CN112863207B

CN112863207B - Vehicle running control method and device

Info

Publication number: CN112863207B
Application number: CN202110369582.0A
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: 2022-05-06
Anticipated expiration: 2041-04-06
Also published as: CN112863207A

Abstract

The application discloses a vehicle running control method and a vehicle running control device, wherein the method comprises the following steps: the method comprises the steps of obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, the first vehicle comprises a special vehicle, obtaining vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the running path, the second vehicle comprises a common vehicle, generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all second vehicles, the road information of the running path and a preset algorithm, so that all second vehicles can avoid the first vehicle according to the virtual lane information.

Description

Vehicle running control method and device

Technical Field

The application relates to the technical field of vehicle networking, in particular to a vehicle running control method and device.

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, so that it is difficult to meet the needs of rescue and rescue in fast-paced life, and the phenomenon of endangering the safety of lives and properties of people frequently occurs.

Therefore, it is necessary to provide a new vehicle driving control scheme 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 vehicle driving control method and device, so as to overcome the problems in the prior art that a special vehicle may be blocked under the condition of a great traffic flow, so that a destination cannot be reached in time due to untimely operation, and the like.

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

in a first aspect, there is provided a vehicle travel control method including the steps of: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a driving path of the first vehicle, and the first vehicle comprises a special vehicle; acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles; generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

Further, the generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path, and a preset algorithm includes:

determining the road section type of each road section included in the driving path according to the road information of the driving path, wherein the road section type comprises a single lane and/or multiple lanes, and in the application, different virtual lane information is respectively generated on the road sections of different road section types, so that temporary lanes can be reserved for the first vehicle on the road sections of various road section types, and the first vehicle can conveniently pass through in time;

if the road section type is a single lane and the width of the single lane is lower than a 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 no-pass of the second vehicle, 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 pass through two vehicles, setting the road section as the lane of the first vehicle, and prohibiting the second vehicle from passing through so as to preferentially pass through the first vehicle, 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, and realizing that a temporary lane is reserved for the first vehicle, so that 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 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 pass through two vehicles, 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 drive on respective lanes, and the normal passing 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 first vehicle and the second vehicle both have corresponding lanes to be capable of running, ensuring that the first vehicle does not influence the normal running of other vehicles (second vehicles) while passing through the lanes in time, particularly when the multi-lane is possibly an overhead or 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 preset threshold is determined based on the vehicle information of the first vehicle, so that the first vehicle can smoothly pass through the lane of the first vehicle, and the preset width is determined based on the vehicle information of the first vehicle and the vehicle information of all the second vehicles, so that the first vehicle can smoothly pass through the lane of the first vehicle, and meanwhile, other vehicles (second vehicles) can also smoothly pass through the lane of the second vehicle.

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, 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 inputs to the preset algorithm include a speed factor, a size factor, and a road condition factor.

Further, the vehicle information of the first vehicle includes first vehicle speed information and first vehicle size information, the vehicle information of the second vehicle includes second vehicle speed information and second vehicle size information, the road information comprising road width information and road traffic condition information, the speed factor being determined based on at least the first vehicle speed information, the second vehicle speed information and the road traffic condition information, the size factor is determined based on at least the first vehicle size information, the second vehicle size information, and the road width information, the road condition factor is determined based on at least the road traffic condition information, the accuracy of the generated virtual lane information is improved by taking into account factors such as the speed and size of the first vehicle and the second vehicle, and road traffic conditions when generating the virtual lane information.

Further, the method is executed by the first vehicle, a road side unit communicating with the first vehicle and the second vehicle through V2X, a cloud server corresponding to the road side unit, or at least one second vehicle; wherein the at least one second vehicle comprises a target second vehicle, the method further comprising, when performed by the target second vehicle:

and sending the virtual lane information to the first vehicle and other second vehicles except the target second vehicle in all the second vehicles, wherein the generation of the virtual lane information can be performed by the first vehicle, a road side unit, a cloud server or one of the second vehicles, and when the generation of the virtual lane information is performed by any one of the second vehicles, the first vehicle is used as a reference for calculating the virtual lane information, so that the calculated virtual lane information needs to be sent to other vehicles (including the first vehicle and the other second vehicles).

