CN111462528A - Vehicle importing method and device and computer readable storage medium - Google Patents

Vehicle importing method and device and computer readable storage medium Download PDF

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Publication number
CN111462528A
CN111462528A CN202010212300.1A CN202010212300A CN111462528A CN 111462528 A CN111462528 A CN 111462528A CN 202010212300 A CN202010212300 A CN 202010212300A CN 111462528 A CN111462528 A CN 111462528A
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vehicle
speed
road
current
time
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刘均
柴勇
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • 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

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Abstract

The embodiment of the application discloses a vehicle importing method, a vehicle importing device and a computer readable storage medium, wherein the method comprises the following steps: acquiring first vehicle information, wherein the first vehicle information comprises a current position of a first vehicle and a current speed of the first vehicle, the first vehicle is a vehicle which is closest to a road junction on a first road section, and the road junction is a road junction of the first road section and a second road section; acquiring second vehicle information, wherein the second vehicle information comprises the current position of a second vehicle and the current speed of the second vehicle, and the second vehicle is a vehicle which is closest to the road intersection on a second road section; and determining the speed of the second vehicle entering the first road section according to the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle and the position of the road intersection. According to the embodiment of the application, the accuracy of vehicle import can be improved.

Description

Vehicle importing method and device and computer readable storage medium
Technical Field
The present application relates to the field of intelligent transportation technologies, and in particular, to a vehicle import method, an apparatus, and a computer-readable storage medium.
Background
Ramp, generally, refers to a small section of access road that provides access for vehicles to and from main lines (freeways, elevated roads, bridges, driving tunnels, etc.) and adjacent auxiliary roads, or to the land bridges/chutes/lead lines of other main lines, and to the distribution road, etc. When a vehicle enters a main road through a ramp, a proper time needs to be found, and the vehicle is inserted from the front and rear vehicle clearances in the main road so as to successfully and safely complete the road-in. The selection of this timing is a laborious matter for the driver, and if the selection is not good, accidents are easy to happen. At present, when a vehicle is merged into a main road, a common vehicle merging method is as follows: the driver actively observes the traffic information of surrounding vehicles from the rearview mirror or the window glass through eyes, and the vehicle is converged after judgment. In the method, the subjective factors of the driver observing the surrounding vehicle conditions through eyes are more when the judgment is made, so that the accuracy of vehicle convergence is reduced.
Disclosure of Invention
The embodiment of the application discloses a vehicle import method, a vehicle import device and a computer readable storage medium, which are used for improving the accuracy of vehicle import.
A first aspect discloses a vehicle merge method, comprising:
acquiring first vehicle information, wherein the first vehicle information comprises a current position of a first vehicle and a current vehicle speed of the first vehicle, the first vehicle is a vehicle which is closest to a road junction on a first road section, and the road junction is a road junction of the first road section and a second road section;
acquiring second vehicle information, wherein the second vehicle information comprises a current position of a second vehicle and a current speed of the second vehicle, and the second vehicle is a vehicle which is closest to the road intersection on the second road section;
determining the speed of the second vehicle merging into the first road section according to the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle and the position of the road intersection.
In one possible implementation, the determining the speed at which the second vehicle merges into the first road segment according to the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road intersection includes:
calculating a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction;
judging whether the first vehicle and the second vehicle have collision risks according to the first time and the second time;
under the condition that the first vehicle and the second vehicle are not in collision risk, determining the speed of the second vehicle converging into the first road section as the current speed of the second vehicle;
and under the condition that the first vehicle and the second vehicle are in collision risk, determining that the speed of the second vehicle converging into the first road section is a first speed.
In one possible implementation manner, the determining whether the first vehicle and the second vehicle are at risk of collision according to the first time and the second time includes:
calculating a ratio between a safe distance and a current vehicle speed of the second vehicle;
determining that the first vehicle and the second vehicle are not at risk of collision if the absolute value of the difference between the first time and the second time is greater than the ratio;
determining that the first vehicle and the second vehicle are at risk of collision if an absolute value of a difference between the first time and the second time is less than or equal to the ratio.
In one possible implementation manner, the determining that the speed at which the second vehicle merges into the first road section is the first speed includes:
calculating a distance of the second vehicle from the road junction according to the current position of the second vehicle and the position of the road junction;
and calculating a first speed of the second vehicle converging into the first road section according to the distance, the first time and the ratio.
In one possible implementation, the method further includes:
and sending a prompt message for prompting that the user has the vehicle to enter to the first vehicle.
In one possible implementation, the method further includes:
sending, to the second vehicle, a speed at which the second vehicle merges into the first road segment, the speed being indicative of the second vehicle traveling at the speed.
A second aspect discloses a vehicle merge device, including:
the vehicle information processing device comprises an acquiring unit, a judging unit and a judging unit, wherein the acquiring unit is used for acquiring first vehicle information, the first vehicle information comprises the current position of a first vehicle and the current speed of the first vehicle, the first vehicle is a vehicle which is closest to a road intersection on a first road section, and the road intersection is a road intersection of the first road section and a second road section;
the obtaining unit is further configured to obtain second vehicle information, where the second vehicle information includes a current position of a second vehicle and a current vehicle speed of the second vehicle, and the second vehicle is a vehicle on the second road segment that is closest to the road intersection;
a determining unit, configured to determine, according to the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road intersection, a speed at which the second vehicle merges into the first road segment.
