CN113223313A

CN113223313A - Lane recommendation method and device and vehicle-mounted communication equipment

Info

Publication number: CN113223313A
Application number: CN202010071162.XA
Authority: CN
Inventors: 张�浩
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2021-08-06
Anticipated expiration: 2040-01-21
Also published as: WO2021147637A1; CN113223313B

Abstract

A lane recommendation method includes: acquiring lane information of a road where a target vehicle is located currently through a vehicle-mounted communication technology; receiving vehicle data of surrounding vehicles of a target vehicle through an on-vehicle communication technology; determining the position of the surrounding vehicle in the lane according to the lane information and the vehicle data; determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of the surrounding vehicles in the lanes; and determining the passing time of the target vehicle passing through a preset road section according to the driving parameters of each lane to be selected by the target vehicle, and recommending lanes according to the determined passing time. Data are acquired based on the vehicle-mounted communication technology, so that the interference of environmental factors can be effectively avoided, the accuracy of lane recommendation is improved, the congestion time of a user is favorably shortened, and the traffic efficiency is improved.

Description

Lane recommendation method and device and vehicle-mounted communication equipment

Technical Field

The application belongs to the technical field of communication, and particularly relates to a lane recommendation method and device and vehicle-mounted communication equipment.

Background

With the rapid increase of urban vehicle density, the congestion problem of vehicle driving is more frequent. When a vehicle travels on a congested road section, a driver usually faces a problem of lane selection, namely how to select a proper lane on the congested road section, so that the vehicle can efficiently pass through the congested road section. In order to improve the driving efficiency of the driver, the motion of a moving object around the target vehicle is usually sensed by a vehicle sensor, such as a laser radar and a video camera, and the flow rate information of the lane is calculated according to the obtained parameters, so as to obtain a better lane selection scheme.

However, since the sensor of the vehicle is easily limited by external conditions, the adaptability to the scene is weak, for example, the vehicle blocks or rainstorm, the weather brightness decreases, and the like, so that the information acquisition capability of the sensor decreases, when the flow rate information of the lane is calculated, the accuracy of the lane recommendation is not high, which is not favorable for reducing the congestion time of the user, the efficiency of passing through the congested road section is not high, and the price of the radar equipment is usually expensive, which is not favorable for popularization and use.

Disclosure of Invention

The embodiment of the application provides a lane recommendation method and device and vehicle-mounted communication equipment, and the problems that in the prior art, when lane recommendation is carried out, due to the fact that the lane recommendation is easily limited by external conditions, lane recommendation accuracy is low, reduction of user congestion time is not facilitated, efficiency of passing through a congested road section is not high, and popularization and use are not facilitated can be solved.

In a first aspect, an embodiment of the present application provides a lane recommendation method, where the lane recommendation method includes: acquiring lane information of a road where a target vehicle is located currently through a vehicle-mounted communication technology; receiving vehicle data of surrounding vehicles of a target vehicle through an on-vehicle communication technology; determining the position of the surrounding vehicle in the lane according to the lane information and the vehicle data; determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of the surrounding vehicles in the lanes; and determining the passing time of the target vehicle passing through a preset road section according to the driving parameters of each lane to be selected by the target vehicle, and recommending lanes according to the determined passing time.

It should be understood that the way of acquiring the lane information through the in-vehicle communication technology may include various ways. For example, the lane information of the current position of the target vehicle can be obtained by analyzing the received information through receiving the information broadcasted by the road side unit. Alternatively, the lane information of the current position of the target vehicle may be determined by receiving the vehicle position and the vehicle travel information transmitted by another vehicle. By receiving lane information sent by the road side unit, the number of lanes, the positions of the lanes and the like of a target vehicle, namely a vehicle driven by a driver per se, on a road can be obtained; vehicle data sent by vehicles around the target vehicle is received through the vehicle-mounted communication technology, the vehicle data can include information such as vehicle positions, and the vehicle positions and lane positions are fused to obtain the positions of the vehicles on the lanes. The interference of environmental factors can be effectively avoided through the vehicle communication technology, the accuracy of the acquired vehicle data is improved, lane information is acquired from the road side unit, a complex server does not need to be constructed, and the cost of vehicle-mounted communication equipment is favorably reduced. And according to the vehicle data and the positions of the surrounding vehicles in the lanes, the driving parameters of each lane to be selected by the target vehicle can be further determined, according to the driving parameters, the passing time length of the target vehicle passing through the preset road section in different lanes can be determined, according to the passing time length, the lane corresponding to the smaller passing time length can be selected and recommended to the user, and therefore the lane can be selected more accurately. And expensive radar equipment is not needed, and the method is favorable for popularization and use.

The step of acquiring the lane information of the current road of the target vehicle through the vehicle-mounted communication technology comprises the following steps: acquiring the position of a vehicle on a road where a target vehicle is located currently and the change information of the position of the vehicle by a vehicle-mounted communication technology; and fitting to obtain the lane information in front of the target vehicle according to the position of the vehicle on the road where the target vehicle is located and the change information of the position of the vehicle. According to the change information of the position of the vehicle, the driving direction of the vehicle on the road where the target vehicle is located can be obtained, and the vehicle in the road, which is the same as the driving direction of the target vehicle, can be obtained by combining the driving direction of the target vehicle. According to the position of the vehicle on the road, the vehicle positioned in front of the target vehicle can be obtained by combining the driving direction of the vehicle. According to the position of the vehicle in front of the target vehicle, the lane information in front of the target vehicle can be obtained through fitting.

The vehicle-mounted communication technology is a communication mode based on a long term evolution technology-vehicle communication LTE-V, or an access protocol based on a vehicle-specific short-range communication technology DSRC.

