CN114141019B

CN114141019B - Traffic control method, apparatus, medium, and program product

Info

Publication number: CN114141019B
Application number: CN202111536802.0A
Authority: CN
Inventors: 王鲲
Original assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2023-03-28
Anticipated expiration: 2041-12-15
Also published as: CN114141019A

Abstract

The present disclosure provides a traffic control method, apparatus, medium, and program product, and relates to the field of artificial intelligence technologies such as deep learning and intelligent traffic. One embodiment of the method comprises: acquiring intention information and first traffic service information of other traffic participants; sending intention information and first traffic service information of other traffic participants to a computing device; and receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

Description

Traffic control method, apparatus, medium, and program product

Technical Field

The present disclosure relates to the field of computers, and more particularly to deep learning and intelligent traffic, and more particularly to a traffic control method, apparatus, medium, and program product.

Background

In a traffic scenario in which other traffic participants and motor vehicles participate together, a method for controlling the traffic behavior of the other traffic participants and motor vehicles is highly desirable.

At present, the control of the traffic behavior of other traffic participants and motor vehicles is achieved in several ways:

(1) Based on traffic regulations; (2) Based on the traffic auxiliary facilities, when other traffic participants pass through the intersection, the states of the traffic lights at the intersection are changed through the traffic auxiliary facilities such as roadside traffic light buttons and the like, and the traffic regulations are based on the traffic regulations.

Disclosure of Invention

The embodiment of the disclosure provides a traffic control method, a traffic control device, a traffic control medium and a program product.

In a first aspect, an embodiment of the present disclosure provides a traffic control method, including: acquiring intention information and first traffic service information of other traffic participants; sending intention information and first traffic service information of other traffic participants to a computing device; and receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

In a second aspect, an embodiment of the present disclosure provides a traffic control method, including: receiving intention information and first traffic service information of other traffic participants sent by a subsystem; inputting second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle; generating a first traffic driving strategy according to the intention information of other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information; and sending the first traffic driving strategy to the traveler subsystem.

In a third aspect, an embodiment of the present disclosure provides a traffic control apparatus, including: the information acquisition module is configured to acquire intention information and first traffic service information of other traffic participants; an information sending module configured to send intention information of other traffic participants and first traffic service information to a computing device; and the strategy receiving module is configured to receive a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

In a fourth aspect, an embodiment of the present disclosure provides a traffic control apparatus, including: the information receiving module is configured to receive intention information and first traffic service information of other traffic participants sent by the traveler subsystem; the intention obtaining module is configured to input second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle; the strategy generation module is configured to generate a first traffic driving strategy according to the intention information of the other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information; a policy sending module configured to send the first traffic driving policy to the traveler subsystem.

In a fifth aspect, an embodiment of the present disclosure provides a traveler subsystem, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the first aspect.

In a sixth aspect, an embodiment of the present disclosure provides an on-vehicle subsystem, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the second aspect.

In a seventh aspect, an embodiment of the present disclosure provides a roadside sensing system, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the second aspect.

In an eighth aspect, an embodiment of the present disclosure provides a traffic control system, including: the traveler subsystem and the vehicle-mounted subsystem are described above.

In a ninth aspect, embodiments of the present disclosure propose a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method as described in the first or second aspect.

In a tenth aspect, embodiments of the present disclosure propose a computer program product comprising a computer program which, when executed by a processor, implements the method as described in the first or second aspect.

According to the traffic control method, the traffic control device, the traffic control medium and the traffic control program product, intention information and first traffic service information of other traffic participants are obtained firstly; then sending intention information and first traffic service information of other traffic participants to the computing equipment; and finally, receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy can be used for controlling other traffic participants to continue driving according to the first traffic service information. The corresponding first traffic driving strategy can be formulated for the traveler according to the intention information reported by the traveler subsystem, so that the traffic behaviors of other traffic participants and the target vehicle can be controlled, and the control on the traffic behaviors is enhanced.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

Other features, objects, and advantages of the disclosure will become apparent from a reading of the following detailed description of non-limiting embodiments which proceeds with reference to the accompanying drawings. The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is an exemplary system architecture diagram in which the present disclosure may be applied;

FIG. 2 is a flow chart of one embodiment of a traffic control method according to the present disclosure;

FIG. 3 is a flow chart of one embodiment of a traffic control method according to the present disclosure;

FIG. 4 is a flow chart of one embodiment of a traffic control method according to the present disclosure;

FIG. 5 is a schematic diagram of one application scenario of a traffic control method according to the present disclosure;

FIG. 6 is a schematic block diagram of one embodiment of a traffic control system according to the present disclosure;

FIG. 7 is a schematic structural diagram of one embodiment of a traffic control device according to the present disclosure;

FIG. 8 is a schematic structural diagram of one embodiment of a traffic control device according to the present disclosure;

FIG. 9 is a block diagram of an electronic device used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the traffic control method or traffic control apparatus of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include a actor subsystem 101, a network 102, and a computing device 103. The network 102 is used to provide a medium for communication links between the traveler subsystem 101 and the computing device 103. Network 102 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

Various client applications, intelligent interactive applications, such as navigation applications, mapping applications, etc., may be installed on the traveler subsystem 101.

The traveler subsystem 101 can acquire intention information and first traffic service information of other traffic participants; sending intention information of other traffic participants and first traffic service information to a computing device; and receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

The traveler subsystem 101 may be hardware or software. When the traveler subsystem 101 is hardware, the traveler subsystem may be an electronic product that performs human-Computer interaction with a user through one or more modes such as a keyboard, a touch pad, a touch screen, a remote controller, voice interaction or handwriting equipment, for example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC, palmtop), a tablet Computer, a smart car machine, a smart television, a smart speaker, a tablet Computer, a laptop portable Computer, a desktop Computer, and the like; the traveler subsystem may be a non-motor vehicle with communication capability. When the actor subsystem 101 is software, it may be implemented as multiple pieces of software or software modules, or as a single piece of software or software module. And is not particularly limited herein.

The computing device 103 may be hardware or software.

It should be noted that the traffic control method provided in the embodiment of the present disclosure is generally executed by the traveler subsystem 101, and accordingly, the traffic control device is generally disposed in the traveler subsystem 101.

It should be understood that the number of traveler subsystems, networks and computing devices in fig. 1 is merely illustrative. There may be any number of traveler subsystems, networks, and computing devices, as desired for the implementation.

With continued reference to fig. 2, a flow 200 of one embodiment of a traffic control method according to the present disclosure is shown. The traffic control method may include the steps of:

step 201, intention information and first traffic service information of other traffic participants are obtained.

In the present embodiment, the executing subject of the traffic control method (e.g., the traveler subsystem 101 shown in fig. 1) may acquire the intention information and the first traffic service information of the other traffic participants. The other traffic participants may be participants of the traffic participants other than motor vehicles, such as cyclists of bicycles, pedestrians, etc. The intent information may be used to characterize pre-implemented traffic behavior of other traffic participants, e.g., a need to cross a road, etc. The first traffic service information may be used to describe events or states of other traffic participants related to traffic.

