CN110816540B - Traffic jam determining method, device and system and vehicle - Google Patents
Traffic jam determining method, device and system and vehicle Download PDFInfo
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- CN110816540B CN110816540B CN201910706536.8A CN201910706536A CN110816540B CN 110816540 B CN110816540 B CN 110816540B CN 201910706536 A CN201910706536 A CN 201910706536A CN 110816540 B CN110816540 B CN 110816540B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
The embodiment of the invention discloses a method, a device and a system for determining traffic jam and a vehicle. Acquiring running information of the vehicle, target vehicle information and road information; determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion states include congested and uncongested. The method for determining the traffic jam provided by the embodiment of the invention can realize the judgment of the traffic jam and improve the accuracy of determining the traffic jam, thereby improving the safety of automatic driving.
Description
Technical Field
The embodiment of the invention relates to the technical field of traffic vehicles, in particular to a method, a device and a system for determining traffic jam and a vehicle.
Background
With the rapid development of sensor technology, car networking technology, and artificial intelligence, autopilot systems are becoming the standard configuration for automobiles. The automatic driving system greatly improves the safety, comfort and operation convenience of the vehicle in running.
Under different traffic environments, the trajectory planning of the automatic driving system has large differences. Automated driving such as level L3 may be subdivided into high speed automated driving and traffic congestion automated driving. The design from the safe angle, high-speed autopilot can realize changing the road automatically, and traffic jam autopilot can realize following the track of the front car and traveling. Therefore, in the automatic driving process, the judgment of the traffic jam is very important.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for determining traffic jam and a vehicle, which are used for distinguishing the traffic jam and improving the accuracy of determining the traffic jam so as to improve the safety of automatic driving.
In a first aspect, an embodiment of the present invention provides a method for determining traffic congestion, where the method includes:
acquiring running information of the vehicle, target vehicle information and road information;
determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion states include congested and uncongested.
Further, the vehicle running information includes a vehicle running speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information comprises lane line information, road sign information and road space occupancy.
Further, determining a traffic congestion state of a current road according to the vehicle running information, the target vehicle information and the road information includes:
if the vehicle is in the automatic driving state, judging whether the running speed of the vehicle is smaller than a first speed threshold value within a first set time length;
if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value;
if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.
Further, acquiring the congestion state of the variable lane of the host vehicle comprises the following steps:
if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane;
and acquiring the road space occupancy of the variable lane, wherein if the road space occupancy is greater than an occupancy threshold, the congestion state of the variable lane is congestion.
Further, after determining the traffic congestion state of the current road according to the vehicle running information, the target vehicle information and the road information, the method further includes:
and planning the running track according to the traffic jam state of the current road.
Further, planning a driving track according to the traffic jam state of the current road, which comprises the following steps:
if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track;
and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.
In a second aspect, an embodiment of the present invention further provides a device for determining traffic congestion, where the device includes:
the information acquisition module is used for acquiring running information of the vehicle, target vehicle information and road information;
the traffic jam state determining module is used for determining the traffic jam state of the current road according to the running information of the vehicle, the target vehicle information and the road information; the traffic congestion states include congested and uncongested.
In a third aspect, an embodiment of the present invention further provides a system for determining traffic congestion, including: the system comprises an automatic controller, a forward-looking camera, a look-around camera, a millimeter wave radar and an ultrasonic radar;
the front-view camera is used for collecting the information of a target vehicle in front of the vehicle and the road information; the all-round-looking camera is used for collecting road information on the side of the vehicle; the millimeter wave radar and the ultrasonic radar are used for acquiring vehicle information and road information around the vehicle; the automatic controller is used for acquiring information acquired by the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar and determining the current traffic jam state according to the acquired information.
Furthermore, the number of the all-round cameras is 4, and the all-round cameras are respectively arranged on four sides of the vehicle; the millimeter wave radar comprises a forward millimeter wave radar and four corner millimeter wave radars, and the four corner millimeter wave radars are respectively arranged at four corners of the vehicle; the ultrasonic radar comprises a plurality of ultrasonic radars which are arranged around the vehicle.
In a fourth aspect, an embodiment of the present invention provides a vehicle including the system for determining traffic congestion according to the embodiment of the present invention.
