CN112750320A

CN112750320A - Virtual lane information transmission method and device

Info

Publication number: CN112750320A
Application number: CN202110364922.0A
Authority: CN
Inventors: 陈翔
Original assignee: Ningbo Joynext Technology Corp
Current assignee: Ningbo Joynext Technology Corp
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-05-04
Anticipated expiration: 2041-04-06
Also published as: CN112750320B

Abstract

The application discloses a method and a device for transmitting virtual lane information, wherein the method comprises the following steps: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane line according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane information to each second vehicle in at least one second vehicle according to a preset rule; and respectively sending the virtual lane information to at least one second vehicle through corresponding target data transmission modes so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through. This application has realized reserving out interim lane for first vehicle, in time dodges first vehicle, avoids first vehicle to lead to in time arriving the destination because of reasons such as traffic jam, leads to the untimely scheduling problem of operation.

Description

Virtual lane information transmission method and device

Technical Field

The application relates to the technical field of vehicle networking, in particular to a transmission method and device of virtual lane information.

Background

With the continuous rise of automobile reserves, the urban road congestion phenomenon also increases dramatically day by day, and the huge traffic travel pressure seriously influences the daily life of people. However, for some special vehicles performing special tasks, such as ambulances, fire trucks, police cars, etc., or social vehicles in emergency situations, the destination needs to be reached in time within a very short time during operation, and congested urban roads lead to other common vehicles not being able to be dredged in time and to be unable to take avoidance operation in time, which seriously affects the special vehicles to perform tasks, thus being difficult to meet the needs of rescue and rescue in fast-paced life, leading to frequent occurrence of phenomena endangering the safety of lives and properties of people.

Therefore, it is desirable to provide a new virtual lane information transmission method to solve the above problems.

Disclosure of Invention

In order to solve the problems in the prior art, embodiments of the present application provide a method and an apparatus for transmitting virtual lane information, a computer device, and a storage medium, so as to overcome the problems in the prior art that a special vehicle may be blocked when a traffic flow is great, and thus a user cannot arrive at a location in time when the user is not in time.

In order to solve one or more of the above technical problems, the present application adopts the following technical solutions:

in a first aspect, a method for transmitting virtual lane information is provided, the method comprising the steps of: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, and the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule; and respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

Further, the determining at least one second vehicle needing to receive the virtual lane information according to the driving route includes: determining a vehicle located on the driving route as a second vehicle needing to receive the virtual lane information; and/or judging whether a part overlapping with the driving route exists in the planned path of the candidate vehicle outside the driving route, if so, determining the candidate vehicle as a second vehicle needing to receive the virtual lane information, ensuring that all other common vehicles possibly influencing the passing of the first vehicle are determined as the second vehicle needing to receive the virtual lane information, and preventing the vehicles possibly influencing the passing of the first vehicle from not avoiding the first vehicle in time due to the fact that the virtual lane information is not received.

Further, the method further comprises: for the second vehicle located on the driving route, if the second vehicle drives away from the driving route, the virtual lane information received by the second vehicle is invalid, so that on one hand, the timeliness of the virtual lane information is ensured, and on the other hand, the storage space is released when the virtual lane information is invalid, and the storage resource is saved.

Further, if there is a portion of the planned path of the candidate vehicle outside the driving route that overlaps with the driving route, the method further includes: and when the first vehicle reaches the overlapped part to travel, determining whether the candidate vehicle travels at the overlapped part, if so, determining that the candidate vehicle is a second vehicle needing to receive the virtual lane information, determining the candidate vehicle traveling at the overlapped part as the second vehicle needing to receive the virtual lane information only when the first vehicle reaches the overlapped part to travel, and eliminating the candidate vehicle not traveling at the overlapped part when the first vehicle reaches the overlapped part to travel, thereby avoiding transmitting the virtual lane information to the vehicle not needing to avoid, reducing the data amount of transmitted data and improving the data transmission efficiency.

Further, the determining, according to a preset rule, a target data transmission manner for sending the virtual lane information to each of the at least one second vehicle includes: judging whether the distance between the first vehicle and the at least one second vehicle meets a preset distance threshold value or not; if the distance between the first vehicle and the at least one second vehicle meets the preset distance threshold, determining that a target data transmission mode is that the first vehicle sends the virtual lane information to the at least one second vehicle through a V2V mode; or if the distance between the first vehicle and the at least one second vehicle does not meet the preset distance threshold, judging whether a roadside unit exists around the at least one second vehicle, if so, sending the virtual lane information to the at least one second vehicle through the roadside unit, otherwise, sending the virtual lane information to the at least one second vehicle through a preset cloud device. Different data transmission modes are set for second vehicles under different communication conditions, so that all the second vehicles needing to avoid the first vehicle can receive the virtual lane information, and the situation that part of the vehicles do not timely avoid the first vehicle because the virtual lane information is not received is avoided.

Further, the method further comprises: if the at least one second vehicle is provided with preset display equipment, displaying the virtual lane information through the preset display equipment so that the at least one second vehicle can avoid the first vehicle according to the virtual lane information before the first vehicle passes through, displaying the virtual lane information through the preset display equipment so as to be convenient for a driver to check, and simultaneously driving in or out of a corresponding lane according to the guidance of the lane indication information in the virtual lane information so as to avoid the first vehicle in time; or if the at least one second vehicle does not have the preset display device, broadcasting the virtual lane information to the at least one second vehicle through other second vehicles or roadside units with the preset display device, so that the at least one second vehicle avoids the first vehicle according to the virtual lane line before the first vehicle passes through, and acquiring the virtual lane information in a broadcasting manner of other vehicles, so that a driver can still acquire the virtual lane information in time under the condition that the second vehicle does not have the display condition, and drives in or out of the corresponding lane according to the guidance of the lane indication information in the virtual lane information, so as to avoid the first vehicle in time.

Further, before the virtual lane information is displayed through the preset display device, the method further includes: acquiring an actual lane line of a current road through a forward-looking camera; smoothing the actual lane line and the virtual lane line to obtain processed virtual lane information; the displaying the virtual lane information through the preset display device includes: and displaying the processed virtual lane information through the preset display equipment, fusing the actual lane line and the virtual lane line, and improving the precision of the generated virtual lane information.

