CN110910669A - Virtual isolation-based control method and device for automatic driving special lane - Google Patents
Virtual isolation-based control method and device for automatic driving special lane Download PDFInfo
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- CN110910669A CN110910669A CN201911192909.0A CN201911192909A CN110910669A CN 110910669 A CN110910669 A CN 110910669A CN 201911192909 A CN201911192909 A CN 201911192909A CN 110910669 A CN110910669 A CN 110910669A
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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
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
Abstract
The embodiment of the invention discloses a control method and a control device of an automatic driving special lane based on virtual isolation, wherein the method comprises the following steps: distinguishing automatic driving lanes from non-automatic driving lanes according to mark lines preset on a road; monitoring a target vehicle running on a road based on a preset road side sensor and a road side unit, and acquiring vehicle information of the target vehicle; determining a target lane corresponding to the running of the target vehicle according to the vehicle information; broadcasting driving instruction information to the target vehicle within a target area based on the road side unit and the target lane. By adopting the control method of the automatic driving special lane based on the virtual isolation, the construction cost of the automatic driving special lane is simplified, the difficulty of realizing the management of the automatic driving lane is reduced, and the efficiency and the accuracy of the control of the automatic driving special lane can be greatly improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent Internet of things, in particular to a method and a device for managing and controlling an automatic driving special lane based on virtual isolation, and further relates to electronic equipment and a computer readable storage medium.
Background
With the rapid development of computer technology, vehicle control technology realized based on a computer is gradually mature, which brings a new development direction for the automobile industry, namely, automatic driving of vehicles is realized. The automatic driving automobile is also called an unmanned automobile, and is an intelligent automobile which can realize unmanned driving through a computer system. The automatic driving automobile usually needs sensors such as a video camera, a radar sensor and a laser range finder to detect surrounding traffic conditions in the driving process, so that the navigation of the road in front is realized. Currently, four levels of unmanned driving are distinguished according to the level of automation: driving assistance, partial automation, high automation and full automation. However, with the popularization of autonomous vehicles, how to conveniently manage and control an autonomous vehicle based on roadside equipment has gradually become a key point of development in this field.
In the prior art, in order to facilitate effective management and control of a driving unmanned vehicle, a method of physically isolating an autonomous lane is generally adopted, that is, a physical isolation such as an isolation zone is provided between an autonomous lane and a non-autonomous lane, so as to distinguish and manage the autonomous vehicle from the non-autonomous vehicle. Although the mode improves the efficiency of automatic driving vehicle management to a certain extent, the method of physical isolation has poor expandability, and the construction modification cost and difficulty are high and the later maintenance management efficiency is low when the number of automatic driving lanes and the mileage are continuously increased in the future.
Disclosure of Invention
Therefore, the embodiment of the invention provides a control method of an automatic driving special lane based on virtual isolation, which aims to solve the problems of large construction workload and cost and low maintenance and management efficiency of the control method of the automatic driving special lane based on physical isolation in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for managing and controlling an automatic driving dedicated lane based on virtual isolation, including: distinguishing automatic driving lanes from non-automatic driving lanes according to mark lines preset on a road; monitoring a target vehicle running on a road based on a preset road side sensor and a road side unit, and acquiring vehicle information of the target vehicle; determining a target lane corresponding to the running of the target vehicle according to the vehicle information; wherein the target lane is the autonomous driving lane or the non-autonomous driving lane; broadcasting driving instruction information to the target vehicle within a target area based on the road side unit and the target lane.
Further, determining a target lane corresponding to the target vehicle according to the vehicle information specifically includes: extracting vehicle identification information of the target vehicle from the vehicle information, and acquiring vehicle type information or automatic driving level information of the target vehicle according to the vehicle identification information; wherein the vehicle type information includes one of type information corresponding to an autonomous vehicle and type information corresponding to a non-autonomous vehicle; and determining a target lane corresponding to the target vehicle according to the vehicle type information or the automatic driving level information.
Further, the method for managing and controlling an automatic driving dedicated lane based on virtual isolation further includes: and detecting whether a non-automatic driving target vehicle exists in the automatic driving lane, if the non-automatic driving target vehicle is detected to run in the automatic driving lane, sending an early warning indication notice through a preset road side unit or a road side information board, and reporting to a preset central control system.