In a possible implementation manner, the determining unit is specifically configured to:
calculating a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction;
judging whether the first vehicle and the second vehicle have collision risks according to the first time and the second time;
under the condition that the first vehicle and the second vehicle are not in collision risk, determining the speed of the second vehicle converging into the first road section as the current speed of the second vehicle;
and under the condition that the first vehicle and the second vehicle are in collision risk, determining that the speed of the second vehicle converging into the first road section is a first speed.
In a possible implementation manner, the determining unit is configured to, when determining whether the first vehicle and the second vehicle have a collision risk according to the first time and the second time, specifically:
calculating a ratio between a safe distance and a current vehicle speed of the second vehicle;
determining that the first vehicle and the second vehicle are not at risk of collision if the absolute value of the difference between the first time and the second time is greater than the ratio;
determining that the first vehicle and the second vehicle are at risk of collision if an absolute value of a difference between the first time and the second time is less than or equal to the ratio.
In a possible implementation manner, the determining unit is configured to, when determining that the speed at which the second vehicle merges into the first road segment is the first speed, specifically:
calculating a distance of the second vehicle from the road junction according to the current position of the second vehicle and the position of the road junction;
and calculating a first speed of the second vehicle converging into the first road section according to the distance, the first time and the ratio.
In one possible implementation, the apparatus further includes:
the first sending unit is used for sending a prompt message for prompting that the user has a vehicle to enter to the first vehicle.
In one possible implementation, the apparatus further includes:
a second sending unit, configured to send, to the second vehicle, a speed at which the second vehicle merges into the first road segment, where the speed is used to instruct the second vehicle to travel according to the speed.
A third aspect discloses a vehicle import apparatus, which includes a processor and a memory, and the processor is coupled with the memory, wherein the memory is used for storing computer instructions, and the processor causes the vehicle import apparatus to execute the vehicle import method disclosed in the first aspect or any embodiment of the first aspect by executing the computer instructions stored in the memory.
A fourth aspect discloses a computer-readable storage medium having stored therein a computer program or computer instructions which, when executed by a computer device, cause the computer device to carry out a vehicle import method as disclosed in the first aspect or any one of the embodiments of the first aspect.
A fifth aspect discloses a computer program product which, when run on a computer, causes the computer to perform the vehicle import method disclosed in the first aspect or any of the possible implementations of the first aspect.
In the embodiment of the application, first vehicle information is obtained, the first vehicle information comprises the current position of a first vehicle and the current speed of the first vehicle, the first vehicle is a vehicle closest to a road junction on a first road section, the road junction is a road junction of the first road section and a second road section, second vehicle information is obtained, the second vehicle information comprises the current position of a second vehicle and the current speed of the second vehicle, the second vehicle is a vehicle closest to the road junction on the second road section, and the speed of the second vehicle converging into the first road section is determined according to the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle and the position of the road junction. Therefore, the speed of the second vehicle entering the first road section can be accurately determined through communication interaction between the road side unit RSU equipment and the first vehicle or between the first vehicle and the second vehicle, and a driver does not need to observe surrounding vehicle conditions through eyes to determine the speed, so that the accuracy of vehicle entering can be improved, the influence of the entering vehicle on the main road traffic flow is reduced, and the passing efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a vehicle driving control system architecture disclosed in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram illustrating a vehicle import method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram of another vehicle import method disclosed in the embodiments of the present application;
fig. 4 is a schematic diagram of an RSU device monitoring a road segment according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating yet another vehicle import method disclosed in the embodiments of the present application;
FIG. 6 is a schematic diagram of a vehicle according to an embodiment of the present disclosure traveling along a road segment;
fig. 7 is a schematic structural diagram of a vehicle merge-in device disclosed in an embodiment of the present application;
fig. 8 is a schematic structural diagram of another vehicle merge device disclosed in the embodiment of the present application.
Detailed Description
The embodiments of the present application will be described below with reference to the drawings.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As used in this specification, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between 2 or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from two components interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
The embodiment of the application discloses a vehicle converging method, a vehicle converging device and a computer readable storage medium, which are used for improving the passing efficiency of vehicles at an intersection. The following are detailed below.
In order to better understand a vehicle import method and a vehicle import device provided in the embodiments of the present application, a description will be given below of one of vehicle driving control system architectures on which the embodiments of the present application are based. Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle driving control system according to an embodiment of the present disclosure. As shown in fig. 1, the vehicle travel control system architecture in the present application may include a first device 101, a first vehicle 102, and a second vehicle 103. The first device 101 and the first vehicle 102, the first vehicle 102 and the second vehicle 103, and the first device 101 and the second vehicle 103 may communicate through a network, and the communication may be based on any wired and wireless network, including but not limited to the internet, a wide area network, a metropolitan area network, a local area network, a Virtual Private Network (VPN), a wireless communication network, and the like.
The first device 101 may be a Road Side Unit (RSU) device, and the RSU may be composed of a high-gain directional beam-steering read-write antenna and a radio frequency controller. The high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, coding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module for controlling data transmission and reception and processing information transmission and reception to an upper computer. The RSU device is also a device that is installed in the roadside in an automatic road toll Collection (ETC) system, communicates with an On-Board Unit (OBU) by using a Dedicated Short Range Communication (DSRC) technology, and realizes vehicle identification, electronic deduction, and the like. The first device may acquire first vehicle information including a current position of the first vehicle 102 and a current vehicle speed of the first vehicle 102, and second vehicle information including a current position of the second vehicle 103 and a current vehicle speed of the second vehicle 103 in the present application, where the first vehicle 102 is a vehicle closest to a road intersection on a first road segment, the second vehicle 103 is a vehicle closest to the road intersection on a second road segment, and the road intersection is a road intersection of the first road segment and the second road segment; and determining the speed of the second vehicle 103 entering the first road section according to the acquired current position of the first vehicle 102, the acquired current speed of the first vehicle 102, the acquired current position of the second vehicle 103, the acquired current speed of the second vehicle 103 and the acquired position of the road intersection. Vehicle merge in this embodiment means that the second vehicle travels from the second road segment to the first road segment.