In this embodiment, acquiring the intention information of the other traffic participants may include: the method comprises the steps of receiving intention information of other traffic participants input to a traveler subsystem through touch buttons or input buttons on a navigation interface or a map interface of the traveler subsystem (such as the traveler subsystem 101 shown in fig. 1).

In one example, the current location of the user may be displayed on a navigation interface or a map interface, and when other traffic participants need to cross a road, the user may operate a touch button (e.g., a straight button) at the road to cause the traveler subsystem to obtain intention information of the other traffic participants.

In one example, the input button may be a voice input button or a text input button, and after the other traffic participant operates the voice input button or the text input button, voice or text input by the other traffic participant may be acquired so that the traveler subsystem acquires intention information of the other traffic participant.

It should be noted that the touch button may be a button corresponding to a direction guide arrow on a navigation interface or a map interface.

In this embodiment, the obtaining the first traffic service information of the other traffic participants may include: and acquiring data acquired by sensors of other traffic participants to obtain first traffic service information, such as an acceleration sensor, a direction sensor, a gyroscope sensor, a linear acceleration sensor, a rotation vector sensor and the like of the traveler subsystem.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the related intention information and the first traffic information all conform to the regulations of related laws and regulations, and do not violate the good customs of the public order.

In step 202, intention information of other traffic participants and first traffic service information are sent to a computing device.

In an embodiment, the execution subject may send the intention information of the other traffic participants and the first traffic service information to a computing device (e.g., the computing device 103 shown in fig. 1) through a network (e.g., the network 102 shown in fig. 1).

And step 203, receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

In this embodiment, the execution body may be configured to receive a first traffic driving policy sent by the computing device, where the first traffic driving policy is used to control other traffic participants to continue driving according to the first traffic service information. The above-mentioned second traffic service information may be used to describe events or states of participants other than other traffic participants related to traffic, such as target vehicles, airplanes, motorcycles, etc. The first traffic driving strategy can be used for controlling whether other traffic participants implement corresponding traffic behaviors according to intention information of the other traffic participants, such as passing through a target road and the like.

The traffic control method provided by the embodiment of the disclosure includes the steps of firstly, acquiring intention information and first traffic service information of other traffic participants; then sending intention information and first traffic service information of other traffic participants to the computing equipment; and finally, receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy can be used for controlling other traffic participants to continue driving according to the first traffic service information. The corresponding first traffic driving strategy can be formulated for the traveler according to the intention information reported by the traveler subsystem, so that the traffic behaviors of other traffic participants and the target vehicle can be controlled, and the control on the traffic behaviors is enhanced.

In some optional implementations of this embodiment, the traffic control method further includes: and receiving a second traffic driving strategy sent by the computing equipment, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to the second traffic service information.

In this implementation manner, the executing entity may receive a second traffic driving policy sent by the computing device, so that the other traffic participants and the target vehicle may be controlled respectively according to the second traffic driving policy, where the second traffic driving policy is used to control the target vehicle to continue driving according to the second traffic service information.

It should be noted that, in order to avoid sending a collision between another traffic participant and the target vehicle, in the embodiment of the present disclosure, when the control target vehicle continues to travel according to the second traffic service information, the other traffic participant may be controlled not to travel according to the first traffic service information, for example, the other traffic participant is controlled to stop traveling or to travel at a preset speed.

In the implementation mode, a corresponding second traffic driving strategy can be formulated for the traveler according to the intention information reported by the traveler subsystem, so that the traffic behaviors of other traffic participants and target vehicles can be controlled, and the control on the traffic behaviors is strengthened.

In some optional implementations of this embodiment, the traffic control method further includes: and receiving a third traffic driving strategy sent by the computing equipment, wherein the third traffic driving strategy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information.

In this implementation, the execution body may receive a third traffic driving strategy sent by the computing device, where the third traffic driving strategy may be used to control the target vehicle to drive according to the third traffic service information and control the other traffic participants to drive according to the fourth traffic service information.

It should be noted that, in order to avoid sending a collision between another traffic participant and the target vehicle, in the embodiment of the present disclosure, the executing entity may determine the third traffic driving policy through the preset algorithm model and the first traffic service information of the other traffic participant and the second traffic service information of the target vehicle, so as to formulate corresponding traffic service information for the other traffic participant and the target vehicle in a negotiation manner.

In one example, according to the running speeds of the target vehicle and other traffic participants and the relative distances between the target vehicle and other traffic participants, the position points of possible travel collision of the target vehicle and other traffic participants are determined, and then the traffic service information of the other traffic participants and the target vehicle is adjusted, so that the other traffic participants and the target vehicle can be in a running state without collision.

In this implementation manner, through the third traffic driving strategy, the target vehicle may be controlled to operate according to the third traffic service information and the other traffic participants may be controlled to operate according to the fourth traffic service information, so as to avoid traffic congestion caused by the interruption of the operation.

In some optional implementations of this embodiment, the first traffic service information includes at least one of: other traffic participant basis information, other traffic participant motivation information, and other traffic participant affiliate information.

In this implementation, the first traffic service information may include basis information of other traffic participants, other traffic participant motivation information, and other traffic participant affiliate information. The basic information of the other transportation participants can include identity information of the other transportation participants, non-motorized (e.g., bicycles) structure parameter information, non-motorized vehicle maintenance information and the like. The other traffic participant dynamics information may include travel speeds, accelerations, etc. of the other traffic participants. The other transportation participant affiliate information may include type and content.

It should be noted that, in order to be able to specify the first traffic service information that is more suitable for traffic operation, the first traffic service information may further include: and the other traffic participant expansion information is used for supplementing additional information, such as the identity information of other traffic participants.

In the implementation mode, the first traffic service information can be acquired from multiple dimensions, so that a better traffic driving strategy can be established for other traffic participants and target vehicles.

With further reference to fig. 3, fig. 3 illustrates a flow 300 of one embodiment of a traffic control method according to the present disclosure. The traffic control method may include the steps of:

and step 301, receiving intention information and first traffic service information of other traffic participants sent by the traveler subsystem.

In the present embodiment, the executing subject of the traffic control method (e.g., the computing device 103 shown in fig. 1) may receive the intention information of the other traffic participants and the first traffic service information sent by the traveler subsystem through a network (e.g., the network 102 shown in fig. 1). The other traffic participants may be participants of the traffic participants other than motor vehicles, such as cyclists of bicycles, pedestrians, etc. The intent information may be used to characterize pre-implemented traffic behavior of other traffic participants, e.g., a need to cross a road, etc. The first traffic service information may be used to describe events or states of other traffic participants related to traffic.

In this embodiment, acquiring the intention information of the other traffic participants may include: the method comprises the steps of receiving intention information of other traffic participants input to a traveler subsystem by other traffic participants through touch buttons or input buttons on a navigation interface or a map interface of the traveler subsystem (such as the traveler subsystem 101 shown in fig. 1).

Step 302, inputting the second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle.

In this embodiment, the executing subject may input the second traffic service information of the target vehicle into an intention recognition model trained in advance to obtain a behavior classification of the target vehicle, and determine the intention information of the target vehicle according to the behavior classification of the target vehicle.