In one implementation, the step of making a lane recommendation according to the determined passage time length includes: acquiring a running operation instruction of a target vehicle; determining a set of lanes to be selected corresponding to the driving operation instruction according to the driving operation instruction; and recommending lanes according to the traffic time consumption information of the lanes to be selected in the set of lanes to be selected. That is, the driving operation instruction of the driver can be collected in real time through the automobile bus, and the corresponding lane information is selected according to the collected driving operation instruction. For example, when an instruction that the driver turns on the left turn light is detected, indicating that the driver needs to drive to the left, the lane that can turn to the left can be screened out according to the lanes around the target vehicle, and the lane with the least passing time can be searched from the screened lane that can turn to the left and recommended to the driver. When an instruction that the driver turns on the right turn lamp is detected, the driver needs to drive to the right, a lane capable of turning right can be screened out from lanes which are sorted out by the target vehicle, and the lane with the least passing time length can be searched from the screened lanes capable of turning right and recommended to the driver.

In one implementation, the method further comprises: acquiring message information included in vehicle data in each lane; detecting abnormal information of vehicles in each lane according to the message information; and updating the drivable parameters of each lane according to the detected abnormal information. In order to avoid selecting a lane blocked by a vehicle fault, vehicle condition information of the vehicle can be collected through the vehicle communication equipment, and the passing time of the lane is determined according to the collected vehicle condition information. Wherein the abnormal information included in the vehicle condition information may include one or more of an ABS abnormality of a brake anti-lock system, an abnormality of a vehicle body stability control system, an abnormality of a vehicle brake speed, an abnormality of a lamp state, an abnormality of a tire, an abnormality of an airbag, and an abnormality of an engine.

In one implementation, the step of determining the driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of the surrounding vehicles in the lanes comprises: acquiring the running speed of each vehicle in front of a target vehicle in the same lane, the number of vehicles in front of each vehicle, and the included angle between the heading of each vehicle and the lane direction; determining the average flow speed of the lane according to the running speed of each vehicle, the number of vehicles in front and the included angle; and acquiring size information of each vehicle in the lane; the acceleration of the lane is determined based on the size information of each vehicle. The average flow speed of the lane can be determined according to the running speed of each vehicle in the same lane, the queuing sequence of the vehicles in the lane and the included angle between the vehicle heading and the lane direction. Then, the acceleration of the lane is further calculated, and the running speed of the vehicle in the lane can be determined according to the vehicle flow speed and the lane acceleration.

Wherein the average flow velocity of the lane can be according to the formula

Determining, wherein: v' is the average flow velocity of the lane, n is the number of vehicles in front of the target vehicle in the same lane, theta_iIs the angle between the course of the ith vehicle in the lane and the lane direction, V_iIs the traveling speed of the ith vehicle. The average flow velocity of a lane is not only related to the speed of the vehicle, but also to the steering information of the vehicle in the lane, the more vehicles are steered in the lane, the smaller the average flow path of the lane.

The acceleration of the lane can be obtained by obtaining the ratio information of the size information of each vehicle in the same lane to the reference size; drawing up a reference acceleration based on a reference dimension, and acquiring the relation between an actual acceleration and the reference acceleration corresponding to the dimension information of each vehicle in the same lane by combining the ratio information; and determining the actual maximum acceleration limit of the target vehicle in each lane according to the actual acceleration corresponding to each vehicle in the same lane. The acceleration of the vehicle is determined according to the size of the vehicle dimension, generally, the larger the vehicle is, the smaller the acceleration is, and the magnitude of the acceleration can be adjusted according to the reference acceleration according to the proportional relation between the vehicle dimension and the reference dimension. For example, for every X% increase in the vehicle size relative to the reference size, the acceleration is reduced by X% relative to the reference acceleration.

After determining the acceleration of the plurality of vehicles in the lane, a minimum acceleration of the vehicle in the lane may be selected as the acceleration of the lane, i.e., the acceleration of the target vehicle in the lane, based on comparing the acceleration of the plurality of vehicles in the lane.

After the average flow speed of the lane and the acceleration of the lane are determined, the distance required to pass by the target vehicle through the preset road section is further determined according to the position of the target vehicle, and the passing time of the target vehicle through the preset road section can be calculated. Can be represented by formula

Determining a passage time length of the target vehicle through each lane, wherein: a is the acceleration of the channel, V' is the average current flow speed of each lane, S is the queuing distance of the channel, and T is the passing time of the target vehicle passing through the lane.

In still another embodiment of the present application, historical driving information of the target vehicle may also be acquired; determining the probability corresponding to different driving directions of the target vehicle at the intersection according to the historical driving information; when the probability of the left-turn or straight-going running direction of the target vehicle at the intersection is greater than the preset value, determining the lane set, which accords with the running direction of the target vehicle, of the target vehicle according to the running direction of which the probability is greater than the preset value, and screening out the left-turn lane if the left-turn of the vehicle at the intersection is predicted, for example, the left-turn lane can comprise a left lane, a left lane and the like, so that the screening efficiency of the lanes is improved. That is, based on the historical driving information of the target vehicle recorded by the vehicle-mounted communication device, the probabilities of different driving directions of the target vehicle at the intersection can be determined, when the probability of a certain direction is greater than a preset value, the direction is determined to be the target lane of the target vehicle, for example, when the vehicle turns left, the target lane with the smallest passing time length is selected from the lanes in the front left of the vehicle.

In a second aspect, an embodiment of the present application provides a lane recommendation device, including: the lane information receiving unit is used for acquiring lane information of a road where the target vehicle is located through a vehicle-mounted communication technology; a vehicle data receiving unit for receiving vehicle data of surrounding vehicles of the target vehicle by an in-vehicle communication technique; a vehicle position determination unit for determining the position of the surrounding vehicle in the lane according to the lane information and the vehicle data; the driving parameter determining unit is used for determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of surrounding vehicles in the lanes; and the lane recommendation unit is used for determining the passing time of the target vehicle passing through the preset road section according to the driving parameters of each lane to be selected by the target vehicle and recommending the lane according to the determined passing time.

In a third aspect, an embodiment of the present application provides an in-vehicle communication device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the in-vehicle communication device implements the lane recommendation method according to any one of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium storing a computer program, which when executed by a processor implements the method for lane recommendation according to any one of the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the lane recommendation method according to any one of the first aspect.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

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 embodiments or the prior art descriptions will be briefly described 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 inventive exercise.