The first vehicle 102 and the second vehicle 103 may be vehicles loaded with OBU devices. In one case, when the first vehicle 102 and the second vehicle 103 are vehicles loaded with OBU devices and travel a road segment within the coverage area of the first device 101, the first device 101 may acquire first vehicle information including a current position of the first vehicle 102 and a current vehicle speed of the first vehicle 102, second vehicle information including a current position of the second vehicle 103 and a current vehicle speed of the second vehicle 103, and determine a speed at which the second vehicle 103 converges into the first road segment based on the acquired current position of the first vehicle 102, the current speed of the first vehicle 102, the current position of the second vehicle 103, the current speed of the second vehicle 103, and a position of a road intersection, the first device 101 after determining the speed at which the second vehicle 103 converges into the first road segment, a prompt message may be sent to the first vehicle 102 to prompt the user that there is a vehicle to merge into, and a prompt message may also be sent to the second vehicle 103 to instruct the second vehicle 103 to travel at the speed to merge into the first road segment. In another case, when the first vehicle 102 and the second vehicle 103 are vehicles loaded with OBU devices and travel a road segment in a coverage area without the first device 101, the OBU device of the second vehicle 103 may acquire first vehicle information including the current position of the first vehicle 102 and the current vehicle speed of the first vehicle 102, and second vehicle information including the current position of the second vehicle 103 and the current vehicle speed of the second vehicle 103, and determine the speed at which the second vehicle 103 converges to the first road segment according to the acquired current position of the first vehicle 102, the current speed of the first vehicle 102, the current position of the second vehicle 103, the current speed of the second vehicle 103, and the position of the road intersection. The OBU device of the second vehicle 103, after determining the speed at which the second vehicle 103 enters the first road segment, may send a prompt message to the first vehicle 102 prompting the user that there is a vehicle entering, and may also send a prompt message to the second vehicle 103 instructing the second vehicle 103 to travel at that speed to enter the first road segment.
It is understood that the vehicle running control system architecture in fig. 1 is only an exemplary implementation in the embodiment of the present application, and the vehicle running control system architecture in the embodiment of the present application includes, but is not limited to, the above vehicle running control system architecture.
Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle import method disclosed in an embodiment of the present application based on the vehicle driving control system architecture shown in fig. 1. The vehicle import method is described from the perspective of the first device 101, the first vehicle 102, and the second vehicle 103. As shown in fig. 2, the vehicle import method may include the following steps.
201. The first device acquires first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle.
The first device may acquire first vehicle information, the first vehicle being a vehicle on a first road segment that is closest to a road junction, the road junction being a road junction of the first road segment and a second road segment. The first vehicle here refers to a vehicle on the first road segment that has not yet passed the road junction, and the distance here refers to the distance between the current position of the first vehicle and the road junction to be passed.
It should be noted that the first device may be an electronic device beside a road segment for monitoring the driving condition of vehicles on a certain road segment or monitoring the driving condition of vehicles on all road segments in an area. It may be that the first vehicle actively transmits vehicle information to the first device, which receives the vehicle information from the first vehicle. The first device may send the vehicle information acquisition request to the first vehicle, and the first vehicle may send the vehicle information to the first device after receiving the vehicle information acquisition request from the first device.
The first vehicle information may include a current position of the first vehicle and a current vehicle speed of the first vehicle, and may further include vehicle type information of the first vehicle. The first device can determine the vehicle length corresponding to the first vehicle by receiving or recognizing (e.g., photographing recognition, infrared recognition) the vehicle identification information (e.g., license plate number) of the first vehicle, determining the vehicle type information of the first vehicle according to the vehicle identification information, and further determining the vehicle length corresponding to the vehicle type information according to the vehicle type information.
202. The first device acquires second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle.
The first device may obtain information of a second vehicle, the second vehicle being a vehicle on a second road segment closest to the road junction. The second vehicle here refers to a vehicle on the second road section that has not yet passed the road intersection, and the distance here refers to the distance between the current position of the second vehicle and the road intersection to be passed. It may be that the second vehicle actively transmits the vehicle information to the first device, and the first device receives the vehicle information from the second vehicle. The first device may transmit the vehicle information acquisition request to the second vehicle, and the second vehicle may transmit the vehicle information to the first device after receiving the vehicle information acquisition request from the first device.
The second vehicle information may include a current position of the second vehicle and a current vehicle speed of the second vehicle, and may further include vehicle type information of the second vehicle. The first device can determine the type information of the second vehicle according to the vehicle identification information by receiving or identifying (such as photographing identification and infrared identification) the vehicle identification information (such as license plate number) of the second vehicle, and further determine the corresponding vehicle length according to the type information.
Specifically, the first device may send the vehicle information acquisition requests to the first vehicle and the second vehicle at the same time, or the first device may send the vehicle information acquisition requests to the first vehicle and the second vehicle respectively according to a sequence, and the first vehicle and the second vehicle send the vehicle information to the first device after receiving the vehicle information acquisition request from the first device.