Here, the intention recognition model may be determined based on the following steps: acquiring traffic behavior characteristics of a target vehicle and a corresponding behavior category label, wherein the behavior category label can be used for representing intention information of the target vehicle; and then, training by using the traffic behavior characteristics of the target vehicle and the corresponding behavior class labels to obtain an intention recognition model. In training, the executing subject may use the traffic behavior feature of the target vehicle as an input of the intention recognition model, and use the behavior category label corresponding to the traffic behavior feature of the target vehicle as an expected output, resulting in the intention recognition model. The machine learning model may be a probability model, a classification model, or other classifier in the prior art or future development technology, for example, the machine learning model may include any one of the following: decision tree model (XGBoost), logistic regression model (LR), deep neural network model (DNN).

It should be noted that the traffic behavior characteristics described above can be used to characterize the traffic behavior of the target vehicle, for example, running at a speed of 30 km/h.

In this embodiment, before inputting the second traffic service information of the target vehicle into the pre-trained intention recognition model to obtain the intention information of the target vehicle, the traffic control method further includes:

and acquiring data acquired by each sensor in the computing equipment to obtain second traffic service information of the target vehicle. The second traffic service information may be used to describe an event or a state of the target vehicle related to traffic, wherein the motor vehicle may include the target vehicle, an airplane, a motorcycle, and the like.

In this embodiment, the various sensors of the computing device may include: the direction device comprises an air inlet pressure sensor, an air flow meter, a vehicle speed sensor, a temperature sensor, a shaft rotating speed sensor, a pressure sensor and the like, and the direction device comprises a corner sensor, a torque sensor, a hydraulic pressure sensor, a vehicle speed sensor, an acceleration sensor, a vehicle body height sensor, a roll angle sensor, a corner angle sensor and the like.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the related second traffic service information all conform to the regulations of related laws and regulations, and do not violate the good customs of the public order.

And 303, generating a first traffic driving strategy according to the intention information of the other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information.

In the present embodiment, the execution subject described above may generate the first traffic travel policy based on the intention information of the other traffic participants and the map information of the target vehicle. The first traffic driving strategy may be used to control the manner in which the other traffic participants and the target vehicle are to operate, e.g., the target vehicle decelerates to allow the other traffic participants to traverse the target road (i.e., the manner in which the other traffic participants are to operate via the target road).

In one example, the traffic control method may further include, before performing step 303: the corresponding relation between the intention information of other traffic participants and the intention information of the target vehicle and the first traffic driving strategy is established in advance, so that after the intention information of the target vehicle is obtained by the computing device, the corresponding first traffic driving strategy can be obtained according to the intention information of the other traffic participants and the intention information of the target vehicle.

Step 304, the first traffic driving strategy is sent to the traveler subsystem.

In this embodiment, the executive agent may send the first traffic driving policy to the traveler subsystem through a network (e.g., the network 102 shown in fig. 1).

The traffic control method provided by the embodiment of the disclosure comprises the steps of firstly receiving intention information and first traffic service information of other traffic participants; then inputting the second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle; then generating a first traffic driving strategy according to the intention information of other traffic participants and the intention information of the target vehicle; and finally, sending a first traffic driving strategy to the traveler subsystem, wherein the first traffic driving strategy can be used for controlling other traffic participants to continue driving according to the first traffic service information. The corresponding first traffic driving strategy can be formulated for the traveler according to the intention information reported by the traveler subsystem, so that the traffic behaviors of other traffic participants and the target vehicle can be controlled, and the control on the traffic behaviors is enhanced.

With further reference to fig. 4, fig. 4 illustrates a flow 400 of one embodiment of a traffic control method according to the present disclosure. The traffic control method may include the steps of:

and step 401, receiving intention information and first traffic service information of other traffic participants sent by the traveler subsystem.

In the present embodiment, the executing subject of the traffic control method (e.g., the computing device 103 shown in fig. 1) may receive the intention information of the other traffic participants and the first traffic service information sent by the traveler subsystem through a network (e.g., the network 102 shown in fig. 1). The other traffic participants may be participants of the traffic participants other than motor vehicles, such as cyclists of bicycles, pedestrians, etc. The intent information may be used to characterize pre-implemented traffic behavior of other traffic participants, such as a need to cross a road, etc. The first traffic service information may be used to describe events or states of other traffic participants related to traffic.

In the technical scheme of the disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the related intention information and the first traffic service information are all in accordance with the regulations of the related laws and regulations, and do not violate the common customs of the public order.

And 402, inputting the second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle.

In this embodiment, the executing entity may input the second traffic service information of the target vehicle into an intention recognition model trained in advance to obtain a behavior classification of the target vehicle, and determine the intention information of the target vehicle according to the behavior classification of the target vehicle.

And step 403, determining intention priority information according to the intention information of other traffic participants and the intention information of the target vehicle.

In the present embodiment, the execution subject described above may determine the intention priority information from the intention information of the other traffic participants and the map information of the target vehicle. The intention priority information described above may be used to characterize the priority of the intention information.

In one example, the traffic control method may further include, before performing step 403: the method comprises the steps of establishing a priority corresponding to intention information of other traffic participants and a priority corresponding to intention information of a target vehicle in advance, and then determining intention priority information according to the priority corresponding to the intention information of the other traffic participants and the priority corresponding to the intention information of the target vehicle.

It should be noted that the priority corresponding to the intention information of other traffic participants and the priority corresponding to the intention information of the target vehicle may be based on traffic etiquette principles, such as etiquette pedestrians; or a corresponding priority based on the urgency of the intention information of the other traffic participants and the urgency of the intention information of the target vehicle. The above-described degree of urgency may be used to characterize the degree of priority traffic behavior to be performed.

Step 404, generating a first traffic driving strategy according to the intention priority information.

In the present embodiment, the execution subject described above may generate the first traffic travel policy according to the intention priority information. The first traffic driving strategy may be used to control the manner in which the other traffic participants and the target vehicle are to be operated, e.g., the target vehicle decelerates to allow the other traffic participants to pass through the target road (i.e., the manner in which the other traffic participants are to be operated through the target road).

In one example, the traffic control method may further include, before performing step 404: and establishing a corresponding relation between the intention priority information and the first traffic driving strategy in advance so as to obtain the corresponding first traffic driving strategy at the computing equipment according to the intention priority information.

Step 405, sending the first traffic driving strategy to the traveler subsystem.

In this embodiment, the executing entity may send the first traffic driving policy to the traveler subsystem through a network (e.g., the network 102 shown in fig. 1).

In this embodiment, the specific operations of

steps

401, 402, and 405 have been described in detail in

steps

201, 202, and 203 in the embodiment shown in fig. 3, and are not described again here.

As can be seen from fig. 4, compared with the embodiment corresponding to fig. 3, the traffic control method in the present embodiment highlights that the intention priority information is determined according to the intention information of other traffic participants and the intention information of the target vehicle; and generating a first traffic driving strategy based on the intention priority information. Therefore, the scheme described by the embodiment can receive intention information of other traffic participants and first traffic service information; then inputting the second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle; then, determining intention priority information according to the intention information of other traffic participants and the intention information of the target vehicle; then generating a first traffic driving strategy according to the intention priority information; and finally, sending a first traffic driving strategy to the subsystem, wherein the first traffic driving strategy can be used for controlling other traffic participants to continue driving according to the first traffic service information. The corresponding first traffic driving strategy can be formulated for the traveler according to the intention information reported by the traveler subsystem so as to control the traffic behaviors of other traffic participants and target vehicles, and therefore the control on the traffic behaviors is enhanced.