Fig. 1 is a schematic structural diagram of an in-vehicle communication device according to an embodiment of the present application;

fig. 2 is a schematic view of an application scenario of a lane recommendation method according to an embodiment of the present application;

fig. 3 is a schematic flow chart illustrating an implementation of a lane recommendation method according to an embodiment of the present application;

fig. 4 is a schematic diagram of lane information obtained by analyzing information sent by a roadside unit according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an in-vehicle communication device according to another embodiment of the present application;

FIG. 6 is a schematic flow chart illustrating an implementation of determining vehicle acceleration according to an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a flowchart of an implementation of determining lane speed according to another embodiment of the present application;

fig. 8 is a schematic diagram of a lane recommendation device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The lane recommendation method provided by the embodiment of the application can be applied to terminal devices such as a mobile phone, a tablet personal computer, a wearable device, a vehicle-mounted device, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), and the like, and the embodiment of the application does not limit the specific types of the terminal devices at all. The prompting mode provided by the embodiment of the application comprises but is not limited to one or more of audio prompting, video prompting, vibration prompting, VR/AR prompting, indicator light prompting or other auxiliary means or settings capable of generating prompting effects.

For example, the terminal device may be a Station (ST) in a WLAN, which may be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with Wireless communication capability, a computing device or other processing device connected to a Wireless modem, a vehicle-mounted device, a vehicle-mounted networking terminal, a computer, a laptop, a handheld communication device, a handheld computing device, a satellite Wireless device, a Wireless modem card, a television set-top box (STB), a Customer Premises Equipment (CPE), and/or other devices for communicating over a Wireless system and a next generation communication system, such as a Mobile terminal in a 5G Network or a Public Land Mobile Network (future evolved, PLMN) mobile terminals in the network, etc.

By way of example and not limitation, when the terminal device is a wearable device, the wearable device may also be a generic term for intelligently designing daily wearing by applying wearable technology, developing wearable devices, such as glasses, gloves, watches, clothing, shoes, and the like. A wearable device is a portable device that is worn directly on the body or integrated into the clothing or accessories of the user. The wearable device is not only a hardware device, but also realizes powerful functions through software support, data interaction and cloud interaction. The generalized wearable intelligent device has the advantages that the generalized wearable intelligent device is complete in function and large in size, can realize complete or partial functions without depending on a smart phone, such as a smart watch or smart glasses, and only is concentrated on a certain application function, and needs to be matched with other devices such as the smart phone for use, such as various smart bracelets for monitoring physical signs, smart jewelry and the like.

Fig. 1 is a schematic structural diagram of a vehicle-mounted communication terminal device for implementing the lane recommendation method according to an embodiment of the present application. As shown in fig. 1, the in-vehicle communication terminal device 1 of the embodiment includes: at least one processor 10 (only one shown in fig. 1), a communication module 11, a memory 12, and a computer program 13 stored in the memory 12 and executable on the at least one processor 10, the processor 10 implementing the steps in any of the various lane recommendation method embodiments described above when executing the computer program 13.

The vehicle-mounted communication terminal device can include, but is not limited to, a processor 10, a communication module 11, and a memory 12. Those skilled in the art will understand that fig. 1 is only an example of the vehicle-mounted communication terminal device 1, and does not constitute a limitation to the vehicle-mounted communication terminal device 1, and may include more or less components than those shown in the drawings, or combine some components, or different components, for example, may further include an input-output device, a network access device, and the like.

The Processor 10 may be a Central Processing Unit (CPU), and the Processor 10 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The processor can define the operation monitoring area of the target vehicle by combining positioning data (such as GPS positioning data), vehicle data and received V2X (Internet of vehicles wireless technology) message data of other vehicles, can identify dangerous vehicles in the monitoring area by using an object classification algorithm, and can determine a lane with short passing time by using the lane recommendation method in the application.

The communication module 11 may provide a solution for communication applied to a network device, including Wireless Local Area Network (WLAN) (e.g., Wi-Fi network), bluetooth, Zigbee, mobile communication network, Global Navigation Satellite System (GNSS), Frequency Modulation (FM), short-range wireless communication technology (NFC), infrared technology (infrared, IR), CAN bus, and ethernet interface. The communication module may be one or more devices integrating at least one communication processing module. The communication module may include an antenna, and the antenna may have only one array element, or may be an antenna array including a plurality of array elements. The communication module can receive electromagnetic waves through the antenna, frequency-modulate and filter electromagnetic wave signals, and send the processed signals to the processor. The communication module can also receive a signal to be sent from the processor, frequency-modulate and amplify the signal, and convert the signal into electromagnetic waves through the antenna to radiate the electromagnetic waves.

The communication module can comprise a vehicle body bus, is connected with an electronic control unit ECU of the vehicle, such as an engine, wheels, a brake sensor and the like, and acquires various driving state data of the vehicle through the vehicle body bus, wherein the driving state data comprises related state information such as speed, steering wheel turning angle, high beam and the like.

Or, the communication module may further include an ethernet interface, and the warning prompt message is sent to other ECUs in the vehicle or a display terminal on the vehicle through the ethernet interface to display the warning message.

The storage 12 may be an internal storage unit of the vehicle-mounted communication terminal device 1 in some embodiments, for example, a hard disk or a memory of the vehicle-mounted communication terminal device 1. In other embodiments, the memory 12 may also be an external storage device of the vehicle-mounted communication terminal device 1, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the vehicle-mounted communication terminal device 1. Further, the memory 12 may also include both an internal storage unit and an external storage device of the in-vehicle communication terminal device 1. The memory 12 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 12 may also be used to temporarily store data that has been output or is to be output.

It should be noted that fig. 1 does not limit the structure of the vehicle-mounted communication device, and may include more or less components than those shown in the drawings, or combine some components, or different components, for example, the vehicle-mounted communication device may further include a display screen, an indicator light, a motor, a control (e.g., a key), a gyroscope sensor, an acceleration sensor, and the like.