Further, the displaying the virtual lane information through the preset display device includes: when the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a first preset color, after the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a second preset color, different colors are used for displaying the virtual lane line, a driver can distinguish the virtual lane line of different lanes conveniently, and the driver can drive in or out of the corresponding lane according to the guidance of the driver.

Further, the method further comprises: when the first vehicle drives away from the road section corresponding to the virtual lane information, the virtual lane information disappears, so that on one hand, the timeliness of the virtual lane information is guaranteed, and on the other hand, the storage space is released when the first vehicle fails, and the storage resources are saved.

Further, the generating of the virtual lane information according to the road condition information of one or more road sections on the driving route of the first vehicle includes: determining the road section type of each road section according to the road condition information of each road section in the one or more road sections, wherein the road section type comprises a single lane and/or multiple lanes;

if the road section type is a single lane and the width of the single lane is lower than a first preset threshold value, setting the corresponding road section as the lane of the first vehicle, generating a corresponding virtual lane line, and setting the lane indication information as the lane of the second vehicle to be prohibited from passing through, or setting the non-motorized lane of the road section as the lane of the first vehicle, generating a corresponding virtual lane line and lane indication information, and when the road section type is the single lane and the width of the single lane is small, namely the road section cannot simultaneously let two vehicles pass through, setting the road section as the lane of the first vehicle, and prohibiting the second vehicle from passing through, so as to preferentially let the first vehicle pass through, so that the first vehicle can timely pass through the road section, setting the non-motorized lane of the road section as the lane of the first vehicle, so that a temporary lane can be reserved for the first vehicle, and the first vehicle can timely pass through the road section, the traffic jam caused by the fact that other vehicles cannot pass through the system in time is avoided; and/or the presence of a gas in the gas,

if the road section type is a single lane and the width of the single lane is not lower than a first preset threshold value, setting a first preset part of a corresponding road section as a lane of the first vehicle, setting a second preset part of the corresponding road section as a lane of the second vehicle, and generating corresponding virtual lane lines and lane indication information, wherein when the road section type is the single lane and the width of the single lane is larger, namely the road section can simultaneously allow two vehicles to pass through at the same time, the lane of the first vehicle and the lane of the second vehicle are respectively set on the road section, so that the first vehicle and the second vehicle can run on respective lanes, and the normal traffic of other vehicles (second vehicles) is not influenced while the first vehicle passes through in time; and/or the presence of a gas in the gas,

if the road section type is a multi-lane, setting a preset width part between two preset lanes in the multi-lane as a lane of the first vehicle, or setting a lane at a preset position in the multi-lane as a lane of the first vehicle, setting other parts or lanes except the lane of the first vehicle in the multi-lane as a lane of the second vehicle, and generating corresponding virtual lane lines and lane indication information, when the road section type is the multi-lane, setting the lane of the first vehicle between the two lanes, or directly setting one lane as the first lane, ensuring that the corresponding lanes of the first vehicle and the second vehicle can run, ensuring that the first vehicle can pass through in time, and simultaneously not influencing the normal running of other vehicles (second vehicles), especially when the multi-lane can be an overhead and express way, generally, in the scene, more vehicles exist, the speed is higher, the virtual lane information is generated according to the method, and the effect is more prominent.

Further, the setting the first preset part of the corresponding road segment as the lane of the first vehicle, setting the second preset part of the corresponding road segment as the lane of the second vehicle, and generating the corresponding virtual lane line and the lane indication information includes: setting the left half part of the vehicle passing direction of the corresponding road section as the lane of the first vehicle, setting the right half part of the vehicle passing direction of the corresponding road section as the lane of the second vehicle, and generating a corresponding virtual lane line and lane indication information; or setting the left half part of the vehicle passing direction of the corresponding road section as the lane of the second vehicle, setting the right half part of the vehicle passing direction of the corresponding road section as the lane of the first vehicle, and generating a corresponding virtual lane line and lane indication information; under the condition that the vehicle runs to the right, the lane of the first vehicle is arranged on the left of the road passing direction, the lane of the second vehicle is arranged on the right of the road passing direction, under the condition that the vehicle runs to the left, the lane of the first vehicle is arranged on the right of the road passing direction, and the lane of the second vehicle is arranged on the left of the road passing direction, so that the first vehicle can pass through the lane in time, the running habits of drivers of other vehicles are not influenced, and the running safety of the second vehicle is guaranteed while the second vehicle passes through the lane smoothly.

Further, after the virtual lane information is respectively sent to the at least one corresponding second vehicle by the target data transmission mode corresponding to each second vehicle, the method further includes: and judging whether the at least one second vehicle agrees to replace the current planned path, if so, recalculating the planned path for the at least one second vehicle according to the virtual lane line, so that a driver can conveniently determine whether to replace the current planned path according to the actual driving condition, the recalculation of the planned path under the condition that the current planned path is not required to be replaced is avoided, the calculation amount is reduced, the occupation of calculation resources is reduced, and the calculation efficiency is improved.

Further, the method further comprises: and receiving the real-time road condition information on the driving route, and updating the driving route of the first vehicle according to the real-time road condition information, so that the effectiveness of the driving route of the first vehicle is ensured, and the precision of the driving route is improved.

Further, when the non-motorized lane of the road segment is set as the lane of the first vehicle, the method further includes: and sending notification information to the road users on the non-motor vehicle lane so that the road users on the non-motor vehicle lane can carry out avoidance or lane change and other operations in time, and the personal safety of the road users is ensured while the first vehicle passes through in time.

Further, the sending notification information to the road user on the non-motor vehicle lane comprises: judging whether a roadside unit exists around the road user, if so, sending the virtual lane information to the terminal equipment of the road user through the roadside unit; and/or judging whether display equipment exists around the road user, and if so, displaying the virtual lane information to the road user through the display equipment; and/or judging whether broadcasting equipment exists around the road user, and if so, broadcasting the virtual lane information to the road user through the broadcasting equipment; the method and the device have the advantages that the virtual lane information is notified to road users in different scenes in different modes, so that all road users needing to avoid or change lanes can receive the virtual lane information, and the situation that a part of road users do not avoid the first vehicle in time because the road users do not receive the virtual lane information is avoided.