When the first device monitors a certain road section, and when the first device monitors that the second vehicle needs to merge into the first road section, the first device can acquire the position of the road intersection of the first road section and the second road section, the first vehicle information, the second vehicle information and the safety distance adjusted according to the length of the first vehicle, and determine the speed of the second vehicle merging into the first road section, so that the second vehicle is guaranteed to merge into the first road section under the safety condition that no collision risk exists between the second vehicle and the first vehicle.
203. The first device calculates a first time at which the first vehicle arrives at the road intersection and a second time at which the second vehicle arrives at the road intersection, based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road intersection.
After the first device acquires first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle, and second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle, a first time at which the first vehicle arrives at the road junction and a second time at which the second vehicle arrives at the road junction may be calculated based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road junction. Wherein, the formula of the first time can be expressed as follows:
Figure BDA0002423243550000091
wherein, T1For the first time, S, when the first vehicle reaches the road junction1Is the distance, V, of the first vehicle's current position from the road intersection1Is the current speed of the first vehicle. The formula for the second time may be expressed as follows:
Figure BDA0002423243550000092
wherein, T2A second time, S, for a second vehicle to reach the road junction2For the intersection of the current position of the second vehicle with the roadDistance, V2Is the current speed of the second vehicle.
204. The first device determines whether the first vehicle and the second vehicle are at risk of collision based on the first time and the second time, and performs step 205 if there is no risk of collision, and performs step 206 if there is a risk of collision.
After the first device calculates a first time at which the first vehicle arrives at the road junction and a second time at which the second vehicle arrives at the road junction based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road junction, it may determine whether the first vehicle and the second vehicle have a collision risk based on the first time and the second time.
In a first implementation, when the first device determines whether the first vehicle and the second vehicle have a collision risk according to the first time and the second time, the first device may first calculate a ratio between the safe distance and a current vehicle speed of the second vehicle, and determine that the first vehicle and the second vehicle do not have a collision risk when an absolute value of a difference between the first time and the second time is greater than the ratio; determining that the first vehicle and the second vehicle are at risk of collision in a case where an absolute value of a difference between the first time and the second time is less than or equal to a ratio. Wherein the safety distance may be adjusted based on the length of the first vehicle and the length of the second vehicle determined in step 201 and in step 202.
In a second implementation, when the first vehicle and the second vehicle respectively keep running at the current speeds, the first device may calculate the maximum time required for the first vehicle to preferentially reach the road intersection for the first vehicle while ensuring the safe distance, and the formula for calculating the maximum time may be represented as follows:
Figure BDA0002423243550000101
wherein, T1maxL is the maximum time required for the first vehicle to preferentially reach the road junction for the first vehicle while ensuring a safe distanceA safe distance between the first vehicle and the second vehicle. The first device may calculate the shortest time required for the first vehicle to preferentially reach the road intersection for the second vehicle with the safety distance secured, and the formula of calculating the shortest time may be represented as follows:
Figure BDA0002423243550000102
wherein, T1minThe shortest time required for a first vehicle to preferentially reach a road intersection for a second vehicle while ensuring a safe distance. The formula for the first device to calculate the time for the second vehicle to reach the road intersection may be expressed as follows:
Figure BDA0002423243550000103
at T2＞T1maxOr T2＜T1minIn this case, it may be determined that it is safe for the first vehicle and the second vehicle to respectively travel to reach the road intersection while keeping the respective current speeds, i.e., it is determined that there is no risk of collision between the first vehicle and the second vehicle; at T1min≤T2≤T1maxIn a case where it is determined that the first vehicle and the second vehicle are at risk of collision.
In a third implementation, when the first device determines whether the first vehicle and the second vehicle have a collision risk according to the first time and the second time, the first device may first calculate an absolute value of a difference between the first time and the second time, and determine that the first vehicle and the second vehicle do not have a collision risk when a product of the absolute value and a speed of the second vehicle is greater than a safe distance; in a case where the product of the absolute value and the speed of the second vehicle is less than or equal to the safe distance, it is determined that the first vehicle and the second vehicle are at risk of collision.
It should be noted that, without being limited to the three implementation manners, the first device may further include another implementation manner when determining whether the first vehicle and the second vehicle have a collision risk according to the first time and the second time, and details are not described here.
205. The first device determines that the speed at which the second vehicle merges into the first road segment is the current speed of the second vehicle.
In the case where it is determined that there is no risk of collision between the first vehicle and the second vehicle, the first device may determine that the speed at which the second vehicle merges into the first road section is the current speed of the second vehicle. Without the risk of collision, the second vehicle can continue to travel at the current speed and merge into the first route section.
206. The first device determines a speed at which the second vehicle merges into the first road segment as a first speed.
In the case where it is determined that the first vehicle and the second vehicle are at risk of collision, the first device may determine a speed at which the second vehicle merges into the first section as the first speed. According to traffic regulations, a turning vehicle needs to give way to a straight-going vehicle, so when a first vehicle and a second vehicle have a collision risk, the second vehicle needs to decelerate to give way to the first vehicle, and the first vehicle preferentially passes through a road intersection.
In a first implementation, with reference to the first implementation manner in step 203, when the first device determines the first speed, the first device may first calculate a distance between the second vehicle and the road intersection according to the current position of the second vehicle and the position of the road intersection, and then calculate the first speed at which the second vehicle merges into the first road segment according to the distance, the first time, and a ratio between the calculated safe distance in step 203 and the current vehicle speed of the second vehicle. The formula for calculating the first speed may be expressed as follows:
Figure BDA0002423243550000111
wherein, VTIAOIs the first speed.