Fig. 2 is a schematic view of an application scenario of a lane recommendation method according to an embodiment of the present application. As shown in fig. 2, when the target vehicle enters the congested road section, or is about to enter the congested road section, the front of the target vehicle includes a plurality of lanes, and each lane contains vehicles with different numbers and types. And a Road SIDE Unit (RSU) (ROAD SIDE UNIT) is arranged at the corresponding position of the lane, and the vehicles in the lane, including the target vehicle, are provided with vehicle-mounted communication equipment. Wherein:

the RSU can comprise a high-gain directional beam control read-write antenna and a radio frequency controller, the high-gain directional beam control read-write antenna is a microwave transceiver module and is used for receiving and transmitting data signals, modulating and demodulating, encoding and decoding, and the radio frequency controller is used for controlling transmitting and receiving data and the like. The road side unit can communicate with vehicle-mounted communication equipment arranged on a vehicle through a communication mode of long term evolution technology-vehicle communication LTE-V or an access protocol based on vehicle-specific short-range communication technology DSRC. The roadside unit may store lane information corresponding to the installation location according to the installation location, and may transmit the stored lane information to the vehicle-mounted communication device traveling to communicate therewith. The lane information may include a lane ID, a position corresponding to the lane ID, and the like.

The vehicle-mounted communication equipment CAN be connected with an electronic control unit ECU of the vehicle through a bus (such as a CAN bus and the like), collects vehicle data, comprises basic safety messages BSM (basic safety messages) of an engine, wheels, a brake sensor and the like of the vehicle, position information of the vehicle, vehicle size information and the like, and CAN acquire vehicle data of other vehicles around by communicating with the vehicle-mounted communication equipment of other vehicles around.

The vehicle-mounted communication equipment determines the position of a vehicle in a lane according to the acquired lane information and vehicle data, determines the average flow speed of each lane according to the moving speed of the vehicle and the position of the vehicle in the lane, and determines the acceleration of the lane according to the size information of the vehicle in the lane, so that the passing time length required by the target vehicle to pass through a preset road section from different lanes is calculated. And selecting the lane with the shortest passing time, and recommending the driver to select.

Fig. 3 shows a schematic flow chart of the lane recommendation method provided by the present application, which may be applied to the above-mentioned vehicle-mounted communication device 1 by way of example and not limitation.

The lane recommendation method includes:

in step S301, lane information of a road where a target vehicle is located is acquired through a vehicle-mounted communication technology;

specifically, the manner of acquiring the lane information of the current road on which the target vehicle is located through the vehicle-mounted communication technology may include:

the method comprises the steps that 1, MAP information broadcasted by a Road Side Unit (RSU) (all called as Road Side Unit) is obtained through a vehicle-mounted communication technology, and the distribution condition of a lane corresponding to the installation position of the Road Side Unit can be obtained by analyzing the MAP information;

mode 2, position information of other vehicles is acquired through the vehicle-mounted communication technology, and position information of the lane is determined according to the position information of the other vehicles.

For the RSU in the mode 1, the MAP message may be broadcasted in a broadcast manner. The MAP message may include a distribution of lanes around the roadside unit installation location. The installation position of the roadside unit may be an intersection position, and the MAP information may include an ID of an intersection lane, a lane position, derived point coordinates (coordinate points attributed to lanes derived from the lane, such as lane sensing points, etc.), or may further include a lane ID linked to the lane, etc.

With regard to the manner 2 in which the position information of the other vehicle is acquired through the vehicle-mounted communication technology, that is, the position information of the other vehicle is acquired through the vehicle-to-vehicle communication manner, or the size information and/or the driving direction of the vehicle may also be included, and the distribution information of each lane may be determined and the position of each lane may be determined according to the position information of the other vehicle, or the size information and/or the driving direction may also be included.

When the target vehicle acquires the position information of other vehicles around the target vehicle through vehicle-to-vehicle communication, the direction of the lane may be determined according to the traveling direction of the target vehicle, or the direction of the lane may also be determined according to the traveling directions of the other vehicles. And determining a line in a preset lane width range according to the determined direction of the lane and the position of the vehicle in the road, wherein the line in the lane width range, which is formed by the proportion of the connected vehicle position points to the total vehicle position points in the lane width range, is larger than a preset value, is the position of the middle line of the lane. And the running direction of the target vehicle is the straight running direction of the target vehicle on the congested road section. The method comprises the steps that the direction of a vehicle is determined to be the north-south direction according to a target vehicle, the vehicle is determined to be in the same preset lane width range, or the vehicle can be determined to be in the lane width range according to the size information of other vehicles, and when the proportion of vehicle position points connected by lines along the south-north direction to the total vehicle position points in the lane width range is larger than a preset value, the lines can be determined to be the middle lines of lanes, and the influence of turning vehicles on lane estimation can be effectively eliminated.

When vehicles do not run in a part of lanes, the lane recommendation method can be used without starting due to the fact that the road is smooth.

The target vehicle is the vehicle itself driven by the driver. The target vehicle may be any vehicle in the lane that needs to travel a congested section of road.

During the driving process of the vehicle, the lane information of the road driven by the vehicle can be updated according to the received MAP message sent by the road side unit. The lane information may include the number of lanes, the direction of the lanes, the location of the lanes, and the like.

For example, the number of lanes included in the current road may be acquired according to the lane information included in the received MAP message. For the intersection position, the MAP message may include a driving direction corresponding to each lane, and the driving direction may include forward driving, left-turning driving, right-turning driving, and the like. The driving direction may be predetermined by a lane position.

The location information corresponding to each lane may be determined according to the received MAP message. The position information corresponding to the lane can be determined by the position of the lane line. When a vehicle sensing point is arranged in a lane, the position information of the lane may further include derived position information such as the vehicle sensing point.

For example, fig. 4 is a schematic diagram of lane information analyzed from information transmitted by the roadside unit. The vehicle-mounted communication device receives the lane information broadcasted by the road side unit, and the number of lanes is 5, the lane positions can be positions determined by boundary lines of the lanes, and in the determined lanes, the direction of the left lane is a left-turn direction, the directions of the middle three lanes are straight directions, and the direction of the right lane is a right-turn direction. And the lane information may further include information on whether the vehicle is allowed to change lanes, and when the lane where the target vehicle is located allows changing lanes to other lanes, the lane with the shortest passing time may be further searched according to other lanes allowing changing lanes.