Further, the method further comprises:

receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the issuing time of the updated virtual lane information and the issuing time of the virtual lane information is greater than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is greater than or equal to a preset difference threshold, and after the first vehicle and the second vehicle issue the virtual lane line, the other second vehicles can issue in detail, but one or all of the following conditions need to be met:

1. the time interval between two releases is larger than a certain time threshold;

2. the difference between the two virtual lane lines is greater than a certain threshold, for example, if the difference between the two lane lines is small, the two lane lines do not need to be updated, and if the difference is large, the two lane lines are updated, where the difference includes, but is not limited to, the position and the width of the virtual lane line.

Further, if the current second vehicle has a preset display device, the method further includes:

and generating a virtual lane image according to the virtual lane information, displaying the virtual lane image through the preset display equipment so that the current second vehicle can avoid according to the virtual lane image before the first vehicle passes through, displaying the virtual lane information in the form of an image through the preset display equipment so as to be convenient for a driver to view, and simultaneously driving in or driving 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.

Further, if the second vehicle does not have the preset display device, the method further includes:

and generating a virtual lane image according to the virtual lane information, broadcasting the virtual lane image to the current second vehicle through other vehicles with the preset display equipment so that the current second vehicle can avoid according to the virtual lane image before the first vehicle passes through, and acquiring the virtual lane image in a manner of broadcasting by other vehicles, so that a driver can still acquire the virtual lane image in time under the condition that the current second vehicle does not have the display condition, and can drive 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.

Further, the method further includes a process of acquiring the driving path of the first vehicle, including:

the method comprises the steps of obtaining current position information and destination position information of a first vehicle, and generating a driving path of the first vehicle according to the current position information and the destination position information so as to rapidly plan a proper driving path for the first vehicle.

Further, the acquiring the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle, and the road information of the driving path includes:

the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the driving path are acquired through at least one of a road side unit, a cloud end device or a preset sensor.

In a second aspect, there is provided a vehicle travel control apparatus including: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring avoidance reminding information of a first vehicle, the avoidance reminding information comprises a driving path of the first vehicle, and the first vehicle comprises a special vehicle; the second acquisition module is used for acquiring the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the driving path, wherein the second vehicles comprise common vehicles; the information generating module is used for generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

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: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, and the first vehicle comprises a special vehicle; acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles; generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, and the first vehicle comprises a special vehicle; acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles; generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

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

the vehicle running control method and device provided by the embodiment of the application, by obtaining the avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, the first vehicle comprises a special vehicle, the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the running path are obtained, the second vehicle comprises a common vehicle, virtual lane information is generated according to the vehicle information of the first vehicle, the vehicle information of all second vehicles, the road information of the running path and a preset algorithm, the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles avoid the first vehicle according to the virtual lane information, thereby reserving a temporary lane for the first vehicle, the first vehicle is avoided in time, and the problems that the first vehicle cannot arrive at the destination in time due to reasons such as traffic jam and the like, operation is not timely and the like are 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 vehicle driving control system based on a 5G-V2X Internet of vehicles according to an embodiment of the present application;

FIG. 2 is a flowchart of a vehicle driving control method provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a vehicle travel control device provided in an embodiment of the present application;

fig. 4 is a schematic internal structural diagram of a computer device provided in 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 problems, the embodiment of the application creatively provides a vehicle running control method, which realizes that a common vehicle gives way to a special vehicle in operation in time to avoid a channel, avoids traffic jam, and avoids the problems that the special vehicle cannot reach a destination in time due to traffic jam and the like, and the operation is not in time 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 vehicle driving control system based on a 5G-V2X internet of vehicles, and as shown in fig. 1, the system includes a cloud end, a plurality of Road Side Units (RSUs), a special vehicle (i.e., a first vehicle), and a plurality of ordinary 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 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 Road Side Unit (RSU) is disposed at the Road Side, and communicates with the On Board Unit (OBU) by using dsrc (dedicated Short Range communication) technology, so as to perform 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 Road Side Unit (RSU). V2X (Vehicle to event) refers to the connection between Vehicle and anything, and mainly includes V2V Vehicle to Vehicle (Vehicle to Vehicle), V2I Vehicle and Infrastructure (Vehicle to Infrastructure), V2P Vehicle and People (Vehicle to peer), V2N Vehicle and cloud (Vehicle to Network).