According to the embodiment of the invention, the running information of the vehicle, the information of the target vehicle and the road information are firstly obtained, and then the traffic jam state of the current road is determined according to the running information of the vehicle, the information of the target vehicle and the road information. The method for determining the traffic jam provided by the embodiment of the invention can realize the judgment of the traffic jam and improve the accuracy of determining the traffic jam, thereby improving the safety of automatic driving.
Drawings
Fig. 1 is a schematic structural diagram of a traffic congestion determination system according to a first embodiment of the present invention;
fig. 2 is a flowchart of a traffic congestion determination method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a traffic congestion determination apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a system for determining traffic congestion according to an embodiment of the present invention, as shown in fig. 1, the system includes: the device comprises an automatic controller 1, a front-view camera 2, a look-around camera 8-11, a millimeter wave radar 3-7 and an ultrasonic radar 12-23.
The front-view camera is used for collecting information of a target vehicle in front of the vehicle and road information; the all-round camera is used for collecting road information on the side of the vehicle; the millimeter wave radar and the ultrasonic radar are used for acquiring vehicle information and road information around the vehicle; the automatic controller is used for acquiring information collected by the forward-looking camera, the look-around camera, the millimeter wave radar and the ultrasonic radar.
Under a good environment, the front-view camera 2 has a longitudinal detection range of 50-120 m and a horizontal detection angle of 52-150 degrees, and can detect lane line information, vehicle information, pedestrian information, traffic identification information, road sign information and the like in front of a vehicle. The forward-looking camera for automatic driving supports road information with road radius larger than 100m, and can detect lane line position, lane line type, lane line color, road surface mark position, road surface mark direction and the like; support the detection of vehicles, bicycles, motorcycles, and provide relative speed, relative position, etc. In this embodiment, the forward-looking camera 2 is used to collect target vehicle information, lane line information, and road sign information.
The all-round cameras 8-11 are respectively arranged on the four sides of the vehicle. In a good environment, the all-round cameras 8-11 can detect the environment surrounding the vehicle by 360 degrees, the single side of the surrounding detection coverage range is 3-5 m, and lane line information, vehicle information, obstacle information and the like around the vehicle can be detected. The all-round camera for automatic driving can support the environment information of the lane where the vehicle is located and the left and right adjacent lanes, and can detect the lane line position, the lane line type, the lane line color and the like; support the detection of vehicles and obstacles, and provide relative positions and the like. In this embodiment, the look-around camera is used for acquiring the information of the obstacle of the vehicle and the information of the lane line in the lateral direction of the vehicle.
The millimeter wave radar 3-7 includes a forward millimeter wave radar 4 and an angular millimeter wave radar 3, 5-7, which are respectively disposed at four corners (front left corner, front right corner, rear left corner, and rear right corner) of the vehicle. The longitudinal detection range of the forward millimeter wave radar is 60-250 m, the horizontal detection angle is 20-100 degrees, and vehicle information, obstacle information and the like in front of a vehicle can be detected. The forward millimeter wave radar for autonomous driving can recognize fleet information in front of the vehicle, support detection of the moving state of the vehicle in front, and provide relative speed, relative position, and the like. In this embodiment, the forward millimeter wave radar is used to collect target vehicle information. The detection range of the angle millimeter wave radar is 30-120 m, and the detection angle is 80-150 degrees. The detection ranges of the four corner millimeter wave radars can cover the surrounding environment of the vehicle. The angular millimeter wave radar can detect vehicle information, obstacle information, and the like on the front side, the rear side, and a part of the right side of the vehicle. The angular millimeter wave radar for autonomous driving can also detect the moving state of the surrounding target vehicle and provide the relative speed, relative position, and the like. In this embodiment, the angle millimeter wave radar is combined with the forward millimeter wave radar to collect the information of the target vehicle.
The detection range of the ultrasonic radar 12-23 is 2-7 m, the detection angle is 20-120 degrees, the short-distance environment around the vehicle can be detected under the condition of low vehicle speed, and the relative position relation between the ultrasonic radar and the vehicle and an obstacle can be detected. The ultrasonic radar system for automatic driving has the advantages that the number of the ultrasonic radars is generally 10-12, the surrounding detection range covers 360 degrees, and the information detection of vehicles and obstacles in the front, the rear and the side is supported. In the present embodiment, the ultrasonic radar is used to detect the relative position information of the host vehicle and the target vehicle.