In step S302, vehicle data of surrounding vehicles of the target vehicle is received by the in-vehicle communication technique;

in the vehicle passing through the lane, the vehicle-mounted communication device of the target vehicle, which is mounted, can receive the vehicle position information and the like transmitted from the vehicle-mounted communication devices of the respective vehicles on the road surface in accordance with the V2X communication. The vehicle-mounted communication equipment can acquire basic safety information BSM of a target vehicle on the basis of a vehicle body bus, and obtain position information, other safety information and the like of the target vehicle.

The vehicle-mounted communication technology can be a communication mode based on long term evolution technology-vehicle communication LTE-V or an access protocol based on vehicle-specific short-range communication technology DSRC.

Wherein the LTE-V is a set of communication physical layer protocols of V2I (vehicle-infrastructure communication) and V2V (vehicle-vehicle communication) based on an audit communication network. The DSRC is a traffic safety communication protocol based on a 5.9G frequency band, and the target communication range of the DSRC is within 1 kilometer. The communication distance is short compared to cellular and satellite communications.

Fig. 5 is a schematic diagram of an LTE-V based vehicle-mounted communication device, or a vehicle networking processing module provided in an embodiment of the present application,

the vehicle-mounted communication equipment based on the LTE-V comprises a vehicle body bus, a vehicle operation data analysis module, an LTE-V data packet data application algorithm processing module, a GPS data processing module, an LTE-V data packet network transmission layer processing module, a radio frequency module, an LTE-V data access layer processing module and the like, wherein:

the vehicle body bus can be used for connecting other electronic control units ECU of the vehicle, such as a transmitter, wheels, a brake sensor and the like. Vehicle data including various driving state data of the vehicle including information such as speed, steering wheel turning angle, on-off state and special angle of a high beam can be acquired through a vehicle body bus.

The vehicle operation data analysis module can receive the driving state data acquired by the vehicle body bus, complete the analysis of the vehicle data, and screen the vehicle data related to the invention, such as speed, course, steering wheel angle, and the like.

The LTE-V data packet data application algorithm processing module can define the operation adjacent area of the vehicle (target vehicle) by combining vehicle data such as GPS data of the vehicle and V2X message data of a distant vehicle received by the LTE-V network transmission layer processing module, can classify the targets of other vehicles, determines the vehicle to be avoided, and determines the passing time length of the vehicle passing through a preset road section according to the speed information, the size information, the course information, the vehicle driving direction and the vehicle quantity of the other vehicles.

The GPS data processing module is used for analyzing the GPS data received by the GPS antenna to obtain the longitude and latitude and other information corresponding to the vehicle.

The LTE-V data packet network transmission layer processing module is used for identifying and picking up a packet header of a LTE-V network layer protocol stack and sending application layer data in the packet, such as a basic safety message BSM, to the LTE-V data packet (V2X) data application algorithm processing module.

And the radio frequency module is used for collecting radio frequency signals (wireless data) through the LTE-V antenna.

The LTE-V data access layer processing module is used for finishing the processing of a 3GPP protocol stack of an LTE-V access layer so as to correctly identify air interface data.

In one implementation manner, the vehicle-mounted communication device may further include an ethernet driver or interface, and the finally obtained collision risk of the vehicle in the vicinity area is wirelessly connected to other ECUs or display terminals in the vehicle through the ethernet via the ethernet driver or interface, and sends the warning prompt message to the other ECUs in the vehicle or the display terminals on the vehicle to display the warning message.

In step S303, determining a position of a surrounding vehicle in a lane according to the lane information and the vehicle data;

according to the basic safety message BSM sent by the road side unit, lane information including lane positions can be obtained, and according to the vehicle-mounted communication technology, vehicle data of surrounding vehicles in the scene where the target vehicle is located can be obtained, wherein the vehicle data include position information of other vehicles. According to the vehicle position in the vehicle data and the lane position in the lane information, the position of the vehicle around the target vehicle can be acquired. Based on the positioning information acquired by the target vehicle, such as GPS positioning information, the position to which the target vehicle belongs and the traveling direction of the target vehicle can be determined, and in conjunction with the vehicle positions in the vehicle data of other surrounding vehicles, the orientation information of the surrounding vehicles with respect to the target vehicle can be acquired, from which the vehicle ahead in the traveling direction of the target vehicle can be determined. In one implementation, the size information, heading information, speed information, vehicle abnormality information, and the like of the surrounding vehicle may also be acquired from vehicle data of the surrounding vehicle of the target vehicle. The vehicle abnormality information may include a double flash abnormality, an engine failure abnormality, an ABS warning, and the like.

In step S304, determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of surrounding vehicles in the lanes;

the driving parameters of the target vehicle in each lane may include an average flow speed of the lane in which the target vehicle is located, an acceleration of the target vehicle in the lane, and the like.

The method comprises the steps of determining the average flow speed of a lane where a target vehicle is located, and determining the average flow speed of the lane according to the running speed of each vehicle in front of the target vehicle in the same lane, the number of vehicles in front of each vehicle, and the included angle between the heading of each vehicle and the lane direction by acquiring the running speed of each vehicle in front of the target vehicle in the same lane, the number of vehicles in front of each vehicle and the included angle.

After determining the lane needing to calculate the average flow velocity, acquiring vehicles in front of the target vehicle in the lane, and acquiring parameter information of the vehicles in front, wherein the parameter information comprises the running speed of each vehicle in front of the target vehicle, the number of vehicles in front of the target vehicle, and the heading of each vehicle in front of the target vehicle.

The running speed of each vehicle in front of the target vehicle can be acquired in real time through the vehicle-mounted communication equipment, and the running speed Vi of each vehicle in the same lane is acquired in real time, wherein i is the serial number of the vehicle in the same lane.