Specifically, the process of performing vehicle running control by using the vehicle running control system based on the 5G-V2X internet of vehicles is as follows:

the method comprises the steps of firstly, receiving a rescue signal sent by a target rescue object and determining a destination to be rescued.

Specifically, the rescue signal (e.g., 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 path information of the special vehicle according to the destination.

Specifically, when the special vehicle starts, task information is sent to a surrounding Road Side Unit (RSU) and a cloud device in a 5G-V2X manner, where the task information includes, but is not limited to, a destination of the task, a current location 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 relevant information. And after receiving the departure information, the Road Side Unit (RSU) and the cloud equipment update the task information in real time, calculate the driving path information according to the task information and synchronize the optimal driving path information to the special vehicle. The driving route in the embodiment of the present application refers to a 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.

And step three, sending avoidance reminding information to all the common vehicles needing to be avoided, and generating virtual lane information for each common vehicle.

Specifically, in the embodiment of the application, the task information of the current time of all the common vehicles needing to be avoided is notified in advance. During specific implementation, cloud equipment or RSUs (road side units) around each ordinary vehicle can send avoidance reminding information to corresponding vehicle-mounted units of the ordinary vehicles, and the avoidance reminding information includes but is not limited to driving path information of special vehicles and the like. After each vehicle-mounted unit receives the corresponding avoidance reminding information, vehicle information of other common vehicles on a driving path, vehicle information of special vehicles, road information of the driving path 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, road width information, road traffic condition information and the like of each road section. And then, a vehicle-mounted auxiliary system (ADAS) and an automatic driving system are applied to generate virtual lane information by adopting a preset algorithm. The virtual lane information includes, but is not limited to, information such as a virtual lane line of the generated temporary lane and a width of each temporary lane, and the temporary lanes include a lane provided for a special vehicle to travel and a lane provided for a general vehicle to travel, which needs to be avoided. It should be noted here that if there are road side units around the ordinary vehicle and the networking speed is good, the vehicle-mounted unit is regulated and controlled by the road side unit or the cloud device.

Specifically, the process for determining all the common vehicles needing to be avoided comprises the following steps: determining a common vehicle on a driving path of a first vehicle as a vehicle needing to be avoided; and/or judging whether the planned path of the candidate vehicle outside the driving path has a part overlapping with the driving path, and if so, determining the candidate vehicle as the vehicle needing to be avoided.

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 unit (RSU) exists at the periphery of the corresponding ordinary vehicle, virtual lane information is generated through the RSU according to a preset algorithm, then the virtual lane information is sent to the corresponding ordinary vehicle through the V2X communication function, and the surrounding ordinary vehicles are coordinated to carry out driving actions. The priority of communication can be timely adjusted according to the delay time of the equipment, including but not limited to vehicle-to-roadside unit, roadside unit-to-vehicle, cloud equipment-to-vehicle, vehicle-to-vehicle and the like.

If no road side unit exists around the corresponding common vehicle, the cloud device stores relevant road information of a driving path, including high-precision information or common information of the road, the cloud device generates virtual lane information according to a preset algorithm, and then the cloud device sends the virtual lane information to the corresponding common vehicle through a cellular network (such as 4G/5G).

If no road side unit exists around the corresponding ordinary vehicle and the cloud end equipment does not store the relevant road information of the driving path. 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 virtual lane information according to a preset algorithm.

Specifically, the generated virtual lane information includes, but is not limited to, the following;

when a certain road section of the driving path 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 (also called a virtual lane) of a special vehicle;

when a certain road section of the driving path is a single lane, but the lane width meets a preset threshold value, a temporary lane is generated on the left side of the single lane and reserved for a special vehicle to drive, and other common vehicles drive to the right;

when a certain road section of the driving path is a double lane or more than two lanes, a temporary lane is arranged between the two lanes, or the leftmost lane is given out as the temporary lane according to the driving condition of the current vehicle so as to reserve the special vehicle for driving.