In some optional implementations of the embodiment, generating the first traffic driving policy according to the intention priority information includes: determining whether the target vehicle is in a first preset area or not in response to the fact that the priority corresponding to the intention information of other traffic participants is higher than the priority corresponding to the intention information of the target vehicle, wherein the first preset area is an area allowing the target vehicle to execute a first traffic driving strategy; and generating a first traffic driving strategy according to the intention priority information in response to the target vehicle being in the first preset area.

In this implementation, the executing agent may determine whether the target vehicle is within a first preset area when the priority corresponding to the intention information of the other traffic participants is higher than the priority corresponding to the intention information of the target vehicle, where the first preset area is an area where the target vehicle is allowed to execute the first traffic driving policy; and when the target vehicle is in a first preset area, generating a first traffic driving strategy according to the intention priority information.

In this implementation manner, the execution subject may determine whether the target vehicle can adjust the second traffic service information to the preset traffic service information through the first preset area, so that the other traffic participants continue to travel according to the first traffic service information.

In one example, the preset traffic service information may be traffic service information corresponding to a speed of the target vehicle being 0.

In this implementation, when the priority of the target vehicle is lower than that of other traffic participants, whether to follow the first traffic driving strategy may be determined through the first preset area, so that variable traffic may be adapted.

In some optional implementations of this embodiment, the traffic control method further includes: generating a second traffic driving strategy in response to the target vehicle not being in the first preset area, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to the second traffic service information; and sending the second traffic driving strategy to the traveler subsystem.

In this implementation, when the target vehicle is not located in the first preset area, a second traffic driving strategy may be generated, and the second traffic driving strategy may be used to control the vehicle to continue driving according to the second traffic service information.

In this implementation, the execution subject may determine whether the target vehicle can continue to travel according to the second traffic information through the first preset area.

In one example, the other traffic participants stop operating.

In the implementation mode, when the target vehicle is not in the first preset area, the corresponding second traffic driving strategy is generated to control the target vehicle to continue driving according to the second service information, so that the control over the traffic behaviors of other traffic participants and the target vehicle is realized, and the control over the traffic behaviors is strengthened.

In some optional implementations of this embodiment, the traffic control method further includes: responding to the fact that the target vehicle is not located in the first preset area, and determining a third traffic driving strategy according to the second traffic service information and the first traffic service information, wherein the third traffic driving strategy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information; and sending the third traffic driving strategy to the traveler subsystem.

In this implementation manner, the executing body may determine a third traffic driving policy according to the second traffic service information and the first traffic service information when the target vehicle is not located in the first preset area, where the third traffic driving policy may be used to control the target vehicle to drive according to the third traffic service information and to control other traffic participants to drive according to the fourth traffic service information.

In some optional implementations of this embodiment, generating the first traffic driving strategy according to the intention priority information includes:

in response to the intention priority information including that the priority of the target vehicle is lower than that of other traffic participants, determining a cooperative vehicle corresponding to the target vehicle, wherein the cooperative vehicle is a vehicle in a second preset area of the target vehicle;

and generating a first traffic driving strategy aiming at the target vehicle and the cooperative vehicle, wherein the first traffic driving strategy is used for indicating that the target vehicle decelerates to drive at a first preset amplitude and the cooperative vehicle decelerates to drive at a second preset amplitude, and the first preset amplitude and the second preset amplitude correspond to the intention priority information.

In the implementation manner, when the priority of the target vehicle is lower than that of other traffic participants, determining a cooperative vehicle corresponding to the target vehicle, wherein the cooperative vehicle is a vehicle in a second preset area of the target vehicle; and then generating a first traffic driving strategy aiming at the target vehicle and the cooperative vehicle, wherein the first traffic driving strategy is used for indicating that the target vehicle decelerates to drive at a first preset amplitude and the cooperative vehicle decelerates to drive at a second preset amplitude, and the first preset amplitude and the second preset amplitude correspond to the intention priority information. The cooperative vehicle may be a plurality of vehicles.

When the priority of the target vehicle is lower than that of other traffic participants, determining cooperative vehicles in a second preset range of the target vehicle; and then, generating a first traffic driving strategy aiming at the target vehicle and the cooperative vehicle to control the target vehicle and the cooperative vehicle to drive at a first preset amplitude and to decelerate at a second preset amplitude so as to adjust the second traffic service information of the target vehicle to the preset traffic service information, so that other traffic participants can continue to drive according to the first traffic service information.

It should be noted that the first preset amplitude and the second preset amplitude may be determined according to the intention priority information, and a corresponding relationship between the first preset amplitude and the intention priority information and between the second preset amplitude and the intention priority information may be pre-established.

In the implementation manner, when the priority of the target vehicle is lower than that of other traffic participants, a first traffic driving strategy for the target vehicle and the cooperative vehicle is generated to control the target vehicle and the cooperative vehicle to drive at a first preset amplitude and to decelerate at a second preset amplitude, so that the traffic behaviors of the other traffic participants, the target vehicle and the cooperative vehicle are controlled, and the control on the traffic behaviors is enhanced.

In some optional implementations of the present embodiment, the second preset region includes a region where a distance between the second preset region and the target vehicle in the preset direction is smaller than a preset threshold, and the preset threshold corresponds to the intention priority information.

In this implementation, the second region may include a region in which a distance from the target vehicle in the preset direction is smaller than a preset threshold value, the preset threshold value corresponding to the intention priority information.

Here, the preset direction may be a blind area behind the target vehicle. The preset threshold value may be determined according to a correspondence relationship with the intention priority information or set according to the traffic control accuracy.

In this implementation manner, the correspondence between the intention priority information and the preset threshold may also be established in advance.

In some optional implementations of this embodiment, determining a cooperative vehicle corresponding to the target vehicle includes: and determining the preset vehicles with the minimum distance to the target vehicle in the preset direction as the cooperative vehicles corresponding to the target vehicle.

In this implementation, the above-described executing subject determining the cooperative vehicle corresponding to the target vehicle may include: and determining the preset vehicles with the minimum distance between the target vehicles in the preset direction as the cooperative vehicles corresponding to the target vehicles.

Here, the preset direction may be a blind area behind the target vehicle.

In some optional implementations of this embodiment, the second traffic service information includes at least one of: vehicle basic information, vehicle power information, vehicle accessory information.

In this implementation, the second traffic service information may include basic information of the vehicle, vehicle power information, and vehicle accessory information. The basic information of the vehicle may include vehicle identification information, non-motorized (e.g., bicycle) structural parameter information, non-motorized vehicle maintenance information, and the like. The vehicle power information may include a running speed, an acceleration, and the like of the vehicle. The vehicle accessory information may include a type and a content.

It should be noted that, in order to specify the second traffic service information more suitable for traffic operation, the second traffic service information may further include: vehicle extension information that is used to supplement additional information, such as the license plate of the vehicle.