In a second aspect, there is provided a transmission apparatus of virtual lane information, the apparatus including: the data generating module is used for generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is obtained by calculation according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle; the first determining module is used for determining at least one second vehicle which needs to receive the virtual lane information according to the driving route, and the second vehicle comprises a common vehicle; the second determining module is used for determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule; and the data transmission module is used for respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle so as to enable the at least one second vehicle to avoid the first vehicle according to the virtual lane information before the first vehicle passes through.

In a third aspect, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the following steps are implemented: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule; and respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

In a fourth aspect, there is provided a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule; and respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

The technical scheme provided by the embodiment of the application has the following beneficial effects:

the virtual lane line transmission method, the virtual lane line transmission device, the computer equipment and the storage medium provided by the embodiment of the application generate virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is obtained by calculation according to a destination and a current position of the first vehicle, the first vehicle comprises a special vehicle, at least one second vehicle needing to receive the virtual lane information is determined according to the driving route, the second vehicle comprises a common vehicle, a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle is determined according to a preset rule, and the virtual lane information is respectively sent to the at least one second vehicle through the target data transmission mode corresponding to each second vehicle, the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through, so that a temporary lane is reserved for the first vehicle, the first vehicle is avoided in time, and the problems that the first vehicle cannot reach a destination in time due to traffic jam and the like, the operation is not in time and the like are avoided;

further, the transmission method, apparatus, computer device and storage medium for the virtual lane line provided in the embodiment of the present application determine a vehicle located on the driving route as a second vehicle that needs to receive the virtual lane information; and/or judging whether a part overlapping with the driving route exists in the planned path of the candidate vehicle outside the driving route, if so, determining the candidate vehicle as a second vehicle needing to receive the virtual lane information, quickly and accurately determining the second vehicle needing to receive the virtual lane information, and reducing the time for determining related vehicles (namely, the second vehicle) influencing the first vehicle to pass so that the related vehicles can timely avoid the first vehicle;

further, according to the transmission method, the transmission device, the computer device, and the storage medium for the virtual lane line provided in the embodiments of the present application, by determining whether the distance between the first vehicle and the at least one second vehicle satisfies a preset distance threshold, if the distance between the first vehicle and the at least one second vehicle satisfies the preset distance threshold, it is determined that the target data transmission method is that the first vehicle sends the virtual lane information to the at least one second vehicle in a V2V manner; or if the distance between the first vehicle and the at least one second vehicle does not meet the preset distance threshold, judging whether a roadside unit exists around the at least one second vehicle, if so, sending the virtual lane information to the at least one second vehicle through the roadside unit, otherwise, sending the virtual lane information to the at least one second vehicle through a preset cloud device, so that all vehicles needing to avoid the first vehicle can receive the virtual lane information, and the situation that a part of vehicles do not timely avoid the first vehicle because the part of vehicles do not receive the virtual lane information is avoided.

Drawings

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

Fig. 1 is an architecture diagram of a transmission system based on a virtual lane line of a 5G-V2X internet of vehicles according to an embodiment of the present application;

fig. 2 is an interaction diagram among a specific vehicle, a cloud device, and a roadside unit according to an embodiment of the present application;

fig. 3 is an interaction diagram among a special vehicle, a cloud device, a roadside unit, and a general vehicle according to an embodiment of the present application;

FIG. 4 is an interaction diagram between a special vehicle and a general vehicle provided by an embodiment of the present application;

FIG. 5 is an interaction diagram between a roadside unit and a generic vehicle provided by an embodiment of the present application;

fig. 6 is an interaction diagram between a cloud device and a common vehicle according to an embodiment of the present application;

fig. 7 is a flowchart of a transmission method of a virtual lane line according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a transmission device for a virtual lane line according to an embodiment of the present disclosure;

fig. 9 is a schematic internal structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

As described in the background, a special vehicle (such as a fire truck, an ambulance, a police car, etc.) needs to arrive at a destination in a very short time during operation, but may be blocked by other general vehicles in case of a very large traffic flow, thereby causing problems such as untimely operation.

In order to solve the above problems, the embodiment of the present application provides a transmission method for a virtual lane line creatively, which can quickly and accurately determine a common vehicle (a second vehicle) that needs to avoid a special vehicle (i.e., a first vehicle), and determine a target data transmission mode for receiving the virtual lane line and a mode for displaying the received virtual lane line for each common vehicle according to the actual situation of each common vehicle, thereby achieving that the common vehicle can timely give way to an avoidance channel for the special vehicle in operation, avoiding traffic congestion, and avoiding the problems that the special vehicle cannot reach a destination in time due to traffic congestion and the like, resulting in untimely operation and the like.

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 is an architecture diagram of a transmission system of a virtual lane line based on a 5G-V2X internet of vehicles, which is shown with reference to fig. 1, and includes a cloud end, a plurality of roadside units (RSUs), a special vehicle (i.e., a first vehicle), and a plurality of general vehicles (i.e., a second vehicle). The special vehicles include, but are not limited to, fire fighting vehicles, ambulances, police vehicles, etc. for performing special tasks, and the general vehicles include, but are not limited to, domestic vehicles, transportation vehicles, etc. social vehicles. As a preferred embodiment, the special vehicles and the common vehicles and the cloud end or Road Side Unit (RSU) in the present application can communicate by means of C-V2X (cellular Internet of vehicles technology), wherein C-V2X includes but is not limited to 5G-V2X.

The roadside Unit (RSU) is disposed at the roadside, and communicates with the On-Board Unit (OBU) by using dsrc (dedicated Short Range communication) technology, thereby implementing bidirectional communication and data interaction with nearby passing vehicles. The instant messaging based on the V2X refers to the instant messaging connection established based on the V2X communication technology for inter-vehicle communication, and can comprise direct instant messaging between vehicles and also can comprise indirect instant messaging between vehicles through a roadside unit RSU. V2X (vehicle to vehicle) refers to the connection between vehicle and anything, and mainly includes V2V vehicle to vehicle (vehicle to vehicle), V2I vehicle to infrastructure (vehicle to infrastructure), V2P vehicle to person (vehicle to person), and V2N vehicle to cloud (vehicle to network).