Specifically, the preset algorithm includes, but is not limited to, a scene function f (t), and the scene function comprehensively considers factors related to a special vehicle, factors related to other common vehicles, factors related to road information, factors related to a vulnerable road user, and the like. It should be noted that the road height limit and other factors may be taken into consideration when calculating the driving path of the special vehicle. As a preferred implementation, in the embodiment of the present application, the scenario functions are as follows:

F(t)＝k1*f1(t)+k2*f2(t)+k3*f3(t)

wherein, k1, k2, k3 are the weight of the factor, if there is no related factor, the default value is set, preferably, the default value is 1.

f1(t) ═ a1 × speed of the special vehicle + a2 × historical average speed of the special vehicle + A3 × average speed of the other vehicle + a4 × historical average speed of the other vehicle + a5 × road limit vehicle speed + a6 × average speed of the vulnerable road user +. + An × speed related factors, wherein a1, a2, A3 … An are weights occupied by the corresponding factors;

f2(t) ═ B1 × width of the special vehicle + B2 × length of the special vehicle + B3 × average width of the other vehicles + B4 × average length of the other vehicles + B5 × road width + B6 × width of the emergency lane +. + Bn × length-width related factors, wherein B1, B2, and B3 … Bn are weights corresponding to the factors;

f3(t) ═ C1 + C2 + probability of pedestrian passing in the current time period + C3 + probability of pedestrian passing 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), wherein 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 a context, which is not limited herein.

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

When F (t) is 0-a, setting the current road to prohibit other vehicles from passing through, wherein the duration is t1, t1 is (road length/average speed of special vehicle) + -5min, and after the special vehicle passes through, the virtual lane line disappears in real time;

when F (t) is in a-b, setting the width of the temporary lane to be slightly larger than that of the special vehicle, and setting the duration to be t2, wherein t2 is (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 temporary lane is set to be greater than the vehicle width by 3m, and the duration is t3, wherein t3 is (road length/average speed of special vehicle) +10min, and the virtual lane line disappears in real time after the special vehicle passes through.

And fourthly, generating a virtual lane image according to the virtual lane information, and displaying the virtual lane image through a preset display device so that the common vehicle can avoid according to the virtual lane image before the special 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 (HUD). The virtual lane information includes, but is not limited to, the width, duration, etc. of the virtual lane line. And generating a corresponding virtual lane image according to the temporary lane information, and displaying the virtual lane image on a preset display device so as to guide corresponding common vehicles to avoid according to the special vehicles before the special vehicles pass through, reserve a temporary lane for the special vehicles, avoid the special vehicles executing the tasks in time, avoid traffic jam and enable the special vehicles to arrive at the destination for timely operation as soon as possible. In order not to influence the normal traffic condition of the related road, in the embodiment of the application, the virtual lane image disappears after the special vehicle passes through, and the traffic road is recovered to be normal.

It should be noted here that if a certain ordinary vehicle is not equipped with a preset display device, other vehicles equipped with the preset display device may notify the corresponding ordinary vehicle in a voice or vehicle-mounted broadcasting manner, and in addition, if nearby road side units are equipped with devices such as a broadcast or a screen, the devices such as the broadcast or the screen of the road side units may also be used to remind pedestrians or non-motor vehicles, so that the ordinary vehicle, the pedestrians, and the non-motor vehicles may avoid according to a virtual lane image before the special vehicle passes through, so as to avoid the special vehicle executing the task in time.

Example two

In accordance with the first embodiment, as shown in fig. 2, the present application provides a vehicle driving control method, including the steps of:

s1: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, and the first vehicle comprises a special vehicle.

Specifically, in the embodiment of the present application, the first vehicle includes a special vehicle, the special vehicle includes, but is not limited to, a fire truck, an ambulance, a police vehicle, and the like, which are used for performing a special task, and the second vehicle includes a general vehicle, and the general vehicle includes, but is not limited to, a domestic vehicle, a transportation vehicle, and the like, and a social vehicle. After the first vehicle receives the task, the driving path is calculated for the first vehicle, and when the driving path is calculated, factors such as road limit of a road and the like can be taken into consideration.

Specifically, after the driving path of the first vehicle is determined, an avoidance reminding message is sent to all the second vehicles needing to be avoided so as to remind the second vehicles to be avoided in advance, so that the first vehicle can smoothly pass through, and the avoidance reminding message can include driving path information and the like. The sending mode of the avoidance reminding information includes, but is not limited to, modes such as 5G-V2X, etc., and the user may select the avoidance reminding information according to specific situations without limitation.

S2: and acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles.