The number of vehicles ahead of the target vehicle may be acquired in real time by the vehicle-mounted communication device, the number of vehicles included in a predetermined lane in a predetermined road section.

The vehicle-mounted communication equipment can be used for acquiring the heading of each vehicle, determining the direction of a lane of the vehicle according to the direction of a lane line of the lane position of the vehicle, and determining the included angle between the heading of each vehicle and the lane direction according to the heading of the vehicle and the lane direction of the vehicle.

After the driving speed of each vehicle in a certain lane in front of the target vehicle, the number of vehicles in front of each vehicle and the included angle between the heading of each vehicle and the lane direction are obtained, the average flow speed corresponding to the lane can be determined. For example, formulas may be employed

Determining an average flow velocity for the lane, wherein: v' is the average flow velocity of the lane, n is the number of vehicles in front of the target vehicle in the same lane, theta_iIs the angle between the course of the ith vehicle in the lane and the lane direction, V_iIs the traveling speed of the ith vehicle.

Similarly, for each lane in front of the target vehicle, the average flow velocity corresponding to each lane in front of the target vehicle may be calculated in the manner described above.

Since the parameters for calculating the average flow rate, including the traveling speed of each vehicle, the number of vehicles ahead of the target vehicle, and the angle between the heading of each vehicle and the lane direction, may vary, the calculated average flow rate of the lane may be updated according to a predetermined time interval.

When determining the acceleration of the lane, the acceleration of a single vehicle may be determined from the size information of the individual vehicles within the lane, and then the acceleration of the lane may be determined from the acceleration of the vehicles in the same lane.

The process of determining the acceleration of the lane according to the acceleration of the vehicle in the lane may include, as shown in fig. 6:

in step S601, ratio information between size information and a reference size of each vehicle in the same lane is acquired;

a correspondence relationship between a reference dimension and a reference acceleration may be set in advance. The size of a certain model of vehicle may be selected as a reference size, and the acceleration of the car at the start of the congested section is a reference acceleration. For example, the size of the car a is selected as a reference size, and the acceleration of the car a on the congested road section is 2.5G, which is about 2.45 meters/(sec).

In step S602, a reference acceleration based on a reference dimension is drawn up, and a relationship between an actual acceleration corresponding to the dimension information of each vehicle in the same lane and the reference acceleration is obtained in combination with the ratio information;

the size information is inversely proportional to the acceleration, and the value of the proportion corresponding to the reference acceleration can be correspondingly reduced according to the proportion of the size of the vehicle to be calculated to be increased from the reference vehicle. For example, the size of the vehicle to be calculated is increased by 10% from the reference vehicle, and then the actual acceleration of the vehicle to be calculated is decreased by 10% from the reference acceleration.

Wherein, the ratio of the sizes can be determined according to the ratio of the length, the width and the height of the vehicle. For example, when the length, width and height of the vehicle to be calculated are increased by 10% based on the length, width and height of the reference vehicle, the actual acceleration of the vehicle to be calculated is decreased by 10% based on the reference acceleration.

Of course, the actual acceleration of the vehicle may also be determined based on the acquired model information of the vehicle.

In step S603, the actual maximum acceleration limit of the target vehicle in each lane is determined based on the actual acceleration corresponding to each vehicle in the same lane.

After the actual acceleration of each vehicle in the same lane is determined, since the target vehicle is influenced by the acceleration of the vehicle ahead of the target vehicle while traveling in the lane, and the minimum acceleration of the vehicle ahead in the lane restricts the magnitude of the acceleration of the entire lane, the minimum acceleration in the lane may be selected as the acceleration of the lane.

For example, as shown in fig. 7, the number of vehicles in the same lane in front of the target vehicle is 3, and it is determined that the acceleration of the first vehicle is 0.7a, the acceleration of the second vehicle is 0.5a, and the acceleration of the third vehicle is 0.9a, or it may further include that the acceleration of the target vehicle is 1a, where a is a reference acceleration, and the minimum value of the acceleration is selected as the acceleration of the lane, that is, the acceleration of the lane is 0.5 a.

In step S305, determining a passing time of the target vehicle through a predetermined road section according to the driving parameters of each lane to be selected by the target vehicle, and performing lane recommendation according to the determined passing time.

After the driving parameters of the target vehicle in each lane are determined, the queuing distance S of the target vehicle passing through the predetermined road section can be determined according to the end position of the predetermined road section and the position of the target vehicle. The position of the target vehicle CAN be obtained by the vehicle-mounted communication equipment through a CAN bus.

And calculating the passing time of the lane passing through the preset road section according to the determined acceleration of the lane, the flow rate of the lane and the queuing distance S corresponding to the congested road section. For example, the following may be expressed according to the formula:

After the passing time lengths corresponding to different lanes are respectively calculated, the lane with the minimum passing time length can be selected to be recommended to the user, for example, a voice prompt 'congestion ahead, please enter the second lane on the left' and the like can be sent to the user.

It should be noted that when the lane recommendation is performed according to the determined passing time, the recommendation information may be used not only as a prompt for the manual driver, but also as a recommendation input for the automatic driving system, and the lane is selected according to the recommendation by the automatic driving system.

In one implementation mode, when the vehicle-mounted communication equipment selects a lane, the running operation instruction of a user CAN be acquired in real time through a CAN bus, and when the running operation instruction comprises a steering instruction, the lane to be screened is adjusted in real time. For example, when it is detected that the user turns on the left turn light, the lane to be recommended is determined in the lane on the left side of the target vehicle, and when it is detected that the user turns on the right turn light, the lane to be recommended is determined in the lane on the right side of the target vehicle. When the user does not operate the steering, the lane to be recommended is determined in the lanes in front of the target vehicle (including the left lane and the right lane). And selecting the recommended lane according to the driving operation instruction of the user, so that the recommended information is more effective.