Specifically, the process of transmitting information by using the transmission system based on the virtual lane line of the 5G-V2X internet of vehicles is as follows:

step one, determining a driving route of a special vehicle according to a destination to be rescued and the current position of the special vehicle;

specifically, referring to fig. 2, first, a rescue signal sent by a target rescue object is received, and a destination to be rescued is determined. The rescue signal (such as an SOS signal) may be a signal received manually or may be explicit rescue information received and sent by a communication device such as a mobile phone. After the rescue signal is received, the target rescue object can be positioned through preset professional equipment (such as positioning equipment) or manually, and a destination to be rescued is determined, wherein the destination to be rescued is the destination of the special vehicle (namely the first vehicle). And secondly, calculating the driving route information of the special vehicle according to the destination to be rescued, the current position of the special vehicle and other information. When the special vehicle starts, task information is sent to a surrounding roadside unit (RSU) and a cloud device in a manner of 5G-V2X and the like, wherein the task information includes, but is not limited to, a destination of the task, a current position of the special vehicle, a driving speed of the special vehicle (including, but not limited to, an average driving speed, a maximum driving speed and the like under various road conditions), a driving direction and other related information. And after the roadside unit (RSU) and the cloud equipment receive the departure information, updating the task information in real time, calculating a driving route according to the task information, and synchronizing the driving route to the special vehicle. The driving route in the embodiment of the present application refers to the shortest route from the current position of the special vehicle to the destination, and the driving route information is information for describing the driving route.

Step two, generating virtual lane information according to road condition information of each road section on a driving route of the special vehicle;

specifically, firstly, avoidance reminding information is sent to all the ordinary vehicles needing to be avoided, and virtual lane information is generated for each ordinary vehicle, wherein the virtual lane information comprises virtual lane lines and lane indication information. In the embodiment of the application, the task information of the current time of all the common vehicles needing to be avoided can be informed in advance. In specific implementation, as shown in fig. 3, the cloud device or RSUs (roadside units) around each ordinary vehicle may send avoidance reminding information to the vehicle-mounted units of the corresponding ordinary vehicles, where the avoidance reminding information includes, but is not limited to, driving route information of the special vehicle. After each vehicle-mounted unit receives the corresponding avoidance reminding information, vehicle information of other common vehicles, vehicle information of special vehicles, road information of the driving route and the like can be obtained firstly, wherein the vehicle information comprises but is not limited to speed information, vehicle size information and the like, and the road information comprises but is not limited to lane information of road sections, road width information, road traffic condition information and the like. And then, a vehicle-mounted auxiliary system (ADAS) and an automatic driving system are applied to generate a virtual lane line by adopting a preset algorithm. It should be noted here that if there are roadside units around a common vehicle and the networking speed is good, the on-board unit is regulated by the roadside units or the cloud device.

Specifically, the generated virtual lane information may be stored in a roadside unit or a cloud server. In some embodiments, virtual lane information corresponding to a driving route and corresponding special vehicle-related information may be stored in the RSU, wherein the special vehicle-related information may include a vehicle type (e.g., an ambulance, a fire truck, a police truck, etc.), vehicle size information, and the like.

In one example, the virtual lane information corresponding to the driving route may be divided into virtual lane information of a plurality of road segments. For example, the virtual lane information of the section a, the virtual lane information of the section B, and the virtual lane information of the section C may be included, and the virtual lane information of the section a and the special vehicle-related information may be stored in the roadside unit a corresponding to the section a, the virtual lane information of the section B and the special vehicle-related information may be stored in the roadside unit B corresponding to the section B, and the virtual lane information of the section C and the special vehicle-related information may be stored in the roadside unit C corresponding to the section C. Therefore, when the avoidance route of other special vehicles of the same type contains a certain road section next time, the virtual lane information of the corresponding road section can be directly inquired from the RSU without regeneration, and the acquisition efficiency of the virtual lane information corresponding to the whole driving route is improved.

In other embodiments, the cloud server may store virtual lane information of all of the historically generated road segments and corresponding information related to the specific vehicle. Therefore, when the virtual lane information corresponding to a certain driving path needs to be acquired next time, the virtual lane information corresponding to all road sections contained in the driving path can be inquired from the cloud server, and the vehicle type matching is carried out according to the relevant information of the current special vehicle, so that the virtual lane information corresponding to the whole driving path can be efficiently acquired.

Specifically, as a preferred implementation manner, in the embodiment of the present application, the virtual lane information may be generated in the following manner: if the roadside units (RSU) exist in the periphery of the common vehicle, virtual lane information is generated through the roadside units according to a preset algorithm and then is sent to the corresponding common vehicle through the V2X communication function, and the common vehicle in the periphery is coordinated to carry out driving actions. The priority of communication can be adjusted in time according to the delay time of the device, including but not limited to vehicle-to-roadside unit, roadside unit-to-vehicle, cloud device-to-vehicle, vehicle-to-vehicle, and the like. If no roadside unit exists around the common vehicle, the cloud device stores relevant road information of a driving route, including high-precision information or common information of the road, temporary lane information is generated through the cloud device according to a preset algorithm, and then the cloud device sends the temporary lane information to the corresponding common vehicle through a cellular network (such as 4G/5G). If no roadside unit exists around the ordinary vehicle and the cloud end equipment does not store the relevant road information of the driving route. Under the extreme condition, a camera and radar equipment on the vehicle can be adopted to collect road information in real time, and then the vehicle-mounted unit generates temporary lane information according to a preset algorithm.

Specifically, the generated virtual lane line includes, but is not limited to, the following: when a certain road section of the driving route is a single lane, the road section can be divided into a road section where the ordinary vehicles are not allowed to pass or a non-motor lane of the road section is used as a temporary lane of a special vehicle; when a certain road section of the driving route is a single lane, but the lane width meets a preset threshold value, generating a virtual lane on the left side of the single lane for a special vehicle to run, and enabling other common vehicles to run to the right; when a certain road section of the driving route is a double lane or more than two lanes, a virtual lane is arranged between the two lanes, or the leftmost lane is set out as the virtual lane of the special vehicle according to the driving condition of the current vehicle, so as to reserve the special vehicle for driving.