The automatic controller 1 is respectively connected with the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar through the CAN bus, acquires information acquired by the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar, and determines the current traffic jam state according to the acquired information.
The system for determining traffic jam provided by the embodiment comprises: the automatic controller is used for acquiring information acquired by the forward-looking camera, the look-around camera, the millimeter wave radar and the ultrasonic radar, and determining the current traffic jam state according to the acquired information, so that the accuracy of determining the traffic jam can be improved.
Example two
Fig. 2 is a flowchart of a traffic congestion determination method according to a second embodiment of the present invention, where this embodiment is applicable to a case where a current traffic congestion state is determined, and the method may be executed by a traffic congestion determination device, which may be disposed on a vehicle as an on-board device. As shown in fig. 2, the method specifically includes the following steps:
step 210, obtaining the running information of the vehicle, the information of the target vehicle and the road information.
The target vehicle information and the road information can be acquired through sensors such as a camera, a millimeter wave radar and an ultrasonic radar which are mounted on a vehicle body, and the vehicle running information can be acquired through a whole vehicle sensor. The host vehicle running information may include a host vehicle running speed or the like; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information includes lane line information, road sign information, and road space occupancy.
In this embodiment, after the vehicle is started, the vehicle running information, the target vehicle information, and the road information are acquired in real time by the vehicle sensor, the camera, the millimeter wave radar, and the ultrasonic radar which are mounted on the vehicle body.
And step 220, determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information.
The traffic congestion state includes congestion and non-congestion. In this embodiment, the process of determining the traffic congestion state of the current road according to the running information of the vehicle, the target vehicle information, and the road information may be to determine whether the running speed of the vehicle is less than a first speed threshold within a first set time period if the vehicle is in an automatic driving state. If not, the traffic jam state is non-jam; if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value. If not, the traffic jam state is non-jam; if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.
The variable lane may be a lane which is adjacent to the lane where the vehicle is currently located and satisfies the lane change condition. The first set time period and the second set time period may be set to a value between 100 and 120 seconds, the first speed threshold and the second speed threshold may be set to a value between 30 and 40 (in m/s), and the distance threshold may be set to any value between 10 and 15 meters. Specifically, if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane.
In this embodiment, the mode of determining that the congestion state of the variable lane is congestion may be to acquire a road space occupancy of the variable lane, and if the road space occupancy is greater than an occupancy threshold, the congestion state of the variable lane is congestion.
Wherein the occupancy threshold may be set to a value between 50% -60%.
Optionally, after determining the traffic congestion state of the current road according to the vehicle operation information, the target vehicle information, and the road information, the method further includes the following steps: and planning the running track according to the traffic jam state of the current road.
The process of planning the driving track according to the traffic congestion state of the current road may be: if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track; and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.
According to the technical scheme of the embodiment, the vehicle running information, the target vehicle information and the road information are firstly obtained, and then the traffic jam state of the current road is determined according to the vehicle running information, the target vehicle information and the road information. The method for determining the traffic jam provided by the embodiment of the invention can realize the judgment of the traffic jam and improve the accuracy of determining the traffic jam, thereby improving the safety of automatic driving.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a traffic congestion determining apparatus according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: an information acquisition module 310 and a traffic congestion status determination module 320.
An information obtaining module 310, configured to obtain running information of the vehicle, target vehicle information, and road information;
a traffic jam state determination module 320, configured to determine a traffic jam state of a current road according to the vehicle operation information, the target vehicle information, and the road information; traffic congestion states include congested and uncongested.
Optionally, the vehicle running information includes a vehicle running speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information includes lane line information, road sign information, and road space occupancy.
Optionally, the traffic congestion state determining module 320 is further configured to:
if the vehicle is in the automatic driving state, judging whether the running speed of the vehicle is smaller than a first speed threshold value within a first set time length;
if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value;
if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.
Optionally, the traffic congestion state determining module 320 is further configured to:
if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane;
and acquiring the road space occupancy of the variable lane, and if the road space occupancy is greater than an occupancy threshold value, determining that the congestion state of the variable lane is congestion.
Optionally, the method further includes: a driving track planning module for:
and planning the running track according to the traffic jam state of the current road.