With further reference to fig. 6, the traffic control system may include a traveler subsystem (e.g., traveler subsystem 101 shown in fig. 1) 601 and an onboard subsystem (e.g., computing device 103 shown in fig. 1) 602; the traffic control system will be described with reference to fig. 5. Referring to fig. 5, a flow diagram of one embodiment of a traffic control method according to the present application is shown. Wherein,

the traveler subsystem 601 is used for acquiring intention information and first traffic service information of other traffic participants; and sending the intention information of the other traffic participants and the first traffic service information to the computing device.

The computing device is used for receiving the intention information and the first traffic service information of other traffic participants sent by the traveler subsystem 601; inputting second traffic service information of the target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle; generating a first traffic driving strategy according to the intention information of other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information; and sends the first traffic driving strategy to the traveler subsystem 601.

And the traveler subsystem 601 is used for receiving the first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information.

In some optional implementations of this embodiment, the computing device may be the on-board subsystem 602 and the roadside sensing system 606 in the traffic control system.

In one example, the traffic control system may include: an in-vehicle subsystem 602 and a traveler subsystem 601.

In one example, the traffic control system may include: roadside sensing system 606 and traveler subsystem 601.

During the process of the roadside sensing system 606 generating the first traffic driving strategy, the strategy sensing system is further configured to obtain traffic environment information, so as to generate the first traffic driving strategy through the traffic environment information.

In FIG. 6, the roadside sensing system 606 may include a roadside sensing facility, a roadside computing facility, and an infrastructure supply facility; the road side computing facility and the road side sensing facility are connected with the infrastructure supply facility; the roadside sensing facility is used for acquiring first traffic service information of other traffic participants, intention information of the other traffic participants, second traffic service information of the target vehicle and traffic environment information; the roadside computing facility is used for inputting the second traffic service information into a pre-trained intention recognition model to obtain intention information of the target vehicle; and generating a first traffic driving strategy according to the intention information of the target vehicle, the intention information of other traffic participants and the traffic environment information, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information.

Correspondingly, in this example, the roadside computing facility is specifically configured to: determining intention priority information according to intention information of the target vehicle, intention information of other traffic participants and traffic environment information; and generating a first traffic driving strategy according to the intention priority information.

Wherein the roadside computing facility includes: a computing unit, an MEC facility, or an edge cloud.

Wherein the infrastructure includes at least one of: power supply, switch, pole-holding box/cabinet, optic fibre.

In the present embodiment, a roadside sensing system 606 (roadside sensing and positioning system) is deployed on the roadside and is a system for real-time detection, identification and positioning of road traffic participants, traffic events, traffic operating conditions and the like, which is composed of a computing facility, a sensing facility and an infrastructure (i.e., relevant auxiliary equipment).

In one example, the roadside perception system spatial coordinate system may employ a CGCS2000 coordinate system and the projection may employ a Universal Transverse Mercator projection (UTM). The roadside-aware system Time coordinate system may employ Coordinated Universal Time (UTC).

In one example, the roadside sensing system should have a standard clock source synchronization function, support a clock synchronization protocol such as GPS, NTP or PTP, and preferably have a function of performing unified timing on the access devices, and a time synchronization error of each device in the system is not greater than 5ms.

In one example, the high-precision map used by the roadside sensing system has the advantages that map elements are diversified and abundant as much as possible, road traffic markings in the horizontal direction and the longitudinal direction are clear and accurate, and the map can meet the requirements of T/CSAE 185 and related standards.

In one example, the detection timestamps output by the sensing cameras that are plugged into the same roadside computing facility may remain consistent, with detection timestamp errors for different sensing facilities of no more than 100ms.

In one example, network communication and data interaction can be performed between the roadside sensing facility and the roadside computing facility through an optical fiber and an access switch, and the unidirectional bandwidth of the access switch is preferably not less than 15Mbps.

In one example, the roadside awareness system may be compatible with interfacing multiple types of devices and meet at least one of the following requirements:

the butt joint with equipment such as RSU, laser radar, millimeter wave radar, camera and the like is supported; the system supports butt joint with traffic monitoring law enforcement equipment, a traffic signal controller, meteorological environment monitoring equipment and the like; supporting the simultaneous access of a plurality of devices of different types or models; the access equipment can be added and deleted, and the state monitoring of the access equipment is supported; data interaction with the access device can be realized.

Correspondingly, in this example, the roadside computing facility may be provided with at least one of the following functions: the access of equipment such as a camera, a millimeter wave radar, a laser radar and the like is supported; the functions of acquiring video stream from a camera, performing video decoding, target detection, target tracking, target positioning and the like are supported, structured data are acquired from a millimeter wave radar, point cloud data are acquired from a laser radar, and the functions of target fusion positioning, tracking and the like are performed; the image, the video and the service data are stored according to the specification, and remote or local data query and retrieval can be supported; according to the Vehicle-road cooperative application requirement, a Vehicle-mounted unit and other equipment communication (V2X) application service can be provided, and the management of a system and access equipment, such as message making, receiving, transmitting, analyzing and processing, can be performed, and the management comprises parameter configuration, OTA (over the air) upgrading, equipment operation and maintenance management, remote startup/restart, log management, high-precision clock synchronization and the like; and the uninterrupted service can be provided under the condition that the network of the cloud control platform is disconnected.

Wherein the roadside computing facility may meet at least one of the following performance requirements: different equipment types and configuration schemes are flexibly supported, and at least 4 paths of cameras, 4 paths of millimeter wave radars and 1 path of laser radars are simultaneously accessed through calculation; the capability of the roadside computing facility for fusion perception and identification of traffic participants, traffic events and the like comprises detection accuracy, time delay, positioning precision and the like; the perceived output frequency of the structured data can meet the application requirements of different scenes.

Wherein the roadside computing facility may meet at least one of the following interface requirements: the roadside computing facility may be provided with at least 2 ethernet interfaces; the roadside computing facility and the cloud control platform are preferably in interface modes of RJ45, optical fibers, USB, RS232, RS485 and the like, and network transmission of more than 10000Mbps is supported; 4G/5G/WiFi (Wireless-Fidelity) and other access modules can be optionally matched to support Wireless backhaul; the access of camera equipment is supported, an Ethernet interface mode can be adopted, and protocols such as SDK (Software Development Kit), GB/T28281 or RTSP and the like are supported; the access of radar equipment is supported, an Ethernet or RS485 interface mode can be adopted, and data transmission in formats such as binary, hexadecimal or JSON (Java Server object notation) is supported; the access of RSU equipment is supported, and the ASN.1 or JSON format data transmission can be supported by adopting interface modes such as Ethernet or 4G/5G and the like; the access of other traffic safety facilities or traffic management facilities can be supported, the interface modes such as Ethernet or 4G/5G and the like can be adopted, and the data interaction content and format can accord with the standard specification published by road traffic or public security.

In one example, the roadside sensing system can implement the capability of performing fusion processing and intelligent analysis on different access data, and meets at least one of the following requirements: providing an accurate time reference and space transformation relation, and ensuring time synchronization and space synchronization among different sensors; fusion processing of original sensing data or structured data of the radar and the camera is supported; the detection, identification and positioning of pedestrians, motor vehicles, non-motor vehicles, obstacles or other road traffic participants are supported; the detection, identification and positioning of road traffic events are supported; and supporting the detection and identification of the traffic operation condition.