Specifically, the generating of the virtual lane information according to the road condition information of each road section on the driving route of the special vehicle includes generating the virtual lane information according to the road condition information of each road section on the driving route of the special vehicle based on a preset algorithm. The preset algorithm includes, but is not limited to, a scene function f (t) which comprehensively considers factors related to special vehicles, factors related to other common vehicles, factors related to road information, factors related to vulnerable road users, and the like. It should be noted that the road height limit and other factors can be taken into account when calculating the driving route of the special vehicle. As a preferred implementation, in the embodiment of the present application, the scenario function is as follows:

F(t)=k1*f1(t)+k2*f2(t)+k3*f3(t)

wherein, k1, k2, and k3 are the weights of the factors, and if there is no related factor, the weight is set as a default value, preferably, the default value is 1. f1(t) = a1 × speed of special vehicle + a2 × historical average speed of other vehicle + a4 × historical average speed of other vehicle + A5 × road limit vehicle speed + a6 × minor road user tie speed +. + An × speed related factor, wherein a1, a2, A3 … An are factors corresponding to the weight f2(t) = B1 width of special vehicle + B2 × length of special vehicle + B3 × average width of other vehicle + B4 × average length of other vehicle + B8 road width + B6 × width of lane +. b.n + long-width related factor, wherein B1, B2, B3 … are factors corresponding to the emergency weight; f3(t) = C1 + C2 + pedestrian passing probability in the current time period + C3 + pedestrian passing probability in the historical time period + Cn, and other factors, wherein C1, C2 and C3 … Cn are weights of corresponding factors.

It should be noted that, in the embodiment of the present application, f (t) is a piecewise function. Preferably, the segmentation method includes, but is not limited to, 0< f (t) < a, a < f (t) < b, b < f (t), where a is 50 by default, b is 100 by default, and the values of a and b can be self-adjusted by a machine learning algorithm in the context, which is not limited herein.

Preferably, the output of the preset algorithm is the width and duration of the virtual lane line.

When F (t) is 0-a, setting the current road to prohibit other vehicles from passing through, wherein the duration is t1, t1= (road length/average speed of special vehicle) ± 5min, and the virtual lane line disappears in real time after the special vehicle passes through; when F (t) is in a-b, setting the width of the virtual lane line to be slightly larger than that of the special vehicle, and setting the duration to be t2, wherein t2= (road length/average speed of the special vehicle) ± 10min, and the virtual lane line disappears in real time after the special vehicle passes through; when f (t) is greater than b, the width of the virtual lane line is set to be greater than the vehicle width by 3m, the duration is t3, wherein t3= (road length/average speed of special vehicle) +10min, and the virtual lane line disappears in real time after the special vehicle passes through.

Step three, determining all common vehicles needing to receive the virtual lane information according to the driving route;

specifically, first, it may be determined that all the general vehicles currently located on the driving route are vehicles that need to avoid the special vehicle, and therefore the vehicles need to receive the virtual lane line. Secondly, for some ordinary vehicles which are not currently on the driving route but may subsequently travel on part or all of the road sections involved in the driving route before the special vehicles pass through, the vehicles also affect the rapid passing of the special vehicles, and therefore the vehicles also need to receive the virtual lane lines. Specifically, when the part of the vehicles is determined, the planned path (such as navigation information) of the ordinary vehicle may be obtained first, the planned path of each ordinary vehicle is compared with the driving route, whether a part overlapping with the driving route exists in the planned path of the ordinary vehicle before the special vehicle passes through is determined, and if the part overlapping with the driving route exists, it is determined that the ordinary vehicle will affect the passing of the special vehicle, so that the ordinary vehicle is also determined as the vehicle needing to receive the virtual lane line. The overlapping may be partial overlapping or complete overlapping.

And step four, determining a target data transmission mode for receiving the virtual lane information for each common vehicle needing to receive the virtual lane according to a preset rule, and sending the virtual lane information to the corresponding common vehicle through the target data transmission mode.

Specifically, in order to ensure that each common vehicle which needs to avoid the special vehicle can receive the virtual lane line, so as to avoid the special vehicle in the task in time according to the virtual lane line, in the embodiment of the present application, different ways of receiving the virtual lane line are set for the common vehicles in different situations, including but not limited to the following ways: 1. for a general vehicle closer to the special vehicle, a virtual lane line may be transmitted to the general vehicle by the special vehicle based on the V2V manner, as shown in fig. 4. During specific implementation, firstly, a preset threshold value can be set, then the distances between all the common vehicles needing to receive the virtual lane lines and the special vehicles are obtained, the distances are compared with the preset threshold value, and the virtual lane lines are sent to the common vehicles by the special vehicles in a V2V mode for the common vehicles with the distances between the common vehicles and the special vehicles within the range of the preset threshold value; 2. for a common vehicle whose distance from the special vehicle is outside the preset threshold range, first, it is determined whether there is a roadside unit around the common vehicle, and if so, a virtual lane line is sent to the common vehicle through the roadside unit, as shown in fig. 5; 3. for a common vehicle which is away from the special vehicle by the preset threshold range and has no roadside unit around, a virtual lane line may be sent to the common vehicle through the cloud device, as shown in fig. 6.

And step five, after the common vehicle receives the virtual lane information, displaying the virtual lane information in a preset mode so that the common vehicle can avoid the special vehicle in time according to the virtual lane information.

Specifically, for the common vehicle with the preset display device, the virtual lane line can be displayed by the preset display device so as to guide the corresponding common vehicle to avoid according to the special vehicle before the special vehicle passes through, and a temporary lane is reserved for the special vehicle, so that the special vehicle executing a task can be avoided in time, traffic jam is avoided, and the special vehicle can arrive at a destination as soon as possible to operate in time. For a general vehicle without a preset display device, the virtual lane line may be broadcasted thereto by another vehicle or a roadside unit having the preset display device. It should be noted that, in the embodiment of the present application, the preset Display device includes, but is not limited to, a Head Up Display (HUD), a central control device, and the like. In order not to influence the normal traffic condition of the related road, in the embodiment of the application, the virtual lane line is also arranged to disappear after the special vehicle passes through, and the traffic road is recovered to be normal.

