and the generating unit is used for generating a control command for the target lane according to the vehicle information.
The generating unit may be configured to calculate a vehicle density in the target lane according to the vehicle information, and generate the control command when the vehicle density exceeds a first preset value. The generating unit may be further configured to calculate an average speed of the vehicles in the target lane according to the pieces of vehicle information, and generate the control command when the average speed exceeds a second preset value.
In one embodiment, the vehicle information further includes a vehicle number, and the command generation module 141 may further include a rejection unit configured to reject the vehicle information having the same vehicle number under the same time condition according to each vehicle number.
Fig. 15 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application. As shown in fig. 15, in one embodiment, the apparatus further comprises:
a first information receiving module 144, configured to receive vehicle information of vehicles in each first roadside device communication range, where the vehicle information includes a vehicle type;
the violation determining module 145 is used for determining violation vehicles from the vehicles according to the vehicle types corresponding to the vehicles and preset passing vehicle types;
and a violation recording module 146 for recording violation information of the violation vehicle, the violation information including the license plate number of the violation vehicle.
Fig. 16 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application. As shown in fig. 16, in one embodiment, the apparatus comprises:
a second information receiving module 161 for receiving vehicle information of a vehicle within a communication range;
a determining entry module 162, configured to determine whether a vehicle enters the target lane according to information of each vehicle;
and an information sending module 163, configured to send vehicle information of the vehicle entering the target lane to the moving edge computing device if the determination result is yes.
Fig. 17 is a block diagram showing a configuration of a lane management apparatus according to an embodiment of the present application. As shown in fig. 17, in one embodiment, the apparatus comprises:
a third information receiving module 171 for receiving vehicle information of vehicles within a communication range;
and the second command sending module 172 is configured to send a control command to a vehicle within the communication range when receiving the control command sent by the moving edge computing device.
Fig. 18 shows a command generation module according to an embodiment of the present application, where the command generation module 141 includes:
a receiving unit 1411 for receiving vehicle information of vehicles within each of the first roadside device communication ranges, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle;
a command generating unit 1412, configured to generate a regulation command for the target lane according to each piece of the vehicle information.
In one embodiment, the receiving unit comprises any one of the following:
calculating the vehicle density in the target lane according to the vehicle information, and generating the control command when the vehicle density exceeds a first preset value;
and calculating the average speed of the vehicles in the target lane according to the vehicle information, and generating the control command when the average speed exceeds a second preset value.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
The present embodiment also provides a lane management system, as shown in fig. 19, including: a memory 21 and a processor 22, the memory 21 having stored therein a computer program operable on the processor 22. The processor 22 implements the recommendation method of the action place information in the above-described embodiment when executing the computer program. The number of the memory 21 and the processor 22 may be one or more.
The apparatus further comprises:
and the communication interface 23 is used for communicating with external equipment and performing data interactive transmission.
The memory 21 may comprise a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 21, the processor 22 and the communication interface 23 are implemented independently, the memory 21, the processor 22 and the communication interface 23 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 11, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 21, the processor 22 and the communication interface 23 are integrated on a chip, the memory 21, the processor 22 and the communication interface 23 may complete mutual communication through an internal interface.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program is used for implementing the method of any one of the above embodiments when being executed by a processor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A lane management method, characterized by comprising:
judging whether the target special lane needs to be controlled or not according to vehicle information sent by first road side equipment corresponding to the target special lane, and generating a control command for the target special lane under the condition that the control is needed, wherein the target special lane is a special lane for limiting passing based on the control command;
determining second road side equipment in a target area connected to the front end of the target special lane;
and sending the control command to the second road side equipment so that the second road side equipment sends the control command to the target special lane to the vehicles within the communication range of the second road side equipment.
2. The method according to claim 1, wherein generating a regulation command for a target exclusive lane according to the transmitted vehicle information of a first road-side device corresponding to the target exclusive lane comprises:
receiving vehicle information of a vehicle within each of the first roadside device communication ranges, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle;
and generating a control command for the target special lane according to each piece of vehicle information.
3. The method according to claim 2, wherein generating a regulation command for the target exclusive lane from each of the pieces of vehicle information includes any one of:
calculating the vehicle density in the target special lane according to the vehicle information, and generating the control command when the vehicle density exceeds a first preset value;
and calculating the average speed of the vehicles in the target special lane according to the vehicle information, and generating the control command when the average speed exceeds a second preset value.
4. The method according to claim 2, wherein the vehicle information further includes vehicle numbers, and the generating of the regulation command for the target exclusive lane according to each of the vehicle information includes:
and according to each vehicle number, vehicle information with the same vehicle number under the same time condition is rejected.
5. The method of claim 1, further comprising:
receiving vehicle information of vehicles within each of the first roadside device communication ranges, the vehicle information including a vehicle type;
determining violation vehicles from the vehicles according to the vehicle types corresponding to the vehicles and preset passing vehicle types;
recording the violation information of the violation vehicle, wherein the violation information comprises the license plate number of the violation vehicle.
6. A lane management apparatus, characterized by comprising:
the command generation module is used for judging whether the target special lane needs to be controlled or not according to vehicle information sent by first road side equipment corresponding to the target special lane, and generating a control command for the target special lane under the condition that the control is needed, wherein the target special lane is a special lane for limiting passing based on the control command;
the target determination module is used for determining second road side equipment in a target area connected to the front end of the target special lane;
and the first command sending module is used for sending the control command to the second road side equipment so as to enable the second road side equipment to send the control command to the target special lane to the vehicles within the communication range of the second road side equipment.
7. The apparatus of claim 6, wherein the command generation module comprises:
a receiving unit configured to receive vehicle information of a vehicle within each of the first roadside device communication ranges, the vehicle information including at least one of a position, a speed, and a heading angle of the vehicle;
and the command generating unit is used for generating a control command for the target special lane according to each piece of vehicle information.
8. The apparatus of claim 7, wherein the receiving unit comprises any one of:
calculating the vehicle density in the target special lane according to the vehicle information, and generating the control command when the vehicle density exceeds a first preset value;
and calculating the average speed of the vehicles in the target special lane according to the vehicle information, and generating the control command when the average speed exceeds a second preset value.
9. A lane management system, comprising: one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-5.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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| CN111223298B (en) * | 2020-01-17 | 2021-09-28 | 重庆市城投金卡信息产业(集团)股份有限公司 | Method and system for controlling bus lane borrowing |
| CN111565423B (en) * | 2020-04-01 | 2023-05-30 | 中国联合网络通信集团有限公司 | Traffic data processing method and device |
| CN114120623A (en) * | 2020-08-28 | 2022-03-01 | 长沙智能驾驶研究院有限公司 | Road right distribution and supervision method and device |
| CN113866714A (en) * | 2021-09-23 | 2021-12-31 | 星觅(上海)科技有限公司 | Position determining system and method |
| CN113997860A (en) * | 2021-10-09 | 2022-02-01 | 中汽创智科技有限公司 | Vehicle whistle control method, system, device, equipment and storage medium |
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