In one example, the roadside awareness system may include respective interfaces and data services: the interface and the data interaction content can meet the requirements of the T/ITS XXXX standard; the interface and data interaction content can meet the requirements of the T/ITS XXXX standard; the interfaces and data interaction contents of the traffic monitoring law enforcement equipment, the traffic signal control machine and the meteorological environment monitoring equipment can meet the requirements of relevant standards.

In one example, the types of road side awareness systems may identify traffic participants include, but are not limited to: a motor vehicle: such as cars, trucks, buses, emergency or special vehicles, etc., the motor vehicle classification meets the GA 802 standard; a non-motor vehicle: such as bicycles, motorcycles, tricycles, bicycles, etc.; a pedestrian; missing or low obstacles: such as cone barrels, triangular warning boards, animals, cartons, tires and the like; the special purpose is as follows: stone piers, water horses, vertical columns, etc.

In one example, the roadside awareness system may identify static and dynamic characteristic information of traffic participants, including but not limited to: a traffic participant type; the size of the target is as follows: a three-dimensional size; a target size confidence; participant corner point data; a license plate; color; the brand of the vehicle; driver information.

In addition, traffic participant dynamic characteristic information may meet T/ITS XXXX standard requirements, including but not limited to: position information: longitude, latitude and altitude; a position confidence; speed; a speed confidence; four-axis acceleration; an acceleration confidence level; a course angle; a course angle confidence; target tracking duration; a historical trajectory of the motor vehicle; and predicting the path of the motor vehicle.

In one example, the traffic event types described above may satisfy GB/T28789, GB/T29100 and related standard requirements, including but not limited to: a stop event; a retrograde event; a pedestrian event; a projectile event; a congestion event; a low/overspeed event; a traffic accident; the motor vehicle drives away; constructing roads; other custom events.

In one example, the sensory result information may satisfy T/ITS XXXX standard requirements, including but not limited to the following: a type of traffic event; an event location; the lane where the event is located; an event impact area; an event duration; an event priority; traffic participant information relating to the event.

Among them, roadside computing facilities (roadside computing facilities) cause sudden chaotic events of normal traffic order due to incoordination among people, vehicles, facilities, and the environment.

In embodiments of the present disclosure, the roadside computing facility may meet at least one of the following requirements: MTBF is not less than 50000h, and the equipment availability is preferably not less than 99.999 percent; working temperature: -30 ℃ to +85 ℃; the equipment has the characteristics of surge prevention, static prevention, high shock resistance and the like; working humidity: 5% -95%, no condensation; waterproof and dustproof grade: not lower than IP66.

In one example, the perceptual camera may meet at least one of the following requirements: a gun type camera, a spherical camera or a fisheye camera and the like can be selected and matched according to needs; the camera has computing power and AI processing capability and has sensing identification and positioning capability with certain precision; the perception camera with the traffic incident detection function can meet the requirements of GB/T28789 and relevant standards; the perception camera with the monitoring and law enforcement function can meet the requirements of GB/T28181, GA/T1127 and related standards; the perception camera with the traffic operation monitoring function can meet the requirements of GB/T24726, GB/T33171 and relevant standards.

Wherein, the perception camera can meet at least one of the following functional requirements: monitoring continuous videos of traffic sites and field ends; multi-code stream video recording; the device can have self-diagnosis and alarm functions; and the GPS or NTP clock synchronization is supported, and a millisecond time stamp can be output.

Wherein the perception camera may meet at least one of the following performance requirements: the configurable H.265 or H.264 code stream is supported and output, the code stream supports definition, MJPEG coding is supported, joint Photographic Experts Group (JPEG) coding and Smart JPEG compression are adopted for the snapshot picture, and the picture quality can be set; the method supports the interruption and continuous transmission of the snap shot picture; a Complementary Metal Oxide Semiconductor (CMOS) of 400 ten thousand pixels not less than 1/1.8 inch may be used; the function of near-infrared light supplement can be selectively supported, and the maximum infrared light supplement distance is 100m.

Wherein, the perception camera can meet at least one of the following interface requirements: at least 1 RS-485 interface or 1 RS-232 interface, 1 RJ 45M 10M/100M/1000M self-adapting Ethernet interface; supporting service Application Programming Interface (ISAPI), GB/T28181 protocol, and supporting SDK secondary development; the device can support Real Time Streaming Protocol (RTSP) and GB/T28181 video protocols to output video streams.

Wherein, perception camera can satisfy at least one of the following reliability requirements: the temperature of the working environment: -30 ℃ to +65 ℃; humidity of working environment: 5% -95%, no condensation; protection grade: IP66; mean Time Between Failures (MTBF) of the equipment is not less than 50000h; the anti-surge function is achieved; the optical window has the functions of dust prevention, water prevention, heating, defogging, snow removal and the like.

Wherein, roadside perception camera can satisfy at least one of following when deploying the installation: the device is deployed on a cross arm of an electric police rod or a monitoring rod, and the mounting position of the device is as close to the center of a road as possible; when the electric warning pole or the monitoring pole is not available, a signal lamp pole can be used, or a new vertical pole can be used; the deployment height can be 6-8 m; trees and the like can be prevented from being shielded as much as possible in the sensing area, so that the sensing effect of the sensing equipment is not influenced; the equipment installation should be firm, and the mountable supporting construction guarantees stability when necessary.

In one example, millimeter wave radar deployed on the roadside may meet at least one of the following functional requirements: not less than 256 detection targets in the range of 8 lanes (including a forward lane and a reverse lane) can be detected, and the detection targets can be subjected to trajectory tracking monitoring; the Time service of a Global Positioning System (GPS) or a Network Time Protocol (NTP) is supported, and a millisecond-level timestamp can be output; and data transmission to a plurality of service terminals is supported simultaneously.

Wherein, roadside millimeter wave radar can satisfy at least one item of performance requirement below: maximum detection distance: the longitudinal direction is not less than 250m; and (3) traffic flow detection precision: more than or equal to 95 percent; the average vehicle speed is more than or equal to 95 percent; the occupancy detection precision is more than or equal to 95 percent; detection precision of queuing length: more than or equal to 95 percent; the speed measurement range is 0-220 km/h; speed detection resolution: 0.6km/h; speed detection accuracy: 0.2km/h; distance detection resolution: short range 0.5m, long range 2m; distance detection accuracy: short range 0.1m, long range 0.5m; the maximum radar angle resolution supports 2 degrees, and the maximum angle measurement precision supports 0.25 degrees; radar frame rate: not less than 10fps.

Wherein, roadside millimeter wave radar can satisfy following at least one item of interface requirement: at least 1 RS485/232 interface or 1 10/100/1000M self-adaptive RJ45 interface is supported; and the connection of other equipment is supported in a Transmission Control Protocol (TCP)/User Datagram Protocol (UDP) mode.

Wherein, roadside millimeter wave radar can satisfy following at least one item of reliability requirement: working environment temperature: -30 ℃ to +65 ℃; humidity of working environment: 0% -95%, no condensation; protection grade: IP65; crash/vibration tolerance: 100g/rms;14g/rms; MTBF is more than or equal to 50000h; the device has the advantages of voltage overload protection, surge protection and equipment lightning protection shielding; can work stably in all weather environments, including rain, fog, snow, strong wind, ice, dust and the like.