In a second implementation manner, in combination with the second implementation manner in step 203, the formula for the first device to calculate the first speed may be represented as follows:
Figure BDA0002423243550000112
in a third implementation, in combination with the third implementation in step 203, the formula for the first device to calculate the first speed may be expressed as follows:
Figure BDA0002423243550000113
it should be noted that, without being limited to the three implementations described above, the first device may also include other implementations, which are not described herein again.
207. The first device sends to the second vehicle an instruction to the second vehicle to enter the first road segment at a first speed.
The first device may send a prompt message to the second vehicle instructing the second vehicle to slow down and travel at the first speed and merge into the arterial road after determining that the speed at which the second vehicle merges into the first road segment is the first speed. The second vehicle may output a prompt message after receiving the speed from the first device indicating that the second vehicle is merging into the first road segment. The prompting message can be prompted in a voice mode or a text mode.
208. The first device sends a signal to the second vehicle instructing the second vehicle to merge into the first road segment at the current speed.
The first device may send a prompt message to the second vehicle instructing the second vehicle to continue traveling at the current vehicle speed and merge into the arterial road after determining that the speed at which the second vehicle merges into the first road segment is the current speed of the second vehicle. The second vehicle may output a prompt message after receiving the speed from the first device indicating that the second vehicle is merging into the first road segment. The prompting message can be prompted in a voice mode or a text mode.
The first device may also send a prompt message to the first vehicle to prompt the user for a vehicle import. The first device may send a prompt message for prompting a user that a vehicle enters to the first vehicle after acquiring first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle and second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle; the first device may also send a prompt message for prompting the user that the vehicle enters to the first vehicle after judging whether the first vehicle and the second vehicle have the risk of collision; the first device may also send a prompt message to the first vehicle prompting the user for vehicle import after determining the speed of the second vehicle importing the first road segment. The first vehicle may output a prompt message from the first device after receiving the prompt message from the first device to prompt the user that the vehicle is merging. The prompting message can be prompted in a voice mode or a text mode.
In the vehicle merge-in method described in fig. 2, a first device acquires first vehicle information including a current position of a first vehicle and a current vehicle speed of the first vehicle, acquires second vehicle information including a current position of a second vehicle and a current vehicle speed of the second vehicle, calculates a first time at which the first vehicle reaches a road junction and a second time at which the second vehicle reaches the road junction based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road junction, determines whether the first vehicle and the second vehicle are at risk of collision based on the first time and the second time, determines a speed at which the second vehicle merges into a first road segment as the current speed of the second vehicle in a case where there is no risk of collision, determines a speed at which the second vehicle merges into the first road segment as the first speed in a case where there is a risk of collision, and sending a prompt message to the second vehicle for instructing the second vehicle to merge into the first road section at the first speed or the current speed. Therefore, the speed of the second vehicle merging into the first road section can be accurately determined through the communication interaction between the first device and the first vehicle and the second vehicle, and a driver does not need to observe surrounding vehicle conditions through eyes to determine the speed, so that the accuracy of vehicle merging can be improved, the driving safety is ensured, the influence of the merging vehicle on the traffic flow of the main road is reduced, and the traffic efficiency is improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of another vehicle import method disclosed in the embodiment of the present application based on the vehicle driving control system architecture shown in fig. 1. The first device 101 shown in fig. 1 may be an RSU device, and the vehicle import method is described from the perspective of the RSU device, the first vehicle 102, and the second vehicle 103. As shown in fig. 3, the vehicle import method may include the following steps.
301. The RSU device acquires first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle.
Step 301 is the same as step 201, and please refer to step 201 for detailed description, which is not repeated herein. Specifically, please refer to fig. 4, fig. 4 is a schematic diagram of an RSU device monitoring a certain road segment according to an embodiment of the present application. It should be noted that the RSU device may be an electronic device beside a road segment for monitoring the driving condition of vehicles on a certain road segment or monitoring the driving condition of vehicles on all road segments in an area. As shown in fig. 4, it may be that the RSU device acquires first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle.
302. The RSU device acquires second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle.
Step 302 is the same as step 202, and please refer to step 202 for detailed description, which is not repeated herein.
303. The RSU device calculates a first time at which the first vehicle arrives at the road junction and a second time at which the second vehicle arrives at the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction.
Step 303 is the same as step 203, and please refer to step 203 for detailed description, which is not repeated herein.
304. The RSU device determines whether the first vehicle and the second vehicle are at risk of collision based on the first time and the second time, and performs step 305 if there is no risk of collision, and performs step 306 if there is a risk of collision.
Step 304 is the same as step 204, and please refer to step 204 for detailed description, which is not repeated herein.
305. The RSU device determines the speed at which the second vehicle merges into the first road segment as the current speed of the second vehicle.
Step 305 is the same as step 205, and please refer to step 205 for detailed description, which is not repeated herein.
306. The RSU device determines a speed at which the second vehicle merges into the first road segment as a first speed.
Step 306 is the same as step 206, and please refer to step 206 for detailed description, which is not repeated herein.
307. The RSU device sends a signal to the second vehicle instructing the second vehicle to enter the first road segment at the first speed. Step 307 is the same as step 207, and please refer to step 207 for detailed description, which is not repeated herein.
308. The RSU device sends a signal to the second vehicle instructing the second vehicle to merge into the first road segment at the current speed.
Step 308 is the same as step 208, and please refer to step 208 for detailed description, which is not repeated herein.