Further, the method for managing and controlling an autonomous driving dedicated lane based on virtual isolation, where detecting whether there is a non-autonomous driving target vehicle in the autonomous driving lane, specifically includes: acquiring vehicle identification information of a target vehicle in the automatic driving lane, and acquiring type information or automatic driving level information of the target vehicle in real time according to the vehicle identification information; and judging whether the current driving lane of the target vehicle is matched with the type information or the automatic driving level information, if not, reporting to a preset central control system.
Further, the vehicle information includes: vehicle identification, vehicle location, vehicle type, and autodrive level; wherein the vehicle identification comprises at least one of a license plate number and an electronic Identity (ID) of the vehicle.
Further, the sign line includes at least one of a road side road traffic sign board and a ground road traffic sign line.
Further, if the non-autonomous driving target vehicle is detected not to leave the autonomous driving lane after the early warning indication notification is sent and a preset time threshold is met, sending management and control indication information to the corresponding mobile terminal.
In a second aspect, an embodiment of the present invention further provides a virtual isolation-based control apparatus for an autonomous driving dedicated lane, including: the lane distinguishing unit is used for distinguishing an automatic driving lane from a non-automatic driving lane according to a mark line preset on a road; the system comprises a vehicle information acquisition unit, a road side unit and a vehicle information processing unit, wherein the vehicle information acquisition unit is used for monitoring a target vehicle running on a road based on a preset road side sensor and the road side unit and acquiring vehicle information of the target vehicle; the lane determining unit is used for determining a target lane which is driven by the target vehicle correspondingly according to the vehicle information; wherein the target lane is the autonomous driving lane or the non-autonomous driving lane; a travel instruction information broadcasting unit for broadcasting travel instruction information to the target vehicle within a target area based on the road side unit and the target lane.
Further, the lane determining unit is specifically configured to: extracting vehicle identification information of the target vehicle from the vehicle information, and acquiring vehicle type information or automatic driving level information of the target vehicle according to the vehicle identification information; wherein the vehicle type information includes one of type information corresponding to an autonomous vehicle and type information corresponding to a non-autonomous vehicle; and determining a target lane corresponding to the target vehicle according to the vehicle type information or the automatic driving level information.
Further, the management and control device for an automatic driving dedicated lane based on virtual isolation further includes: and the detection and report unit is used for detecting whether the target vehicle which is not automatically driven exists in the automatic driving lane, and if the target vehicle which is not automatically driven is detected to run in the automatic driving lane, the detection and report unit sends an early warning indication notice through a preset road side unit or a road side information board and reports the early warning indication notice to a preset central control system.
Further, the control device for the automatic driving dedicated lane based on the virtual isolation, the detecting and reporting unit is specifically configured to: acquiring vehicle identification information of a target vehicle in the automatic driving lane, and acquiring type information or automatic driving level information of the target vehicle in real time according to the vehicle identification information; and judging whether the current driving lane of the target vehicle is matched with the type information or the automatic driving level information, if not, reporting to a preset central control system.
Further, the vehicle information includes: vehicle identification, vehicle location, vehicle type, and autodrive level; wherein the vehicle identification comprises at least one of a license plate number and an electronic Identity (ID) of the vehicle.
Further, the sign line includes at least one of a road side road traffic sign board and a ground road traffic sign line.
Further, the management and control device for an automatic driving dedicated lane based on virtual isolation further includes: and the management and control instruction information sending unit is used for sending management and control instruction information to a corresponding mobile terminal if the non-automatic driving target vehicle is detected not to be driven away from the automatic driving lane after the early warning instruction notification is sent and a preset time threshold is met.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory; the memory is configured to store a program of a virtual isolation-based autonomous driving lane control method, and after the electronic device is powered on and runs the program of the virtual isolation-based autonomous driving lane control method through the processor, the electronic device executes any one of the above-mentioned virtual isolation-based autonomous driving lane control methods.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, where one or more program instructions are contained in the computer-readable storage medium, and the one or more program instructions are used for a server to execute any one of the above methods for managing a virtual isolation-based autonomous driving dedicated lane.
By adopting the control method of the automatic driving special lane based on the virtual isolation, the construction cost of the automatic driving special lane is simplified, the difficulty of realizing the management of the automatic driving lane and the cost of transformation are reduced, the efficiency and the accuracy of the control of the automatic driving special lane can be greatly improved, and the use experience of a user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a flowchart of a method for managing and controlling an automatic driving dedicated lane based on virtual isolation according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a management and control apparatus for an automatic driving dedicated lane based on virtual isolation according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating management and control of an autonomous driving dedicated lane based on virtual isolation according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The control method of the automatic driving special lane based on the virtual isolation does not need to construct the automatic driving special lane in a physical isolation mode, and can realize the distinguishing and control of the automatic driving special lane through the road side sensor and the vehicle road cooperative equipment, thereby realizing the virtual isolation of the automatic driving special lane and the non-automatic driving lane.