The laser radar deployed on the road side can meet at least one of the following functional requirements: radar data acquisition, visualization, storage and playback functions are supported; the method supports GPS, NTP or Precision Time Protocol (PTP) timing, and outputs a millisecond Time stamp; supporting point cloud output, tracking target output point cloud and tracking target output; supporting the setting of multiple echo detection modes; and a multi-radar data fusion function is supported.

Wherein, roadside lidar can satisfy at least one of following performance requirements: ranging: 150m @10% NIST, the measuring range and the sensing distance are not less than 200m; the distance precision is less than or equal to +/-3 cm, and the root mean square error is less than or equal to 3cm; the number of tracking targets is not less than 128; viewing angle (vertical): not less than 25 °; viewing angle (horizontal): more than 100 degrees; the vertical angle resolution is not less than 0.2 degrees on average; the horizontal angular resolution is not less than 0.2 degrees on average; frame rate: not lower than 10Hz; protection grade: biosafety level 1 or exemption level; false alarm rate (@ 100 klx) <0.01%; active anti-crosstalk/interference functionality; the device can normally work under the weather conditions of rain, snow, fog, haze and the like; a 24V supply voltage.

Wherein, roadside lidar can satisfy at least one of following interface requirements: at least one 10M/100M/1000M adaptive RJ45 Ethernet port or RS485 interface; the wide voltage is supported, and 24V +/-20% is compatible; supports UDP/TCP communication protocol; the application layer supports a Message Queue Telemetry Transport (MQTT) protocol or a protobuf protocol; the NTP time synchronization protocol is supported, and protocols such as PPS, PTP, PTPv2, GPS and the like can be selected.

Wherein, roadside lidar can satisfy following at least one item of reliability requirement: the temperature of the working environment: minus 30 ℃ to plus 65 ℃; humidity of working environment: 0% -95%, no condensation; protection grade: IP67; the MTBF time is not less than 50000h.

The cloud control platform (cloud control platform) 603 serves a platform system of the vehicle-road cooperative service, has basic service capabilities of real-time information fusion and sharing, real-time calculation arrangement, intelligent application arrangement, big data analysis, information safety and the like, and can provide cooperative application and data service such as driving assistance, automatic driving, traffic transportation safety, traffic management and the like for intelligent automobiles, management and service mechanisms and terminal users.

The traveler subsystem is composed of various information terminals or other information processing devices carried by other traffic participants. The traveler subsystem may be an electronic product that performs human-Computer interaction with a user through one or more modes of a keyboard, a touch pad, a touch screen, a remote controller, a voice interaction device, or a handwriting device, such as a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet Computer, a smart car machine, a smart television, a smart sound box, a tablet Computer, a laptop portable Computer, a desktop Computer, and the like; the traveler subsystem may be a non-motor vehicle with communication capability. When the actor subsystem 101 is software, it may be implemented as multiple pieces of software or software modules, or as a single piece of software or software module. And is not particularly limited herein.

The vehicle-mounted subsystem can comprise a vehicle-mounted terminal, a vehicle-mounted computing control module, a vehicle-mounted gateway, a router and the like.

In some optional implementations of the present embodiment, the traffic safety and management facility 606 includes: traffic monitoring facilities, traffic guidance facilities, and weather monitoring facilities.

In some optional implementations of this embodiment, the onboard subsystem 602 includes at least one of: the system comprises a vehicle-mounted terminal, a vehicle-mounted computing control module, a vehicle-mounted gateway and a router.

The road side subsystem may include road side communication facilities, road side sensing facilities, road side computing facilities, and the like, and may also include various equipment facilities for traffic safety, traffic management, and travel services.

Correspondingly, in this example, the traffic safety management may include at least one of: the method comprises the following steps of emergency notification, emergency vehicle dispatching and priority traffic, safety monitoring of transport vehicles and drivers, overload and overrun management and vulnerable traffic group safety protection.

Traffic management includes at least one of: traffic regulation notification, traffic signal dynamic optimization and traffic flow monitoring.

The travel service includes at least one of: real-time guiding and navigating; construction, traffic incident, traffic signal light and other information reminding; suggesting a trip, point of interest notification.

Wherein, the central subsystem: and the system can comprise central decryption, central switching, service component nodes, service routers, central access nodes and the like, and has the capabilities of network management, service support, service and the like.

The operation status of the traffic safety and management facility 606 may include: traffic monitoring facilities, traffic inducing facilities, weather monitoring facilities, toll collection facilities, and other facilities.

It should be noted that the roadside sensing system 606 may perform data transmission with the vehicle-mounted subsystem 602 and the traveler subsystem 601 through the communication facility 605. The Communication facility 605 may transmit data via transmission schemes such as LTE-based Vehicle wireless Communication Technology (LTE-V2X), dedicated Short Range Communication (DSRC), 6G (6 Generation Mobile Communication Technology)/5G (5 th-Generation Mobile Communication Technology), and the like. In addition, the Vehicle-mounted subsystem 602 and the traveler subsystem 601 can communicate with a Pedestrian (V2P) via a Vehicle-mounted unit for data transmission.

Correspondingly, in this example, the roadside computing facility is further to: and sending a first traffic driving strategy to the cloud control platform 603, so that the cloud control platform 603 sends the vehicle-mounted subsystem 602, the traveler subsystem 601 and the traffic safety and management facility 604, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to the first traffic service information and controlling whether to adjust the working state of the traffic safety and management facility 604.

In one example, the first traffic policy is sent to the cloud controlled platform 603 by a roadside computing facility or the first traffic policy is sent to the cloud controlled platform 603 by a communication facility 605 (e.g., a communication enabled chip) in fig. 6.

Wherein the traffic environment information includes: signal light information and/or weather information.

The operation status of the traffic safety and management facility 604 may include: traffic monitoring facilities, traffic inducing facilities, weather monitoring facilities, toll collection facilities, and other facilities.

It should be noted that the roadside sensing system 606 may perform data transmission with the vehicle-mounted subsystem 602 and the traveler subsystem 601 through the communication facility 605. The communication facility 605 can transmit data by transmission methods such as LTE-V2X, DSRC and 4G/5G. In addition, the onboard subsystem 602 and the traveler subsystem 601 can perform data transmission through V2P.

In one example, the traffic control system may include: roadside perception system 606, traveler subsystem 601 and onboard subsystem 602.

In some optional implementations of this embodiment, the traffic control system may further include: cloud control platform 603.

It should be noted that the roadside sensing system 606 may also send operation and maintenance data to the cloud control platform 603, for example, receive operation and maintenance data generated when the traffic safety and management facility 604 and/or the roadside sensing facility operate, so that the cloud control platform 603 may detect the operation conditions of the roadside sensing system 606 and the traffic safety and management facility 604.

In addition, after the roadside sensing system 606 sends the first traffic driving strategy to the cloud control platform 603, the cloud control platform 603 may aggregate the first traffic driving strategies output by the roadside sensing systems 606 on the target road.

With further reference to fig. 7, as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a traffic control device, which corresponds to the embodiment of the method shown in fig. 2, and which is particularly applicable to various electronic devices.