In the vehicle merging method described in fig. 3, the RSU device acquires first vehicle information including a current location of the first vehicle and a current vehicle speed of the first vehicle, acquires second vehicle information including a current location of the second vehicle and a current vehicle speed of the second vehicle, calculates a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction, determines whether the first vehicle and the second vehicle are at risk of collision based on the first time and the second time, determines a speed at which the second vehicle merges into the first road segment as the current speed of the second vehicle in the case of no risk of collision, determines a speed at which the second vehicle merges into the first road segment as the first speed in the case of collision risk, and sending a prompt message to the second vehicle for instructing the second vehicle to merge into the first road section at the first speed or the current speed. . Therefore, the speed of the second vehicle merging into the first road section can be accurately determined through the communication interaction between the RSU equipment and the first vehicle and the second vehicle, and a driver does not need to observe surrounding vehicle conditions through eyes to determine the speed, so that the accuracy of vehicle merging can be improved, the driving safety is guaranteed, the influence of the merging vehicle on the traffic flow of the main road is reduced, and the traffic efficiency is improved.
Referring to fig. 5, based on the vehicle driving control system architecture shown in fig. 1, fig. 5 is a schematic flow chart of another vehicle import method disclosed in the embodiment of the present application. The vehicle import method is described from the perspective of the first vehicle 102 and the second vehicle 103. As shown in fig. 5, the vehicle import method may include the following steps.
501. The second vehicle acquires first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle.
The second vehicle may acquire first vehicle information including a current position of the first vehicle and a current vehicle speed of the first vehicle, the first vehicle being a vehicle on the first road segment that is closest to the road junction, the road junction being a road junction of the first road segment and the second road segment.
Specifically, please refer to fig. 6, fig. 6 is a schematic diagram of a vehicle driving on a certain road section according to an embodiment of the present application. As shown in fig. 6, the second vehicle may transmit a vehicle information acquisition request to the first vehicle, and the first vehicle transmits vehicle information to the second vehicle after receiving the information acquisition request from the second vehicle. The first vehicle information may include vehicle type information of the vehicle, and the second vehicle determines the vehicle length corresponding to the first vehicle after receiving the vehicle type information from the first vehicle.
502. The second vehicle acquires second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle.
The second vehicle may acquire vehicle information of the second vehicle, the second vehicle information including a current position of the second vehicle and a current vehicle speed of the second vehicle, the second vehicle being a vehicle on the second road segment that is closest to the road intersection. The second vehicle may obtain vehicle information of the second vehicle locally, or may obtain the vehicle information of the second vehicle from a cloud.
503. The second vehicle calculates a first time at which the first vehicle arrives at the road junction and a second time at which the second vehicle arrives at the road junction, based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road junction.
Step 503 is the same as step 203, and please refer to step 203 for detailed description, which is not repeated herein.
504. The second vehicle determines whether the first vehicle and the second vehicle are at risk of collision according to the first time and the second time, and if there is no risk of collision, step 505 is executed, and if there is a risk of collision, step 506 is executed.
Step 504 is the same as step 204, and please refer to step 204 for detailed description, which is not repeated herein.
505. The second vehicle determines that the speed of the second vehicle merging into the first road section is the current speed of the second vehicle.
Step 505 is the same as step 205, and please refer to step 205 for detailed description, which is not repeated herein.
506. The second vehicle determines a speed at which the second vehicle converges to the first road segment as the first speed.
Step 506 is the same as step 206, and please refer to step 206 for detailed description, which is not repeated herein.
507. The second vehicle output is used to instruct the second vehicle to enter the first road segment at a first speed.
The second vehicle may output a prompt message for instructing the second vehicle to slow down and travel at the first speed and merge into the trunk road after determining that the speed at which the second vehicle merges into the first road segment is the first speed. The prompting message can be prompted in a voice mode or a text mode.
508. The second vehicle output is sent to instruct the second vehicle to merge into the first road segment at the current speed.
The second vehicle may output a prompt message for instructing the second vehicle to continue traveling at the current vehicle speed and merge into the trunk road after determining that the speed at which the second vehicle merges into the first road segment is the current speed. The prompting message can be prompted in a voice mode or a text mode.
The second vehicle may also send a prompt message to the first vehicle to prompt the user that there is a vehicle to enter. After first vehicle information including the current position of the first vehicle and the current vehicle speed of the first vehicle and second vehicle information including the current position of the second vehicle and the current vehicle speed of the second vehicle are acquired, a prompt message for prompting a user that the vehicles are imported is sent to the first vehicle; or after judging whether the first vehicle and the second vehicle have the collision risk, sending a prompt message for prompting the user that the vehicles enter the first vehicle to the first vehicle; after determining the speed of the second vehicle entering the first road section, a prompt message for prompting the user that the vehicle enters can be sent to the first vehicle. The first vehicle may output a prompt message from the second vehicle after receiving the prompt message from the second vehicle to prompt the user that the vehicle is merging. The prompting message can be prompted in a voice mode or a text mode.