Example two

Corresponding to the first embodiment, the present application provides a method for transmitting virtual lane information, where in the present embodiment, the same or similar contents as those in the first embodiment may be referred to the above description, and are not repeated herein. As shown in fig. 7, the method includes the steps of:

s1: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle;

in particular, in the embodiments of the present application, the first vehicle comprises a special vehicle, including but not limited to a fire truck, an ambulance, a police vehicle, and the like, for performing a special task. After the first vehicle receives the rescue task, the driving route is calculated for the first vehicle, and when the driving route is calculated, factors such as road limit of a road and the like can be taken into consideration. And secondly, generating virtual lane information according to the road condition information of one or more road sections on the driving route, wherein the virtual lane information comprises a virtual lane line and lane indication information, the virtual lane line is used for indicating temporary lanes reserved for the first vehicle and the second vehicle to pass through, and the lane indication information is used for explaining the virtual lane line, identifying the virtual lane corresponding to the virtual lane line for which the vehicle passes through and the like. When the virtual lane information is specifically calculated, in addition to considering the road condition information of one or more road sections on the driving route, the vehicle information of the first vehicle, the vehicle information of the second vehicle, and the like may be taken into consideration as relevant factors, and specific reference is made to relevant contents in the first embodiment, which is not described herein again.

S2: determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle;

specifically, in the embodiment of the present application, the second vehicle includes a common vehicle, and the common vehicle includes, but is not limited to, a household vehicle, a transportation vehicle, and other social vehicles. When determining the second vehicle which needs to receive the virtual lane line, not only the ordinary vehicle which is currently located on the driving route but also the ordinary vehicle of which the planned path partially or completely overlaps with the driving route before the first vehicle passes through need to be considered, because the ordinary vehicle also has an influence on the passing of the first vehicle.

S3: and determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule.

Specifically, the owned communication conditions of different vehicles may be different, and in order to ensure that each second vehicle that needs to avoid the first vehicle can receive the virtual lane line in time, in the embodiment of the present application, different data transmission manners are adopted to send the virtual lane line to the second vehicle under different communication conditions, which is specifically referred to the relevant content in the first embodiment and is not described herein again.

S4: and sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

As a preferred implementation manner, in this embodiment, the determining, according to the driving route, at least one second vehicle that needs to receive the virtual lane line includes: determining a vehicle located on the driving route as a second vehicle needing to receive the virtual lane line; and/or judging whether a part overlapping with the driving route exists in the planned path of the candidate vehicle positioned outside the driving route, and if so, determining the candidate vehicle as a second vehicle needing to receive the virtual lane line.

Specifically, in the embodiment of the present application, the planned path may be partially overlapped with the driving route, or may be completely overlapped with the driving route. Overlapping here means mainly that the planned path overlaps the relevant road sections of the driving route before the first vehicle passes these road sections.

As a preferred implementation manner, in the embodiment of the present application, the method further includes: and for the second vehicle positioned on the driving route, if the second vehicle is driven away from the driving route, the virtual lane information received by the second vehicle is invalid.

Specifically, in the application, when the first vehicle drives away from the road section corresponding to the virtual lane information, the virtual lane information disappears, so that on one hand, the timeliness of the virtual lane information is guaranteed, and on the other hand, the storage space is released when the first vehicle fails, and the storage resource is saved.

As a preferred implementation manner, in this application example, if there is a portion of the planned path of the candidate vehicle outside the driving route that overlaps with the driving route, the method further includes: and judging whether the candidate vehicle runs at the overlapped part when the first vehicle reaches the overlapped part, and if so, determining that the candidate vehicle is a second vehicle needing to receive the virtual lane information.

Specifically, when only the first vehicle reaches the overlapped part to travel, the candidate vehicle traveling at the overlapped part is determined as the second vehicle needing to receive the virtual lane information, and when the first vehicle reaches the overlapped part to travel, the candidate vehicle not traveling at the overlapped part is excluded, so that the virtual lane information is prevented from being transmitted to the vehicle not needing to be avoided, the data volume of the transmitted data is reduced, and the data transmission efficiency is improved.

As a preferred implementation manner, in this embodiment of the present application, the determining, according to a preset rule, a target data transmission manner for sending the virtual lane information to each of the at least one second vehicle includes: judging whether the distance between the first vehicle and the at least one second vehicle meets a preset distance threshold value or not; if the distance between the first vehicle and the at least one second vehicle meets the preset distance threshold, determining that a target data transmission mode is that the first vehicle sends the virtual lane information to the at least one second vehicle through a V2V mode; if the distance between the first vehicle and the at least one second vehicle does not meet the preset distance threshold, whether a roadside unit exists around the at least one second vehicle is judged, if yes, the virtual lane information is sent to the at least one second vehicle through the roadside unit, and if not, the virtual lane information is sent to the at least one second vehicle through a preset cloud device.

As a preferred implementation manner, in the embodiment of the present application, the method further includes: if the at least one second vehicle is provided with a preset display device, displaying the virtual lane information through the preset display device so that the at least one second vehicle can avoid the first vehicle according to the virtual lane information before the first vehicle passes through; or if the at least one second vehicle does not have the preset display device, broadcasting the virtual lane information to the at least one second vehicle through other second vehicles or roadside units with the preset display device, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

Specifically, in the embodiment of the present application, the preset display device includes, but is not limited to, a head-up display, and a central control device, such as an AR HUD or HUD. For vehicles with AR HUD or HUD functionality, virtual lane information and associated guidance is displayed by the AR HUD or HUD. In specific implementation, the screen can be set to display the virtual lane line.

For vehicles with a central control function, temporary lane lines and related guidance can also be displayed through the central control. And displaying a prompt of changing lanes to the right or left on the screen, wherein the lane line of the first vehicle is displayed in red, and when lane changing succeeds, the lane in which the vehicle is located is changed from yellow to green.

As a preferred implementation manner, in an embodiment of the present application, before the displaying the virtual lane information through the preset display device, the method further includes: acquiring an actual lane line of a current road through a forward-looking camera; smoothing the actual lane line and the virtual lane line to obtain processed virtual lane information; the displaying the virtual lane information through the preset display device includes: and displaying the processed virtual lane information through the preset display equipment.

As a preferred implementation manner, in the embodiment of the present application, the displaying the virtual lane information through the preset display device includes: when the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a first preset color, and after the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a second preset color.