Specifically, each second vehicle receiving the avoidance reminding information may generate virtual lane information in advance, and the temporary vehicle is reserved for the first vehicle to pass through. In particular, the vehicle information of the first vehicle, the vehicle information of all the second vehicles, and the road information of the driving route may be taken into consideration as the relevant factors.

S3: generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

Specifically, in the embodiment of the present application, a preset algorithm is adopted when calculating the virtual lane, where the preset algorithm includes, but is not limited to, a preset scene function, and the specific function may refer to relevant contents in the first embodiment, which is not described herein any more.

As a preferred implementation, in this embodiment, the generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path, and a preset algorithm includes:

determining a road section type of each road section included in the driving path according to the road information of the driving path, 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 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 a 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 the presence of a gas in the atmosphere,

if the road section type is a single lane and the width of the single lane is not lower than a 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 a corresponding virtual lane line and lane indication information; 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 lanes of the second vehicle, and generating corresponding virtual lane lines and lane indication information.

Specifically, in the embodiment of the present application, when the virtual lane information is calculated, different virtual lanes are generated for each road segment according to the specific situation of each road segment. For details, reference may be made to related contents in the first embodiment, and details are not repeated here.

As a preferred implementation, in the embodiment of the present application, the preset threshold is determined based on the vehicle information of the first vehicle, and the preset width is determined based on the vehicle information of the first vehicle and the vehicle information of all the second vehicles.

Specifically, the preset threshold value is determined based on the vehicle information of the first vehicle, so that the first vehicle can smoothly pass through the lane of the first vehicle, and the preset width is determined based on the vehicle information of the first vehicle and the vehicle information of all the second vehicles, so that other vehicles (second vehicles) can smoothly pass through the lane of the second vehicle while the first vehicle can smoothly pass through the lane of the first vehicle.

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.

Specifically, due to different driving habits of various countries, in order to deal with the situation, when the vehicle drives to the right, the lane of the first vehicle is arranged on the left side of the road passing direction, the lane of the second vehicle is arranged on the right side of the road passing direction, and when the vehicle drives to the left, the lane of the first vehicle is arranged on the right side of the road passing direction, and the lane of the second vehicle is arranged on the left side of the road passing direction, so that the driving habits of drivers of other vehicles are not influenced while the first vehicle is ensured to pass in time, and the driving safety is ensured while the second vehicle passes smoothly.

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, when the non-motor lane of a certain road section is used as a temporary lane, notification information can be sent to road users on the non-motor lane, wherein the road users include but are not limited to weak road users, such as pedestrians and non-motor vehicles, so as to remind the road users that a first vehicle will pass through the road section. The notification message may be sent to the corresponding road user through a communication device such as a mobile phone, or may be broadcast to the relevant road user through a device such as a broadcast around the road user.

As a preferred implementation, in the embodiment of the present application, the inputs of the preset algorithm include a speed factor, a size factor, and a road condition factor.

As a preferred implementation, in the embodiment of the present application, the first vehicle information includes first vehicle speed information and first vehicle size information, the second vehicle information includes second vehicle speed information and second vehicle size information, the road information includes road width information and road traffic condition information, the speed factor is determined based on at least the first vehicle speed information, the second vehicle speed information and the road traffic condition information, the size factor is determined based on at least the first vehicle size information, the second vehicle size information and the road width information, and the road condition factor is determined based on at least the road traffic condition information.

Specifically, the determining method of the speed factor may refer to the calculating method of fl (t) in the first embodiment, the determining method of the size factor may refer to the calculating method of f2(t) in the first embodiment, and the determining method of the road condition factor may refer to the calculating method of f3(t) in the first embodiment, which is not described herein again. As a preferred implementation manner, in the embodiment of the present application, the method is performed by the first vehicle, a road side unit communicating with the first vehicle and the second vehicle through V2X, a cloud server corresponding to the road side unit, or at least one of the second vehicles;

wherein the at least one second vehicle comprises a target second vehicle, the method further comprising, when performed by the target second vehicle: transmitting the virtual lane information to the first vehicle and other second vehicles of the all second vehicles except the target second vehicle.

Specifically, the generation of the virtual lane information may be performed by the first vehicle, the roadside unit, the cloud server, or a second vehicle, and when the generation is performed by any second vehicle, the first vehicle is determined to calculate the virtual lane information, and therefore, the calculated virtual lane information needs to be sent to other vehicles (including the first vehicle and other second vehicles).