In the vehicle import method described in fig. 5, the execution subject may be an OBU device of the second vehicle. The OBU device of the second vehicle acquires first vehicle information comprising a current position of the first vehicle and a current vehicle speed of the first vehicle, acquires second vehicle information comprising a current position of the second vehicle and a current vehicle speed of the second vehicle, calculates a first time when the first vehicle reaches the road junction and a second time when the second vehicle reaches the road junction according to the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle and the position of the road junction, judges whether the first vehicle and the second vehicle are at risk of collision according to the first time and the second time, determines the speed of the second vehicle merging into the first road section as the current speed of the second vehicle in the case of no risk of collision, determines the speed of the second vehicle merging into the first road section as the first speed in the case of the risk of collision, and outputting a prompt message for instructing the second vehicle to merge into the first road section at the first speed or the current speed. Therefore, in the road section without the first device, the speed of the second vehicle merging into the first road section can be accurately determined through the communication interaction of the first vehicle and the second vehicle, and the driver does not need to observe the surrounding vehicle conditions through eyes to determine the speed, so that the accuracy of vehicle merging can be improved, the driving safety is ensured, the influence of the merging vehicle on the traffic flow of the main road is reduced, and the traffic efficiency is improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle merge-in device disclosed in the embodiment of the present application. As shown in fig. 7, the vehicle incorporating apparatus may include:
an obtaining unit 701, configured to obtain first vehicle information, where the first vehicle information includes a current position of a first vehicle and a current vehicle speed of the first vehicle, the first vehicle is a vehicle on a first road segment that is closest to a road junction, and the road junction is a road junction of the first road segment and a second road segment;
the obtaining unit 701 is further configured to obtain second vehicle information, where the second vehicle information includes a current position of a second vehicle and a current vehicle speed of the second vehicle, and the second vehicle is a vehicle closest to the road intersection on the second road segment;
a determining unit 702, configured to determine a speed at which the second vehicle merges into the first road segment according to the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road intersection.
In an embodiment, the determining unit 702 is specifically configured to:
calculating a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle, and the position of the road junction;
judging whether the first vehicle and the second vehicle have collision risks according to the first time and the second time;
under the condition that the first vehicle and the second vehicle have no collision risk, determining the speed of the second vehicle converging into the first road section as the current speed of the second vehicle;
in the case where the first vehicle and the second vehicle are at risk of collision, the speed at which the second vehicle merges into the first section is determined as the first speed.
In an embodiment, the determining unit 702 is configured to determine whether the first vehicle and the second vehicle are at risk of collision according to the first time and the second time, and specifically configured to:
calculating a ratio between the safe distance and the current speed of the second vehicle;
determining that the first vehicle and the second vehicle are not at risk of collision if the absolute value of the difference between the first time and the second time is greater than the ratio;
determining that the first vehicle and the second vehicle are at risk of collision in a case where an absolute value of a difference between the first time and the second time is less than or equal to a ratio.
In an embodiment, the determining unit 702 is configured to, when determining that the speed at which the second vehicle merges into the first road segment is the first speed, specifically:
calculating the distance between the second vehicle and the road intersection according to the current position of the second vehicle and the position of the road intersection;
and calculating a first speed of the second vehicle converging into the first road section according to the distance, the first time and the ratio.
In one embodiment, the vehicle merge-in apparatus further includes:
a first sending unit 703, configured to send a prompt message for prompting a user that a vehicle is merged into a first vehicle.
In one embodiment, the vehicle merge-in apparatus further includes:
a second sending unit 704, configured to send, to the second vehicle, a speed at which the second vehicle merges into the first road segment, where the speed is used to instruct the second vehicle to travel according to the speed.
The detailed descriptions of the obtaining unit 701, the determining unit 702, the first sending unit 703 and the second sending unit 704 may be directly obtained by referring to the descriptions in the method embodiments shown in fig. 2, fig. 3 and fig. 5, which are not repeated herein.
Referring to fig. 8, fig. 8 is a schematic structural diagram of another vehicle merge-in device disclosed in the embodiment of the present application. As shown in fig. 8, the vehicle incorporating apparatus may include: a memory 801, a transceiver 802, and a processor 803 coupled to the memory 801 and the transceiver 802. In addition, the device may also include common components such as an antenna, which will not be described in detail herein.
The Memory 801 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integral to the processor.
The transceiver 802 may be a communication interface, transceiver circuitry, etc., where the communication interface is generic and may include one or more interfaces, such as AN interface between a vehicle access device and a terminal, the communication interface is used to communicate with other devices or communication Networks, such as Ethernet, Radio Access Network (RAN), core network, Wireless local Area network (W L AN), etc.
The processor 803 may be a Central Processing Unit (CPU), 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, transistor logic, hardware components, or any combination thereof. Which may implement or perform the various illustrative logical blocks, templates, and circuits described in connection with the disclosure. The processor 803 may also be a combination of specialized computing functionality, e.g., comprising one or more microprocessors, DSPs, and microprocessors.
Wherein the memory 801 is adapted to store a computer program comprising program instructions, the processor 803 is adapted to execute the program instructions stored by the memory 801, and the transceiver 802 is adapted to communicate with other devices under the control of the processor 803. The vehicle import method can be performed according to program instructions when the processor 803 executes the instructions.
Optionally, the vehicle import apparatus may further include a bus 804, wherein the memory 801, the transceiver 802, and the processor 803 may be connected to each other through the bus 804. The bus 804 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 804 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
In addition to the memory 801, the transceiver 802, the processor 803 and the bus 804 shown in fig. 8, the vehicle import apparatus in the embodiment may further include other hardware according to the actual function of the vehicle import apparatus, which is not described in detail herein.
The embodiment of the application also discloses a storage medium, wherein the storage medium is stored with a program, and when the program runs, the vehicle import method shown in fig. 2, 3 and 5 is realized.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, and may specifically be a processor in the computer device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a magnetic disk, an optical disk, a Read-only memory (ROM) or a Random Access Memory (RAM).