Optionally, the driving trajectory planning module is further configured to:
if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track;
and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, and as shown in fig. 4, the vehicle includes the traffic congestion determining system according to the foregoing embodiment, and the traffic congestion determining system includes an automatic controller, a forward-looking camera, a look-around camera, a millimeter-wave radar, and an ultrasonic radar.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method for determining traffic congestion, comprising:
acquiring running information of the vehicle, target vehicle information and road information;
determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion state comprises congestion and non-congestion;
the vehicle running information comprises vehicle running speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information comprises lane line information, road sign information and road space occupancy.
2. The method of claim 1, wherein determining the traffic congestion status of the current road according to the vehicle operation information, the target vehicle information and the road information comprises:
if the vehicle is in the automatic driving state, judging whether the running speed of the vehicle is smaller than a first speed threshold value within a first set time length;
if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value;
if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.
3. The method of claim 2, wherein obtaining the congestion status of the variable lane of the host vehicle comprises:
if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane;
and acquiring the road space occupancy of the variable lane, wherein if the road space occupancy is greater than an occupancy threshold, the congestion state of the variable lane is congestion.
4. The method of claim 2, further comprising, after determining a traffic congestion status of a current road based on the host vehicle operation information, the target vehicle information, and the road information:
and planning the running track according to the traffic jam state of the current road.
5. The method of claim 4, wherein the planning of the driving track according to the traffic congestion status of the current road comprises:
if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track;
and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.
6. An apparatus for determining traffic congestion, comprising:
the information acquisition module is used for acquiring running information of the vehicle, target vehicle information and road information;
the traffic jam state determining module is used for determining the traffic jam state of the current road according to the running information of the vehicle, the target vehicle information and the road information; the traffic congestion state comprises congestion and non-congestion;
the vehicle running information comprises vehicle running speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information includes lane line information, road sign information, and road space occupancy.
7. A system for determining traffic congestion, comprising: the system comprises an automatic controller, a forward-looking camera, a look-around camera, a millimeter wave radar and an ultrasonic radar;
the front-view camera is used for collecting the information of a target vehicle in front of the vehicle and the road information; the all-round-looking camera is used for collecting road information on the side of the vehicle; the millimeter wave radar and the ultrasonic radar are used for acquiring vehicle information and road information around the vehicle; the automatic controller is used for acquiring information acquired by the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar and determining the current traffic jam state according to the acquired information;
the collected information comprises the running speed of the vehicle; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information includes lane line information, road sign information, and road space occupancy.
8. The system of claim 7, wherein the look-around cameras comprise 4, which are respectively arranged on four sides of the vehicle; the millimeter wave radar comprises a forward millimeter wave radar and four corner millimeter wave radars, and the four corner millimeter wave radars are respectively arranged at four corners of the vehicle; the ultrasonic radar comprises a plurality of ultrasonic radars which are arranged around the vehicle.
9. A vehicle comprising a system for determining traffic congestion according to any one of claims 7 to 8.
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| CN111798699B (en) * | 2020-06-29 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Vehicle driving method, device, vehicle-mounted computer, vehicle and storage medium |
| CN111932884A (en) * | 2020-08-13 | 2020-11-13 | 中国第一汽车股份有限公司 | Traffic jam recognition method and device, vehicle and storage medium |
| CN111994076A (en) * | 2020-09-02 | 2020-11-27 | 中国第一汽车股份有限公司 | Control method and device for automatic driving vehicle |
| CN112417953B (en) * | 2020-10-12 | 2022-07-19 | 腾讯科技（深圳）有限公司 | Road condition detection and map data updating method, device, system and equipment |
| WO2022077266A1 (en) * | 2020-10-14 | 2022-04-21 | 驭势（上海）汽车科技有限公司 | Traffic congestion sensing method and apparatus, electronic device and storage medium |
| US11794787B2 (en) | 2020-10-19 | 2023-10-24 | Ford Global Technologies, Llc | Vehicle assist feature control |
| CN112356853A (en) * | 2020-11-23 | 2021-02-12 | 浙江天行健智能科技有限公司 | Automatic driving method of vehicle for congested road conditions and automatic driving vehicle |
| CN113753055B (en) * | 2021-10-15 | 2023-08-22 | 东风汽车集团股份有限公司 | Method for judging congestion lane based on radar detection and electronic equipment |
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