The following describes an embodiment of the method for managing and controlling an automatic driving dedicated lane based on virtual isolation according to the present invention in detail. As shown in fig. 1 and fig. 4, which are a flowchart of a method for managing and controlling an autonomous driving dedicated lane based on virtual isolation and a schematic diagram of managing and controlling an autonomous driving dedicated lane based on virtual isolation according to an embodiment of the present invention, the specific implementation process includes the following steps:
step S101: and distinguishing automatic driving lanes from non-automatic driving lanes according to preset mark lines on the road.
Specifically, in the embodiment of the invention, the automatic driving lane and the non-automatic driving lane can be distinguished according to the preset mark line on the road in a background configuration mode, and corresponding parameters are set. The mark and marked line can be road traffic mark and marked line, and can be set on the road to represent the traffic facilities with specific management content and behavior rule by using defined figure, symbol, character, line, vertical mark, projected mark and the like. In practical implementation, the marking lines may include road traffic signs on the road side, road traffic marking lines on the ground, and the like.
Step S102: monitoring a target vehicle running on a road based on a preset road side sensor and a road side unit, and acquiring vehicle information of the target vehicle.
After distinguishing the autonomous driving lane from the non-autonomous driving lane in step S101, in this step, vehicle information reported by the target vehicle may be acquired based on a preset roadside sensor and a roadside unit. Wherein the vehicle information includes: vehicle identification, vehicle location, vehicle type, and autodrive level, among others.
Specifically, in the embodiment of the present invention, the roadside sensor includes a microwave radar, a laser radar, a camera, C-V2X, DSRC (Dedicated Short Range Communications; Dedicated Short Range Communications), and the like. The microwave radar and the laser radar can be used for acquiring vehicle position information of the target vehicle, the camera can be used for acquiring a vehicle identifier of the target vehicle, and the vehicle identifier comprises a license plate number or an electronic Identity (ID) of the vehicle, so that the vehicle type and the automatic driving level of the target vehicle can be acquired according to the vehicle identifier, and the detailed description is omitted herein.
The road Side unit is RSU (road Side Unit). The ETC system is installed at the roadside and can communicate with an on-Board unit (OBU) (on Board Unit) based on a C-V2X or DSRC communication technology to acquire vehicle information such as vehicle types and automatic driving levels periodically reported by the target vehicle. It should be noted that the automatic driving level reported by the target vehicle includes L0 to L5, and if there is a vehicle that does not report vehicle information, the vehicle is processed according to a non-automatic driving vehicle.
Step S103: and determining a target lane corresponding to the running of the target vehicle according to the vehicle information.
After the vehicle information reported by the target vehicle is acquired based on the preset roadside sensor in step S102, a target lane on which the target vehicle travels corresponding to the target vehicle may be determined based on the vehicle information. Wherein the target lane is one of the autonomous driving lane and the non-autonomous driving lane.
Specifically, the determining, according to the vehicle information, a target lane on which the target vehicle correspondingly travels may include: extracting vehicle identification information of the target vehicle from the vehicle information, and acquiring vehicle type information or automatic driving level information of the target vehicle according to the vehicle identification information; and determining a target lane corresponding to the target vehicle according to the vehicle type information or the automatic driving level information. Wherein the vehicle type information includes type information corresponding to an autonomous vehicle, type information corresponding to a non-autonomous vehicle, and the like.
For example, when the determination is performed according to the vehicle type information, that is, whether the target vehicle is an autonomous vehicle is determined according to the acquired vehicle type identification information, if so, the target vehicle may be controlled to travel to an autonomous lane. When the determination is made based on the automatic driving level information, the automatic driving level of the target vehicle may be included in L0 to L5, and it is determined based on the acquired vehicle automatic driving level identification information whether or not the vehicle whose automatic driving level is greater than or equal to a certain level (which may be set in the background in advance, for example, > < L3) may be driven in the automatic driving lane.
In an actual implementation process, the vehicle information may refer to vehicle information that is periodically uploaded by the target vehicle through an on-board unit and a roadside unit, or may refer to vehicle information that corresponds to the target vehicle and is obtained according to vehicle identification information acquired by a roadside sensor, which is not specifically limited herein. It should be noted that the target vehicle may refer to an autonomous vehicle traveling on a monitored road segment in the target area. The automatic driving vehicle can be judged to belong to one of a driving auxiliary vehicle, a partially automatic vehicle, a highly automatic vehicle and a fully automatic vehicle according to vehicle information reported by the vehicle or vehicle information obtained by detection of a road side sensor and the like, and then a target lane corresponding to the target vehicle is determined.