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. A vehicle merge method, comprising:
acquiring first vehicle information, wherein the first vehicle information comprises a current position of a first vehicle and a current vehicle speed of the first vehicle, the first vehicle is a vehicle which is closest to a road junction on a first road section, and the road junction is a road junction of the first road section and a second road section;
acquiring second vehicle information, wherein the second vehicle information comprises a current position of a second vehicle and a current speed of the second vehicle, and the second vehicle is a vehicle which is closest to the road intersection on the second road section;
determining the speed of the second vehicle merging into the first road section according to the current position of the first vehicle, the current speed of the first vehicle, the current position of the second vehicle, the current speed of the second vehicle and the position of the road intersection.
2. The method of claim 1, wherein determining the speed at which the second vehicle merges into the first road segment as a function of the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road intersection comprises:
calculating a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction;
judging whether the first vehicle and the second vehicle have collision risks according to the first time and the second time;
under the condition that the first vehicle and the second vehicle are not in collision risk, determining the speed of the second vehicle converging into the first road section as the current speed of the second vehicle;
and under the condition that the first vehicle and the second vehicle are in collision risk, determining that the speed of the second vehicle converging into the first road section is a first speed.
3. The method of claim 2, wherein the determining whether the first vehicle and the second vehicle are at risk of collision based on the first time and the second time comprises:
calculating a ratio between a safe distance and a current vehicle speed of the second vehicle;
determining that the first vehicle and the second vehicle are not at risk of collision if the absolute value of the difference between the first time and the second time is greater than the ratio;
determining that the first vehicle and the second vehicle are at risk of collision if an absolute value of a difference between the first time and the second time is less than or equal to the ratio.
4. The method of claim 3, wherein the determining that the speed at which the second vehicle converges into the first road segment is a first speed comprises:
calculating a distance of the second vehicle from the road junction according to the current position of the second vehicle and the position of the road junction;
and calculating a first speed of the second vehicle converging into the first road section according to the distance, the first time and the ratio.
5. The method according to any one of claims 1-4, further comprising:
and sending a prompt message for prompting that the user has the vehicle to enter to the first vehicle.
6. The method according to any one of claims 1-4, further comprising:
sending, to the second vehicle, a speed at which the second vehicle merges into the first road segment, the speed being indicative of the second vehicle traveling at the speed.
7. A vehicle merge device characterized by comprising:
the vehicle information processing device comprises an acquiring unit, a judging unit and a judging unit, wherein the acquiring unit is used for acquiring first vehicle information, the first vehicle information comprises the current position of a first vehicle and the current speed of the first vehicle, the first vehicle is a vehicle which is closest to a road intersection on a first road section, and the road intersection is a road intersection of the first road section and a second road section;
the obtaining unit is further configured to obtain second vehicle information, where the second vehicle information includes a current position of a second vehicle and a current vehicle speed of the second vehicle, and the second vehicle is a vehicle on the second road segment that is closest to the road intersection;
a determining unit, configured to determine, according to the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road intersection, a speed at which the second vehicle merges into the first road segment.
8. The apparatus according to claim 7, wherein the determining unit is specifically configured to:
calculating a first time at which the first vehicle reaches the road junction and a second time at which the second vehicle reaches the road junction based on the current location of the first vehicle, the current speed of the first vehicle, the current location of the second vehicle, the current speed of the second vehicle, and the location of the road junction;
judging whether the first vehicle and the second vehicle have collision risks according to the first time and the second time;
under the condition that the first vehicle and the second vehicle are not in collision risk, determining the speed of the second vehicle converging into the first road section as the current speed of the second vehicle;
and under the condition that the first vehicle and the second vehicle are in collision risk, determining that the speed of the second vehicle converging into the first road section is a first speed.
9. A vehicle merge device comprising a processor and a memory, the processor and memory coupled, wherein the memory is configured to store computer instructions and the processor implements the method of any of claims 1-6 by executing the computer instructions stored by the memory.
10. A computer-readable storage medium, in which a computer program or computer instructions is stored which, when executed by a computer device, implements the method of any one of claims 1-6.
CN202010212300.1A 2020-03-24 2020-03-24 Vehicle importing method and device and computer readable storage medium Pending CN111462528A (en)

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Publication number Priority date Publication date Assignee Title
CN112614367A (en) * 2020-12-11 2021-04-06 国汽(北京)智能网联汽车研究院有限公司 Vehicle control method, device, electronic device and storage medium
CN112614367B (en) * 2020-12-11 2022-09-06 国汽(北京)智能网联汽车研究院有限公司 Vehicle control method, device, electronic device and storage medium
CN114677858A (en) * 2020-12-24 2022-06-28 长沙智能驾驶研究院有限公司 Vehicle management method, device, equipment and computer storage medium
CN114677858B (en) * 2020-12-24 2024-04-02 长沙智能驾驶研究院有限公司 Vehicle management method, device, equipment and computer storage medium
CN113706927A (en) * 2021-08-16 2021-11-26 中汽创智科技有限公司 Vehicle early warning method, device, electronic equipment, storage medium and program product
CN113706927B (en) * 2021-08-16 2023-02-28 中汽创智科技有限公司 Vehicle early warning method, device, electronic equipment, storage medium and program product
CN113744540A (en) * 2021-09-29 2021-12-03 中汽创智科技有限公司 Vehicle import method, system, equipment and storage medium
CN116978257A (en) * 2023-08-11 2023-10-31 山东大学 Highway confluence region conflict early warning method and system based on track prediction
CN116978257B (en) * 2023-08-11 2024-05-24 山东大学 Highway confluence region conflict early warning method and system based on track prediction

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