Specifically, when the second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a first preset color including, but not limited to, yellow, and after the second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a second preset color including, but not limited to, green. The first preset color, the second preset color and the third preset color are three different colors so as to be convenient to distinguish. The virtual lane line of the first vehicle may be displayed in a third predetermined color, including but not limited to red. Simultaneously, an entry prohibition icon is displayed on the lane of the first vehicle. The AR HUD/HUD displays a prompt to lane change to the right or lane change to the left.

As a preferred implementation manner, in the embodiment of the present application, the method further includes: and when the first vehicle drives away from the road section corresponding to the virtual lane information, the virtual lane information disappears.

As a preferred implementation manner, in this embodiment of the present application, the generating virtual lane information according to road condition information of one or more road segments on a driving route of a first vehicle includes: determining a road section type of each road section according to road condition information of each road section in the one or more road sections, wherein the road section type comprises a single lane and/or multiple lanes; if the road section type is a single lane and the width of the single lane is lower than a first preset threshold value, setting a corresponding road section as a lane of the first vehicle, generating a corresponding virtual lane line, and setting the lane indication information as the second vehicle no-go, or setting a non-motor lane of the road section as a lane of the first vehicle, and generating a corresponding virtual lane line and lane indication information; and/or if the road section type is a single lane and the width of the single lane is not lower than a first preset threshold value, setting a first preset part of the corresponding road section as a lane of the first vehicle, setting a second preset part of the corresponding road section as a lane of the second vehicle, and generating a corresponding virtual lane line and lane indication information; and/or if the road section type is a multi-lane, setting a preset width part between two preset lanes in the multi-lane as a lane of the first vehicle, or setting a lane at a preset position in the multi-lane as a lane of the first vehicle, setting other parts or lanes except the lane of the first vehicle in the multi-lane as lanes of the second vehicle, and generating a corresponding virtual lane line and lane indication information.

Specifically, in the embodiment of the present application, when calculating the virtual lane line, different virtual lane lines may be generated for each road section according to the specific situation of each road section. Reference may be specifically made to related contents in the first embodiment, which are not described in detail herein.

As a preferred implementation manner, in the embodiment of the present application, the setting a first preset portion of a corresponding road segment as a lane of the first vehicle, setting a second preset portion of the corresponding road segment as a lane of the second vehicle, and generating a corresponding virtual lane line and lane indication information includes: setting the left half part of the vehicle passing direction of the corresponding road section as the lane of the first vehicle, setting the right half part of the vehicle passing direction of the corresponding road section as the lane of the second vehicle, and generating a corresponding virtual lane line and lane indication information; or setting the left half part of the vehicle passing direction of the corresponding road section as the lane of the second vehicle, setting the right half part of the vehicle passing direction of the corresponding road section as the lane of the first vehicle, and generating the corresponding virtual lane line and the lane indication information.

As a preferred implementation manner, in this application example, after the virtual lane information is sent to the at least one corresponding second vehicle by the target data transmission manner corresponding to each second vehicle, the method further includes: and judging whether the at least one second vehicle agrees to replace the current planned path or not, and if so, recalculating the planned path for the at least one second vehicle according to the virtual lane information.

Specifically, when a special vehicle runs on the current planned path of the second vehicle, a vehicle-mounted system or a mobile phone system of the second vehicle reminds a user whether to change the path. If the user agrees to change the route, the navigation system recalculates and loads the new planned route, ignoring the information about the particular vehicle. If the user does not agree with the replacement route, the navigation system continues to guide the user to travel, in which case the user may be forced to re-plan the travel route for that road segment if the road becomes available to allow only special vehicles to travel.

As a preferred implementation manner, in the embodiment of the present application, the method further includes: and receiving real-time road condition information on the driving route, and updating the driving route of the first vehicle according to the real-time road condition information.

Specifically, during the driving process of the first vehicle, the first vehicle may receive the synchronous information (including but not limited to the real-time road condition information) of the roadside unit and/or the cloud device in a periodic or asynchronous manner, and drive along the route provided by the first vehicle, if an unavoidable traffic accident or an emergency event such as road collapse occurs on the driving route. The cloud and the roadside units carry out communication coordination, the driving route is replanned, and the driving route is rebroadcast to each relevant vehicle in the mode of the foregoing. The first vehicle continues to travel along the indicated route after receiving the information in the manner of 5G-V2X, etc.

As a preferred implementation, in this application example, when the non-motor lane of the road segment is set as the lane of the first vehicle, the method further includes: and sending notification information to the road users on the non-motor vehicle lane.

Specifically, if the non-motor vehicle lane is occupied, the reminding information can be sent to VRU communication equipment worn or assembled by a road user on the non-motor vehicle lane in a 5G-V2X mode to remind the road user to avoid, so that the safety of the road user is ensured. The user navigating the route through this section passes according to the re-planned route. If the roadside unit is provided with a relevant screen or broadcasting equipment, the roadside unit can remind that the non-motor vehicle lane is occupied and the traffic is forbidden currently. And after the special vehicle passes, unlocking is carried out in real time.

As a preferred embodiment, in the embodiment of the present application, the sending notification information to the road user on the non-motor vehicle lane includes: judging whether a roadside unit exists around the road user, if so, sending the virtual lane information to the terminal equipment of the road user through the roadside unit; and/or judging whether display equipment exists around the road user, and if so, displaying the virtual lane information to the road user through the display equipment; and/or judging whether broadcasting equipment exists around the road user, and if so, broadcasting the virtual lane information to the road user through the broadcasting equipment.

Specifically, the virtual lane information is notified to road users in different scenes in different modes, so that all road users needing to avoid or change lanes can receive the virtual lane information, and the situation that part of road users do not timely avoid the first vehicle because the part of road users do not receive the virtual lane information

EXAMPLE III

Corresponding to the first embodiment and the second embodiment, in the present embodiment, the same or similar contents to those of the first embodiment and/or the second embodiment may refer to the above description, and are not repeated herein. As shown in fig. 8, the present application provides a transmission apparatus of virtual lane information, the apparatus including:

the data generating module is used for generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is obtained by calculation according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle;

the first determining module is used for determining at least one second vehicle which needs to receive the virtual lane information according to the driving route, and the second vehicle comprises a common vehicle;

the second determining module is used for determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule;

and the data transmission module is used for sending the virtual lane information to the at least one second vehicle in a target data transmission mode corresponding to each second vehicle so that the at least one second vehicle can avoid the first vehicle according to the virtual lane information before the first vehicle passes through.