As a preferred implementation manner, in the embodiment of the present application, the method further includes: receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the release time of the updated virtual lane information and the release time of the virtual lane information is greater than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is greater than or equal to a preset difference threshold value.

Specifically, after the first vehicle and the second vehicle issue the virtual lane line, the other second vehicles may issue the virtual lane line more finely to update the virtual lane information, but one or all of the following conditions need to be satisfied:

As a preferred implementation manner, in this application embodiment, if the current second vehicle has a preset display device, the method further includes: and generating a virtual lane image according to the virtual lane information, and displaying the virtual lane image through the preset display equipment so that the second vehicle to be controlled can avoid according to the virtual lane image before the first vehicle passes through the virtual lane image.

Specifically, in the embodiment of the present application, the preset display device includes, but is not limited to, a head-up display, such as an AR HUD or HUD. For vehicles with AR HUD or HUD functionality, temporary lanes and associated guidance are displayed by the AR HUD or HUD. In a specific implementation, the setting screen may display a new lane plan, the lane line of the first vehicle may be displayed in red, the lane line of the second vehicle may be displayed in yellow, and the no entry icon may be 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. When lane changing is completed, the lane line where the vehicle is located changes from yellow to green.

For the vehicle with the central control function, the virtual lane line 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 this application example, if the current second vehicle does not have a preset display device, the method further includes: and generating a virtual lane image according to the virtual lane information, and broadcasting the virtual lane image to the second vehicle to be currently controlled through other vehicles with the preset display equipment so that the second vehicle to be currently controlled can avoid according to the virtual lane image before the first vehicle passes through.

Specifically, for a second vehicle without a preset display device, the vehicle driving action can be completed in a mode of external broadcast or internal broadcast or prompt of a mobile device.

As a preferred implementation manner, in this application example, the process of acquiring the driving path of the first vehicle includes: the method comprises the steps of obtaining current position information and destination position information of a first vehicle, and generating driving path information of the first vehicle according to the current position information and the destination position information.

Specifically, when calculating the driving route of the first vehicle, the destination of the current task and the current position (i.e., the departure point) of the first vehicle are mainly considered, and in addition, the driving speed, the driving direction, and other factors of the first vehicle may be considered, so that the optimal driving route can be obtained.

As a preferred implementation, in an embodiment of the present invention, the obtaining vehicle information of the first vehicle, vehicle information of all second vehicles that need to avoid the first vehicle, and road information of the driving route includes: the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the driving path are obtained through at least one of a road side unit, a cloud device or a preset sensor.

Specifically, in the embodiment of the application, the first vehicle information of the first vehicle, the second vehicle information of the third vehicle, the road information of the driving path, and other related information may be acquired in a plurality of ways, including but not limited to ways of passing through a road side unit, a cloud device, or a preset sensor, where the preset sensor includes but is not limited to a camera, a radar, and other devices installed on the vehicle.

EXAMPLE III

In correspondence with the first and second embodiments described above, as shown in fig. 3, the present application provides a vehicle travel control apparatus including:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring avoidance reminding information of a first vehicle, the avoidance reminding information comprises a driving path of the first vehicle, and the first vehicle comprises a special vehicle;

the second acquisition module is used for acquiring the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the driving path, wherein the second vehicles comprise common vehicles;

the information generating module is used for generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information. As a preferred implementation manner, in this embodiment of the present application, the information generating module is specifically configured to:

if the road section type is a single lane and the width of the single lane is lower than a 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 a 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 the presence of a gas in the gas,

As a preferred implementation manner, in this embodiment of the present application, the information generating module is specifically configured to: 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 the embodiment of the present application, the apparatus further includes: and the notification sending module is used for sending notification information to the road users on the non-motor vehicle lane.

As a preferred implementation manner, in the embodiment of the present application, the apparatus further includes: and the information sending module is used for sending the virtual lane information to the first vehicle and other second vehicles except the target second vehicle in all the second vehicles.

As a preferred implementation manner, in the embodiment of the present application, the apparatus further includes: the information receiving module is used for receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the issuing time of the updated virtual lane information and the issuing time of the virtual lane information is larger than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is larger than or equal to a preset difference threshold value.