In one implementation, in order to more accurately determine the driving parameters of the lane, the method may further include analyzing message information in vehicle data of a vehicle ahead of the target vehicle to obtain abnormal information existing in the vehicle ahead, where the abnormal information may include one or more of an ABS abnormality of a brake anti-lock braking system, an abnormality of a vehicle body stability control system, an abnormality of a vehicle braking speed, an abnormality of a vehicle lamp state, an abnormality of a tire, an abnormality of an airbag, and an abnormality of an engine. When the vehicle is detected to be abnormal, the passing time length of the vehicle passing through the lane can be adjusted in a mode of reducing the acceleration corresponding to the vehicle through the preset relation between the abnormal type and the acceleration. For example, when it is detected that the vehicle in a certain lane has an abnormality, the acceleration may be adjusted to 0.05a, where a is a reference acceleration. The passing time calculated according to the adjusted acceleration is longer, so that the target vehicle can avoid the lane in time.

In addition, the vehicle transportation object safety information can be obtained through analysis according to the vehicle data, and the distance between the target vehicle and other vehicles can be correspondingly determined according to the vehicle transportation object safety information. For example, the driving of the target vehicle may be controlled according to a preset correspondence between the safety index of the transportation object and the safety distance, including controlling the driving speed and the driving track of the target vehicle.

In order to further improve the intelligence of the vehicle driving, in an implementation manner, historical driving information of the target vehicle may also be acquired, in the acquired historical driving information, a current position of the target vehicle, such as driving data corresponding to an intersection position, is searched, probabilities of different driving directions of the target vehicle at the intersection position are calculated according to the searched driving data of the current position, and when the probability of a certain driving direction is greater than a predetermined value, the driving direction is taken as the to-be-driven direction of the target vehicle, and a lane is recommended for the driver according to the to-be-driven direction. Through historical driving data intelligent analysis, the driving direction information of the user can be more intelligently obtained, and therefore the driver can be more intelligently selected to the lane.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 8 shows a block diagram of a lane recommendation device according to an embodiment of the present application, which corresponds to the lane recommendation method according to the above embodiment, and only shows portions related to the embodiment of the present application for convenience of description.

Referring to fig. 8, the apparatus includes:

a lane information receiving unit 801, configured to acquire lane information of a road where a target vehicle is currently located through a vehicle-mounted communication technology;

a vehicle data receiving unit 802 for receiving vehicle data of surrounding vehicles of the target vehicle by the in-vehicle communication technology;

a vehicle position determination unit 803 for determining the position of the surrounding vehicle in the lane based on the lane information and the vehicle data;

a driving parameter determining unit 804, configured to determine driving parameters of each lane to be selected by the target vehicle according to the vehicle data and positions of surrounding vehicles in the lanes;

the lane recommending unit 805 is configured to determine a passing time of the target vehicle through a predetermined road section according to the driving parameters of each lane to be selected by the target vehicle, and recommend the lane according to the determined passing time.

In one implementation, the lane recommendation unit includes:

the operation instruction acquisition subunit is used for acquiring a running operation instruction of the target vehicle;

the candidate lane determining subunit is used for determining a candidate lane set corresponding to the driving operation instruction according to the driving operation instruction;

and the lane recommendation subunit is used for performing lane recommendation according to the traffic consumption information of the lanes to be selected in the lane set to be selected.

In one implementation, the lane recommendation apparatus further includes:

a message information acquisition unit for acquiring message information included in vehicle data in each lane;

the abnormal information detection unit is used for detecting the abnormal information of the vehicles in each lane according to the message information;

and the driving parameter updating unit is used for updating the drivable parameters of all the lanes according to the detected abnormal information.

Specifically, the abnormality information includes one or more of an ABS abnormality of an anti-lock braking system, an abnormality of a vehicle body stability control system, an abnormality of a vehicle braking speed, an abnormality of a lamp state, an abnormality of a tire, an abnormality of an airbag, and an abnormality of an engine.

In one implementation, the driving parameter determination unit includes:

the data acquisition subunit is used for acquiring the running speed of each vehicle in front of the target vehicle in the same lane, the number of vehicles in front of each vehicle and the included angle between the heading of each vehicle and the lane direction;

the average flow velocity determining subunit is used for determining the average flow velocity of the lane according to the running speed of each vehicle, the number of vehicles in front and the included angle;

and the number of the first and second groups,

a size information acquisition subunit for acquiring size information of each vehicle in the lane;

and an acceleration determining subunit for determining the acceleration of the lane according to the size information of each vehicle.

In one implementation, the average flow rate determining subunit is to:

according to the formula

In one implementation, the acceleration determination subunit includes:

the size ratio acquisition module is used for acquiring the ratio information of the size information of each vehicle in the same lane to the reference size;

the vehicle acceleration acquisition module is used for drawing up a reference acceleration based on a reference dimension, and acquiring the relation between an actual acceleration corresponding to the dimension information of each vehicle in the same lane and the reference acceleration by combining the ratio information;

and the lane acceleration acquisition module is used for determining the actual maximum acceleration limit of the target vehicle in each lane according to the actual acceleration corresponding to each vehicle in the same lane.

The lane acceleration acquisition module is further configured to: and comparing the corresponding accelerated speeds of all vehicles in the same lane, and acquiring the minimum accelerated speed as the accelerated speed of the lane.

In one implementation, the lane recommendation unit includes:

the queuing distance acquiring subunit is used for acquiring the queuing distance of the preset road section corresponding to the target vehicle;

and the passage time determining subunit is used for determining the passage time of the target vehicle passing through each lane according to the average flow speed of each lane, the acceleration of each lane and the queuing distance.

The passage duration determining subunit is further configured to: according to the formula

In one implementation, the lane recommendation apparatus further includes:

a historical driving information acquisition subunit configured to acquire historical driving information of the target vehicle;

the probability determining subunit is used for determining the probabilities corresponding to different driving directions of the target vehicle at the intersection according to the historical driving information;

and the target lane determining subunit is used for determining the target lane of the target vehicle according to the driving direction with the probability greater than the preset value when the probability of the driving direction of the target vehicle for turning left or running straight at the intersection is greater than the preset value.