Step S104: broadcasting driving instruction information to the target vehicle within a target area based on the road side unit and the target lane.
After determining the target lane on which the target vehicle is to travel based on the vehicle information in step S103, the travel instruction information may be broadcast to the target vehicle within the target area based on the roadside unit and the target lane in this step.
Specifically, the driving indication information can be determined according to the target lane, the road side unit broadcasts the driving indication information to a preset target area around, and after the vehicle enters the target area, the road side unit broadcast driving indication information can be received based on an on-board unit installed in the vehicle, so that the vehicle can drive into the target lane. The target may refer to an autonomous driving lane or a non-autonomous driving lane. The driving instruction information is used for guiding the target vehicle to drive into the control instruction information corresponding to the target lane.
In the implementation process of the invention, whether a non-automatic driving target vehicle exists in the automatic driving lane is also detected, if the non-automatic driving target vehicle is detected to run in the automatic driving lane, an early warning indication notice is sent through a preset road side unit or a road side information board, and the event is reported to a preset central control system. And if the non-automatic driving target vehicle is detected not to leave the automatic driving lane after the early warning indication notice is sent and a preset time threshold is met, sending management and control indication information to a corresponding mobile terminal. The mobile terminal may refer to a portable mobile terminal held by law enforcement officers, such as: pager, mobile phone, etc.; the management and control indication information may include position information, color feature information, license plate number information, or the like of the illegal vehicle, and is not specifically limited herein.
The detecting whether the target vehicle which is not automatically driven exists in the automatic driving lane may include: acquiring vehicle identification information of a target vehicle in the automatic driving lane, and acquiring type information or automatic driving level information of the target vehicle in real time according to the vehicle identification information; and judging whether the current driving lane of the target vehicle is matched with the type information or the automatic driving level information or not, and if not, reporting the event to a preset central control system. It should be noted that, in the implementation process, the events include: an event that a non-autonomous target vehicle is driven in an autonomous lane and vehicle information of the target vehicle.
By adopting the control method of the automatic driving special lane based on the virtual isolation, the construction cost of the automatic driving special lane is simplified, the difficulty of realizing the management of the automatic driving lane is reduced, and the efficiency and the accuracy of the control of the automatic driving special lane can be greatly improved.
Corresponding to the control method of the automatic driving special lane based on the virtual isolation, the invention also provides a control device of the automatic driving special lane based on the virtual isolation. Since the embodiment of the device is similar to the method embodiment, the description is simple, and please refer to the description of the method embodiment, and the embodiment of the automatic driving dedicated lane control device based on virtual isolation described below is only schematic. Fig. 2 is a schematic view of a control device for an automatic driving dedicated lane based on virtual isolation according to an embodiment of the present invention.
The invention relates to a management and control device of an automatic driving special lane based on virtual isolation, which comprises the following parts:
the lane distinguishing unit 201 is configured to distinguish an autonomous driving lane from a non-autonomous driving lane according to a preset marking line on a road.
In the embodiment of the invention, the automatic driving lane and the non-automatic driving lane can be distinguished according to the preset mark line on the road in a background configuration mode, and corresponding parameters are set. The marking lines can comprise road traffic signs on the road side, road traffic marking lines on the ground and the like. The mark and marked line can be road traffic mark and marked line, and can be set on the road to represent the traffic facilities with specific management content and behavior rule by using defined figure, symbol, character, line, vertical mark, projected mark and the like.
The vehicle information acquiring unit 202 is configured to monitor a target vehicle traveling on a road based on a preset road side sensor and a road side unit, and acquire vehicle information of the target vehicle.
After the lane distinguishing unit 201 distinguishes the autonomous driving lane from the non-autonomous driving lane, the vehicle information acquiring unit 202 may acquire the vehicle information reported by the target vehicle based on a preset roadside sensor and a preset roadside unit. Wherein the vehicle information includes: vehicle identification, vehicle location, vehicle type, and autodrive level, among others.