Example four

Corresponding to the first to third embodiments, the application further provides a computer device. Fig. 4 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. 4. 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. 4 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: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a driving path of the first vehicle, and the first vehicle comprises a special vehicle; acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles; generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

As a preferred implementation manner, in the embodiment of the present application, when the processor executes the computer program, the following steps are further implemented:

As a preferred implementation manner, in the embodiment of the present application, when the processor executes the computer program, the following steps are further implemented: 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 the embodiment of the present application, when the processor executes the computer program, the following steps are further implemented: and sending notification information to the road users on the non-motor vehicle lane.

As a preferred implementation, in the embodiment of the present application, the vehicle information of the first vehicle includes first vehicle speed information and first vehicle size information, the vehicle information of the second vehicle includes second vehicle speed information and second vehicle size information, the road information includes road width information and road traffic condition information, the speed factor is determined based on at least the first vehicle speed information, the second vehicle speed information and the road traffic condition information, the size factor is determined based on at least the first vehicle size information, the second vehicle size information and the road width information, and the road condition factor is determined based on at least the road traffic condition information.

As a preferred implementation manner, in the embodiment of the present application, when the processor executes the computer program, the following steps are further implemented: transmitting the virtual lane information to the first vehicle and other second vehicles of the all second vehicles except the target second vehicle.

As a preferred implementation manner, in the embodiment of the present application, when the processor executes the computer program, the following steps are further implemented: receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the release time of the updated virtual lane information and the release time of the virtual lane information is greater than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is greater than or equal to a preset difference threshold value.

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: obtaining avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, and the first vehicle comprises a special vehicle; acquiring vehicle information of the first vehicle, vehicle information of all second vehicles needing to avoid the first vehicle and road information of the driving path, wherein the second vehicles comprise common vehicles; generating virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information.

As a preferred implementation manner, in the embodiment of the present application, when executed by a processor, the computer program further implements the following steps:

As a preferred implementation manner, in the embodiment of the present application, when executed by a processor, the computer program further implements the following steps: 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 the embodiment of the present application, when executed by a processor, the computer program further implements the following steps: and sending notification information to the road users on the non-motor vehicle lane.

As a preferred implementation manner, in the embodiment of the present application, when executed by a processor, the computer program further implements the following steps: transmitting the virtual lane information to the first vehicle and other second vehicles of the all second vehicles except the target second vehicle.

As a preferred implementation manner, in the embodiment of the present application, when executed by a processor, the computer program further implements the following steps: receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the release time of the updated virtual lane information and the release time of the virtual lane information is greater than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is greater than or equal to a preset difference threshold value.

To sum up, the technical scheme provided by the embodiment of the application brings the following beneficial effects:

the vehicle running control method and device provided by the embodiment of the application, by obtaining the avoidance reminding information of the first vehicle, wherein the avoidance reminding information comprises the running path of the first vehicle, the first vehicle comprises a special vehicle, the vehicle information of the first vehicle, the vehicle information of all the second vehicles needing to avoid the first vehicle and the road information of the running path are obtained, the second vehicle comprises a common vehicle, virtual lane information is generated according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the running path and a preset algorithm, the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles avoid the first vehicle according to the virtual lane information, thereby reserving a temporary lane for the first vehicle, the first vehicle is avoided in time, and the problems that the first vehicle cannot arrive at the destination in time due to reasons such as traffic jam and the like, operation is not timely and the like are avoided.

It should be noted that: the vehicle driving control device provided in the above embodiment is only illustrated by dividing the functional modules when triggering the control service, and in practical applications, the function distribution 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 vehicle running control device provided by the above embodiment and the vehicle running control method embodiment belong to the same concept, that is, the device is based on the vehicle running control method, and the specific implementation process thereof is detailed in the method embodiment and is not described again here.

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 storage medium may be a read-only memory, a magnetic disk or an optical disk.