In some embodiments, the apparatus provided in this embodiment of the present application may further include other units or modules, and the units or modules may implement the steps corresponding to the methods in the first and second embodiments, and refer to the detailed description in the first and second embodiments, which is not described herein again.

Example four

Corresponding to the first to third embodiments, the application further provides a computer device. Fig. 9 is a schematic diagram illustrating an internal configuration of a computer device according to an exemplary embodiment, which includes a processor, a memory, and a network interface connected through a system bus, as shown in fig. 9. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of optimization of an execution plan.

Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

As a preferred implementation manner, in this embodiment, the computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the following steps: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule; and sending the virtual lane information to the corresponding at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

In some embodiments, in the present application, when the processor executes the computer program, steps corresponding to the methods in the first and second embodiments may be further implemented, and reference may be made to the detailed description in the first and second embodiments, which is not repeated herein.

EXAMPLE five

Corresponding to the first to fourth embodiments, in the embodiments of the present application, there is further provided a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle; determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle; determining a target data transmission mode for sending the virtual lane line to each second vehicle in the at least one second vehicle according to a preset rule; and sending the virtual lane information to the corresponding at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

In some embodiments, in the embodiments of the present application, when the computer program is executed by the processor, steps corresponding to the methods in the first and second embodiments may also be implemented, and reference may be made to the detailed description in the first and second embodiments, which is not described herein again.

It should be noted that: the transmission device of the virtual lane information provided in the above embodiment is only illustrated by dividing the functional modules when triggering the transmission service, and in practical applications, the function allocation may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the transmission device of the virtual lane information provided by the above embodiment and the transmission method of the virtual lane information belong to the same concept, that is, the device is based on the transmission method of the virtual lane information, and the specific implementation process thereof is detailed in the method embodiment and is not described herein again.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of transmitting virtual lane information, the method comprising:

generating virtual lane information according to road condition information of one or more road sections on a driving route of a first vehicle, wherein the virtual lane information comprises a virtual lane line and lane indication information, the driving route is calculated according to a destination and a current position of the first vehicle, and the first vehicle comprises a special vehicle;

determining at least one second vehicle needing to receive the virtual lane information according to the driving route, wherein the second vehicle comprises a common vehicle;

determining a target data transmission mode for sending the virtual lane information to each second vehicle in the at least one second vehicle according to a preset rule;

and respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle, so that the at least one second vehicle avoids the first vehicle according to the virtual lane information before the first vehicle passes through.

2. The method for transmitting virtual lane information according to claim 1, wherein the determining at least one second vehicle that needs to receive the virtual lane information according to the driving route comprises:

determining a vehicle located on the driving route as a second vehicle needing to receive the virtual lane information;

and/or judging whether a part which is overlapped with the driving route exists in the planned path of the candidate vehicle positioned outside the driving route, and if so, determining the candidate vehicle as a second vehicle needing to receive the virtual lane information.

3. The method of transmitting virtual lane information according to claim 2, further comprising:

and for the second vehicle positioned on the driving route, if the second vehicle is driven away from the driving route, the virtual lane information received by the second vehicle is invalid.

4. The method for transmitting virtual lane information according to claim 2, wherein if there is a portion of the planned path of the candidate vehicle outside the driving route that overlaps with the driving route, the method further comprises:

and judging whether the candidate vehicle runs at the overlapped part when the first vehicle reaches the overlapped part, and if so, determining that the candidate vehicle is a second vehicle needing to receive the virtual lane information.

5. The method for transmitting the virtual lane information according to any one of claims 1 to 4, wherein the determining a target data transmission manner for transmitting the virtual lane information to each of the at least one second vehicle according to a preset rule comprises:

judging whether the distance between the first vehicle and the at least one second vehicle meets a preset distance threshold value or not;

if the distance between the first vehicle and the at least one second vehicle meets the preset distance threshold, determining that a target data transmission mode is that the first vehicle sends the virtual lane information to the at least one second vehicle through a V2V mode; alternatively, the first and second electrodes may be,

if the distance between the first vehicle and the at least one second vehicle does not meet the preset distance threshold, whether a roadside unit exists around the at least one second vehicle is judged, if yes, the virtual lane information is sent to the at least one second vehicle through the roadside unit, and if not, the virtual lane information is sent to the at least one second vehicle through a preset cloud device.

6. The method for transmitting virtual lane information according to any one of claims 1 to 4, further comprising:

if the at least one second vehicle is provided with a preset display device, displaying the virtual lane information through the preset display device so that the at least one second vehicle can avoid the first vehicle according to the virtual lane information before the first vehicle passes through; alternatively, the first and second electrodes may be,

if the at least one second vehicle does not have the preset display equipment, broadcasting the virtual lane information to the at least one second vehicle through other second vehicles or roadside units with the preset display equipment so that the at least one second vehicle can avoid the first vehicle according to the virtual lane before the first vehicle passes through.

7. The method of transmitting virtual lane information according to claim 6, wherein before the displaying the virtual lane information through the preset display device, the method further comprises:

acquiring an actual lane line of a current road through a forward-looking camera;

smoothing the actual lane line and the virtual lane line to obtain processed virtual lane information;

the displaying the virtual lane information through the preset display device includes:

and displaying the processed virtual lane information through the preset display equipment.

8. The method for transmitting virtual lane information according to claim 6, wherein the displaying the virtual lane information through the preset display device includes:

when the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a first preset color, and after the at least one second vehicle enters the lane corresponding to the corresponding virtual lane line, the virtual lane line is displayed in a second preset color.

9. The method of transmitting virtual lane information according to claim 6, further comprising:

and when the first vehicle drives away from the road section corresponding to the virtual lane information, the virtual lane information disappears.

10. An apparatus for transmitting virtual lane information, the apparatus comprising:

and the data transmission module is used for respectively sending the virtual lane information to the at least one second vehicle through a target data transmission mode corresponding to each second vehicle so as to enable the at least one second vehicle to avoid the first vehicle according to the virtual lane information before the first vehicle passes through.