Specifically, in the embodiment of the present invention, the roadside sensor includes a microwave radar, a laser radar, a camera, C-V2X, DSRC (Dedicated Short Range Communications; Dedicated Short Range Communications), and the like. The microwave radar and the laser radar can be used for acquiring vehicle position information of the target vehicle, the camera can be used for acquiring a vehicle identifier of the target vehicle, and the vehicle identifier comprises a license plate number or an electronic Identity (ID) of the vehicle, so that the vehicle type and the automatic driving level of the target vehicle can be acquired according to the vehicle identifier, and the detailed description is omitted herein.
The road Side unit is RSU (road Side Unit). The ETC system is installed at the roadside and can communicate with an on-Board unit (OBU) (on Board Unit) based on a C-V2X or DSRC communication technology to acquire vehicle information such as vehicle types and automatic driving levels periodically reported by the target vehicle. It should be noted that the automatic driving level reported by the target vehicle includes L0 to L5, and if there is a vehicle that does not report vehicle information, the vehicle is processed according to a non-automatic driving vehicle.
The lane determining unit 203 is configured to determine, according to the vehicle information, a target lane where the target vehicle travels correspondingly; wherein the target lane is the autonomous driving lane or the non-autonomous driving lane.
After the vehicle information reported by the target vehicle is acquired by the vehicle information acquisition unit 202 based on the preset roadside sensor, the lane determination unit 203 may further determine a target lane on which the target vehicle travels based on the vehicle information. Wherein the target lane is one of the autonomous driving lane and the non-autonomous driving lane.
Specifically, the determining, according to the vehicle information, a target lane on which the target vehicle correspondingly travels may include: extracting vehicle identification information of the target vehicle from the vehicle information, and acquiring vehicle type information or automatic driving level information of the target vehicle according to the vehicle identification information; and determining a target lane corresponding to the target vehicle according to the vehicle type information or the automatic driving level information. Wherein the vehicle type information includes type information corresponding to an autonomous vehicle, type information corresponding to a non-autonomous vehicle, and the like.
A driving instruction information broadcasting unit 204, configured to broadcast driving instruction information to the target vehicle in a target area based on the road side unit and the target lane.
After determining the target lane on which the target vehicle is to travel based on the vehicle information in the lane determination unit 203, the travel instruction information may be broadcast to the target vehicle within the target area based on the roadside unit and the target lane in the travel instruction information broadcasting unit 204.
Specifically, the driving indication information can be determined according to the target lane, the road side unit broadcasts the driving indication information to a preset target area around, and after the vehicle enters the target area, the road side unit broadcast driving indication information can be received based on an on-board unit installed in the vehicle, so that the vehicle can drive into the target lane. The target may refer to an autonomous driving lane or a non-autonomous driving lane. The driving instruction information is used for guiding the target vehicle to drive into the control instruction information corresponding to the target lane.
In the implementation process of the invention, whether a non-automatic driving target vehicle exists in the automatic driving lane is also detected, if the non-automatic driving target vehicle is detected to run in the automatic driving lane, an early warning indication notice is sent through a preset road side unit or a road side information board, and the event is reported to a preset central control system. And if the non-automatic driving target vehicle is detected not to leave the automatic driving lane after the early warning indication notice is sent and a preset time threshold is met, sending management and control indication information to a corresponding mobile terminal. The mobile terminal may refer to a portable mobile terminal held by law enforcement officers, such as: pager, mobile phone, etc.; the management and control indication information may include position information, color feature information, license plate number information, or the like of the illegal vehicle, and is not specifically limited herein.
By adopting the control device of the automatic driving special lane based on the virtual isolation, the construction cost of the automatic driving special lane is simplified, the difficulty of realizing the management of the automatic driving lane is reduced, and the efficiency and the accuracy of the control of the automatic driving special lane can be greatly improved.
Corresponding to the control method of the automatic driving special lane based on the virtual isolation, the invention also provides electronic equipment. Since the embodiment of the electronic device is similar to the above method embodiment, the description is relatively simple, and please refer to the description of the above method embodiment, and the electronic device described below is only schematic. Fig. 3 is a schematic view of an electronic device according to an embodiment of the present invention.
The electronic device specifically includes: a processor 301 and a memory 302; wherein, the memory 302 is used for running one or more program instructions for storing a program of a virtual isolation-based autonomous driving exclusive lane control method, and the server is powered on and runs the program of the virtual isolation-based autonomous driving exclusive lane control method through the processor 301 to execute any one of the above-mentioned virtual isolation-based autonomous driving exclusive lane control methods.
Corresponding to the control method of the automatic driving special lane based on the virtual isolation, the invention also provides a computer storage medium. Since the embodiment of the computer storage medium is similar to the above method embodiment, the description is simple, and please refer to the description of the above method embodiment, and the computer storage medium described below is only schematic.