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 vehicle travel control method applied to a target second vehicle among second vehicles, wherein the second vehicle includes a normal vehicle, the method comprising:

the target second vehicle acquires avoidance reminding information of a first vehicle, wherein the avoidance reminding information comprises a running path of the first vehicle, and the first vehicle comprises a special vehicle;

the target second vehicle acquires the vehicle information of the first vehicle, the vehicle information of all second vehicles needing to avoid the first vehicle and the road information of the driving path;

the target second vehicle generates virtual lane information according to the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the driving path and a preset algorithm, wherein the virtual lane information comprises virtual lane lines and lane indication information, so that all the second vehicles can avoid the first vehicle according to the virtual lane information, the vehicle information of the first vehicle comprises first vehicle speed information and first vehicle size information, the vehicle information of the second vehicle comprises second vehicle speed information and second vehicle size information, the road information of the driving path comprises road width information and road traffic condition information, the input of the preset algorithm comprises a speed factor, a size factor and a road condition factor, and the speed factor is at least based on the first vehicle speed information, The second vehicle speed information and the road traffic condition information, the size factor determined based on at least the first vehicle size information, the second vehicle size information, and the road width information, the road condition factor determined based on at least the road traffic condition information;

the target second vehicle sends the virtual lane information to the first vehicle and other second vehicles except the target second vehicle in all the second vehicles;

the target second vehicle receives updated virtual lane information sent by other second vehicles, wherein a time difference between the release time of the updated virtual lane information and the release time of the virtual lane information is greater than or equal to a preset time period, and/or a difference between the updated virtual lane information and the virtual lane information is greater than or equal to a preset difference threshold.

2. The vehicle travel control method according to claim 1, wherein the generating virtual lane information based on the vehicle information of the first vehicle, the vehicle information of all the second vehicles, the road information of the travel route, and a preset algorithm includes:

if the road section type is a single lane and the width of the single lane is not lower than a 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 the presence of a gas in the gas,

3. The vehicle travel control method according to claim 2, characterized in that the preset threshold value is determined based on vehicle information of the first vehicle, and the preset width is determined based on the vehicle information of the first vehicle and vehicle information of all the second vehicles.

4. The vehicle travel control method according to claim 2, wherein the setting of the first preset portion of the corresponding road section as the lane of the first vehicle and the second preset portion of the corresponding road section as the lane of the second vehicle, and the generating of the corresponding virtual lane line and the lane indication information includes:

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.

5. The vehicular travel control method according to any one of claims 2 to 4, characterized in that when the non-motor lane of the road section is set as the lane of the first vehicle, the method further comprises:

and sending notification information to the road users on the non-motor vehicle lane.

6. The vehicle travel control method according to any one of claims 1 to 4, characterized in that vehicle information of the first vehicle includes first vehicle speed information and first vehicle size information, vehicle information of the second vehicle includes second vehicle speed information and second vehicle size information, the road information includes road width information and road traffic condition information, the speed factor is determined based on at least the first vehicle speed information, the second vehicle speed information, and the road traffic condition information, the size factor is determined based on at least the first vehicle size information, the second vehicle size information, and the road width information, and the road condition factor is determined based on at least the road traffic condition information.

7. A vehicle travel control apparatus that is provided on a target vehicle in a second vehicle, the apparatus comprising:

an information generating module, configured to generate virtual lane information according to vehicle information of the first vehicle, vehicle information of all second vehicles, road information of the driving path, and a preset algorithm, where the virtual lane information includes a virtual lane line and lane indication information, so that all second vehicles avoid the first vehicle according to the virtual lane information, the vehicle information of the first vehicle includes first vehicle speed information and first vehicle size information, the vehicle information of the second vehicle includes second vehicle speed information and second vehicle size information, the road information of the driving path includes road width information and road traffic condition information, an input of the preset algorithm includes a speed factor, a size factor, and a road condition factor, and the speed factor is at least based on the first vehicle speed information, the road information of the driving path, and the preset algorithm includes a speed factor, a size factor, and a road condition factor, The second vehicle speed information and the road traffic condition information, the size factor determined based on at least the first vehicle size information, the second vehicle size information, and the road width information, the road condition factor determined based on at least the road traffic condition information;

the information sending module is used for sending the virtual lane information to the first vehicle and other second vehicles except the target second vehicle in all the second vehicles;

the information receiving module is used for receiving updated virtual lane information sent by other second vehicles, wherein the time difference between the issuing time of the updated virtual lane information and the issuing time of the virtual lane information is larger than or equal to a preset time period, and/or the difference between the updated virtual lane information and the virtual lane information is larger than or equal to a preset difference threshold value.