In a specific implementation mode, the vehicle-mounted communication technology is a communication mode based on long term evolution technology-vehicle communication LTE-V or an access protocol based on vehicle-specific short-range communication technology DSRC.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A lane recommendation method, characterized by comprising:

acquiring lane information of a road where a target vehicle is located currently through a vehicle-mounted communication technology;

receiving vehicle data of surrounding vehicles of a target vehicle through an on-vehicle communication technology;

determining the position of the surrounding vehicle in the lane according to the lane information and the vehicle data;

determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of the surrounding vehicles in the lanes;

and determining the passing time of the target vehicle passing through a preset road section according to the driving parameters of each lane to be selected by the target vehicle, and recommending lanes according to the determined passing time.

2. The lane recommendation method according to claim 1, wherein the step of obtaining lane information of a road on which a target vehicle is currently located through an in-vehicle communication technology comprises:

acquiring the position of a vehicle on a road where a target vehicle is located currently and the change information of the position of the vehicle by a vehicle-mounted communication technology;

and fitting to obtain the lane information in front of the target vehicle according to the position of the vehicle on the road where the target vehicle is located and the change information of the position of the vehicle.

3. The lane recommendation method of claim 1, wherein the step of making a lane recommendation based on the determined length of transit time comprises:

acquiring a running operation instruction of a target vehicle;

determining a set of lanes to be selected corresponding to the driving operation instruction according to the driving operation instruction;

and recommending lanes according to the traffic time consumption information of the lanes to be selected in the set of lanes to be selected.

4. The lane recommendation method of claim 1, further comprising:

acquiring message information included in vehicle data in each lane;

detecting abnormal information of vehicles in each lane according to the message information;

and updating the drivable parameters of each lane according to the detected abnormal information.

5. The lane recommendation method of claim 4, wherein the abnormality information includes one or more of a brake anti-lock braking system (ABS) abnormality, a vehicle body stability control system abnormality, a vehicle brake speed abnormality, a vehicle lamp state abnormality, a tire abnormality, an airbag abnormality, and an engine abnormality.

6. The lane recommendation method according to claim 1, wherein the step of determining driving parameters of respective lanes to be selected by the target vehicle based on the vehicle data and positions of surrounding vehicles in the lanes comprises:

acquiring the running speed of each vehicle in front of a target vehicle in the same lane, the number of vehicles in front of each vehicle, and the included angle between the heading of each vehicle and the lane direction;

determining the average flow speed of the lane according to the running speed of each vehicle, the number of vehicles in front and the included angle;

and the number of the first and second groups,

acquiring size information of each vehicle in a lane;

the acceleration of the lane is determined based on the size information of each vehicle.

7. The lane recommendation method of claim 6, wherein said step of determining an average flow velocity of said lane based on a travel speed of each vehicle, a number of vehicles ahead, and said included angle comprises:

according to the formula

Determining an average flow velocity for the lane, wherein: v' is the average flow velocity of the lane, n is the number of vehicles in front of the target vehicle in the same lane, theta_iFor navigation of the ith vehicle in the laneAngle of inclination to the direction of the roadway, V_iIs the traveling speed of the ith vehicle.

8. The lane recommendation method according to claim 6, wherein the step of determining the acceleration of the lane according to the size information of each vehicle includes:

acquiring the ratio information of the size information of each vehicle in the same lane to the reference size;

drawing up a reference acceleration based on a reference dimension, and acquiring the relation between an actual acceleration and the reference acceleration corresponding to the dimension information of each vehicle in the same lane by combining the ratio information;

and determining the actual maximum acceleration limit of the target vehicle in each lane according to the actual acceleration corresponding to each vehicle in the same lane.

9. The lane recommendation method of claim 8, wherein the step of determining the actual maximum acceleration limit of the target vehicle in each lane based on the actual acceleration corresponding to each vehicle in the same lane comprises:

and comparing the corresponding accelerated speeds of all vehicles in the same lane, and acquiring the minimum accelerated speed as the accelerated speed of the lane.

10. The lane recommendation method according to claim 6, wherein the step of determining a passage time of the target vehicle through a predetermined section according to the driving parameters of each lane to be selected by the target vehicle comprises:

acquiring a queuing distance of a preset road section corresponding to the target vehicle;

and determining the passing time of the target vehicle passing through each lane according to the average flow velocity of each lane, the acceleration of each lane and the queuing distance.

11. The lane recommendation method of claim 10, wherein said step of determining a transit time period for the target vehicle to pass through each lane based on the average flow velocity of each lane, the acceleration of each lane, and the queuing distance comprises:

according to the formula

12. The lane recommendation method of claim 1, further comprising:

acquiring historical driving information of a target vehicle;

determining the probability corresponding to different driving directions of the target vehicle at the intersection according to the historical driving information;

and when the probability of the running direction of the target vehicle turning left or running straight at the intersection is greater than the preset value, determining the lane set of the target vehicle according with the running direction of the target vehicle according to the running direction of which the probability is greater than the preset value.

13. The lane recommendation method of claim 1, wherein said vehicle-mounted communication technology is a communication mode based on long term evolution technology-vehicle communication LTE-V or an access protocol based on vehicle-specific short range communication technology DSRC.

14. A lane recommendation device characterized by comprising:

the lane information receiving unit is used for acquiring lane information of a road where the target vehicle is located through a vehicle-mounted communication technology;

a vehicle data receiving unit for receiving vehicle data of surrounding vehicles of the target vehicle by an in-vehicle communication technique;

a vehicle position determination unit for determining the position of the surrounding vehicle in the lane according to the lane information and the vehicle data;

the driving parameter determining unit is used for determining driving parameters of each lane to be selected by the target vehicle according to the vehicle data and the positions of surrounding vehicles in the lanes;

and the lane recommendation unit is used for determining the passing time of the target vehicle passing through the preset road section according to the driving parameters of each lane to be selected by the target vehicle and recommending the lane according to the determined passing time.

15. An in-vehicle communication device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a method of lane recommendation according to any one of claims 1 to 13 when executing the computer program.

16. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for lane recommendation according to any one of claims 1 to 13.