The computer storage medium contains one or more program instructions for executing the above method for managing and controlling the virtual isolation-based autonomous driving dedicated lane by the server.
In an embodiment of the invention, the processor or processor module may be an integrated circuit chip having signal processing capabilities. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (ddr Data Rate SDRAM), Enhanced SDRAM (ESDRAM), synclink DRAM (SLDRAM), and Direct memory bus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (10)
1. A control method of an automatic driving special lane based on virtual isolation is characterized by comprising the following steps:
distinguishing automatic driving lanes from non-automatic driving lanes according to mark lines preset on a road;
monitoring a target vehicle running on a road based on a preset road side sensor and a road side unit, and acquiring vehicle information of the target vehicle;
determining a target lane corresponding to the running of the target vehicle according to the vehicle information; wherein the target lane is the autonomous driving lane or the non-autonomous driving lane;
broadcasting driving instruction information to the target vehicle within a target area based on the road side unit and the target lane.
2. The method for managing and controlling the automatic driving dedicated lane based on the virtual isolation according to claim 1, wherein determining a target lane on which the target vehicle travels according to the vehicle information specifically includes:
extracting vehicle identification information of the target vehicle from the vehicle information, and acquiring vehicle type information or automatic driving level information of the target vehicle according to the vehicle identification information; wherein the vehicle type information includes one of type information corresponding to an autonomous vehicle and type information corresponding to a non-autonomous vehicle;
and determining a target lane corresponding to the target vehicle according to the vehicle type information or the automatic driving level information.
3. The virtual isolation-based autonomous driving dedicated lane control method according to claim 1, further comprising:
and detecting whether a non-automatic driving target vehicle exists in the automatic driving lane, if the non-automatic driving target vehicle is detected to run in the automatic driving lane, sending an early warning indication notice through a preset road side unit or a road side information board, and reporting to a preset central control system.
4. The method for managing and controlling a virtual isolation-based autonomous driving dedicated lane according to claim 1, wherein detecting whether a non-autonomous driving target vehicle exists in the autonomous driving lane specifically comprises:
acquiring vehicle identification information of a target vehicle in the automatic driving lane, and acquiring type information or automatic driving level information of the target vehicle in real time according to the vehicle identification information;
and judging whether the current driving lane of the target vehicle is matched with the type information or the automatic driving level information, if not, reporting to a preset central control system.
5. The virtual isolation-based autonomous driving dedicated lane control method according to claim 1, wherein the vehicle information includes: vehicle identification, vehicle location, vehicle type, and autodrive level; wherein the vehicle identification comprises at least one of a license plate number and an electronic Identity (ID) of the vehicle.
6. The virtual isolation-based autonomous driving lane control method according to claim 1, wherein the sign line includes at least one of a road side road traffic sign and a road traffic sign line on the ground.
7. The virtual isolation-based autonomous driving lane management and control method according to claim 3, further comprising: and if the non-automatic driving target vehicle is detected not to leave the automatic driving lane after the early warning indication notice is sent and a preset time threshold is met, sending management and control indication information to a corresponding mobile terminal.
8. A management and control device of an automatic driving special lane based on virtual isolation is characterized by comprising:
the lane distinguishing unit is used for distinguishing an automatic driving lane from a non-automatic driving lane according to a mark line preset on a road;
the system comprises a vehicle information acquisition unit, a road side unit and a vehicle information processing unit, wherein the vehicle information acquisition unit is used for monitoring a target vehicle running on a road based on a preset road side sensor and the road side unit and acquiring vehicle information of the target vehicle;
the lane determining unit is used for determining a target lane which is driven by the target vehicle correspondingly according to the vehicle information; wherein the target lane is the autonomous driving lane or the non-autonomous driving lane;
a travel instruction information broadcasting unit for broadcasting travel instruction information to the target vehicle within a target area based on the road side unit and the target lane.
9. An electronic device, comprising:
a processor; and
a memory for storing a program of a virtual isolation-based autonomous driving dedicated lane control method, the electronic device being powered on and executing the program of the virtual isolation-based autonomous driving dedicated lane control method through the processor to execute the virtual isolation-based autonomous driving dedicated lane control method according to any one of claims 1 to 7.
10. A computer readable storage medium containing one or more program instructions for execution by a server of the method for virtual isolation-based autonomous lane control of a dedicated autonomous driving lane according to any of claims 1-7.
Priority Applications (1)
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