As shown in fig. 7, the traffic control device 700 of the present embodiment may include: an information acquisition module 701, an information sending module 702 and a policy receiving module 703. The information acquisition module 701 is configured to acquire intention information and first traffic service information of other traffic participants; an information sending module 702 configured to send intention information of other traffic participants and first traffic service information to a computing device; and the strategy receiving module 703 is configured to receive a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information.

In the present embodiment, in traffic control device 700: the detailed processing of the information obtaining module 701, the information sending module 702, and the policy receiving module 703 and the technical effects thereof can refer to the related descriptions of steps 201 to 203 in the corresponding embodiment of fig. 2, which are not repeated herein.

In some optional implementations of this embodiment, the policy receiving module 703 is further configured to: and receiving a second traffic driving strategy sent by the computing equipment, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to the second traffic service information.

In some optional implementations of this embodiment, the policy receiving module 703 is further configured to: and receiving a third traffic driving strategy sent by the computing equipment, wherein the third traffic driving strategy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information.

In some optional implementations of this embodiment, the first traffic service information includes at least one of: other traffic participant basic information, other traffic participant motivation information, and other traffic participant appendage information.

With further reference to fig. 8, as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a traffic control device, which corresponds to the embodiment of the method shown in fig. 3, and which is particularly applicable to various electronic devices.

As shown in fig. 8, the traffic control device 800 of the present embodiment may include: an information receiving module 801, an intention obtaining module 802, a policy generating module 803, and a policy transmitting module 804. The information receiving module 801 is configured to receive intention information of other traffic participants and first traffic service information sent by the traveler subsystem; an intention obtaining module 802 configured to input second traffic service information of the target vehicle into a pre-trained intention recognition model, obtaining intention information of the target vehicle; a strategy generating module 803 configured to generate a first traffic driving strategy according to the intention information of the other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to the first traffic service information; a strategy transmitting module 804 configured to transmit the first traffic driving strategy to the traveler subsystem.

In the present embodiment, in the traffic control device 800: for specific processing of the information receiving module 801, the intention obtaining module 802, the policy generating module 803, and the policy sending module 804 and technical effects thereof, reference may be made to the related descriptions of steps 301 to 304 in the corresponding embodiment of fig. 3, which are not repeated herein.

In some optional implementations of this embodiment, the policy generating module 803 includes: a priority determining unit configured to determine intention priority information according to intention information of other traffic participants and intention information of a target vehicle; a first policy generation unit configured to generate a first traffic travel policy according to the intention priority information.

In some optional implementations of this embodiment, the first policy generating unit is further configured to: determining whether the target vehicle is in a first preset area or not in response to the fact that the priority corresponding to the intention information of the other traffic participants is higher than the priority corresponding to the intention information of the target vehicle, wherein the first preset area is an area allowing the target vehicle to execute a first traffic driving strategy; and generating a first traffic driving strategy according to the intention priority information in response to the target vehicle being in the first preset area.

In some optional implementations of this embodiment, the traffic control device further includes: a second strategy generation unit configured to generate a second traffic driving strategy in response to the target vehicle not being within the first preset area, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to the second traffic service information; the strategy transmitting module 804 is further configured to transmit the second traffic driving strategy to the traveler subsystem.

In some optional implementations of this embodiment, the traffic control device further includes: a third policy generation unit configured to determine a third traffic driving policy according to the second traffic service information and the first traffic service information in response to the target vehicle not being within the first preset area, wherein the third traffic driving policy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information; and the strategy transmitting module is also configured to transmit the third traffic driving strategy to the traveler subsystem.

In some optional implementation manners of this embodiment, the first policy generating unit includes: the first determining subunit is configured to determine a cooperative vehicle corresponding to the target vehicle in response to the intention priority information including that the priority of the target vehicle is lower than that of other traffic participants, wherein the cooperative vehicle is a vehicle in a second preset area of the target vehicle; a first policy generation subunit configured to generate a first traffic driving policy for the target vehicle and the cooperative vehicle, wherein the first traffic driving policy is used to instruct the target vehicle to decelerate at a first preset magnitude and the cooperative vehicle to decelerate at a second preset magnitude, and the first preset magnitude and the second preset magnitude correspond to the intention priority information.

In some optional implementations of the embodiment, the second preset region includes a region where a distance from the target vehicle in the preset direction is smaller than a preset threshold, and the preset threshold corresponds to the intention priority information.

In some optional implementations of this embodiment, the first determining subunit is further configured to: and determining the preset vehicles with the minimum distance from the target vehicle in the preset direction as the cooperative vehicles corresponding to the target vehicle.

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product, and a traffic control system.

FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the traffic control method. For example, in some embodiments, the traffic control method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the traffic control method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the traffic control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

Artificial intelligence is the subject of studying computers to simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural voice processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure may be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions mentioned in this disclosure can be achieved, and are not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A traffic control method, comprising:

acquiring intention information and first traffic service information of other traffic participants;

sending intention information of other traffic participants and first traffic service information to a computing device;

and receiving a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to first traffic service information, the first traffic driving strategy is generated by the computing device according to intention information of the other traffic participants and intention information of a target vehicle, and the intention information of the target vehicle is obtained by inputting second traffic service information of the target vehicle into a pre-trained intention recognition model.

2. The method of claim 1, further comprising:

and receiving a second traffic driving strategy sent by the computing equipment, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to second traffic service information.

3. The method of claim 1, further comprising:

and receiving a third traffic driving strategy sent by the computing equipment, wherein the third traffic driving strategy is used for controlling the target vehicle to drive according to third traffic service information and controlling other traffic participants to drive according to fourth traffic service information.

4. The method of any of claims 1-3, wherein the first traffic information includes at least one of: other traffic participant basis information, other traffic participant motivation information, and other traffic participant affiliate information.

5. A traffic control method, comprising:

receiving intention information and first traffic service information of other traffic participants sent by a traveler subsystem;

inputting second traffic service information of a target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle;

generating a first traffic driving strategy according to the intention information of the other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to first traffic service information;

sending the first traffic driving strategy to the traveler subsystem.

6. The method of claim 5, wherein generating a first traffic driving maneuver according to the intent information of the other traffic participants and the intent information of the target vehicle comprises:

determining intention priority information according to the intention information of the other traffic participants and the intention information of the target vehicle;

and generating a first traffic driving strategy according to the intention priority information.

7. The method of claim 6, wherein the generating a first traffic driving maneuver according to the intent priority information comprises:

determining whether the target vehicle is in a first preset area or not in response to the fact that the priority corresponding to the intention information of the other traffic participants is higher than the priority corresponding to the intention information of the target vehicle, wherein the first preset area is an area allowing the target vehicle to execute the first traffic driving strategy;

and generating a first traffic driving strategy according to the intention priority information in response to the target vehicle being in the first preset area.

8. The method of claim 7, further comprising:

responding to the target vehicle not being in the first preset area, and generating a second traffic driving strategy, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to second traffic service information;

sending the second traffic driving strategy to the traveler subsystem.

9. The method of claim 7, further comprising:

responding to the target vehicle not being in the first preset area, and determining a third traffic driving strategy according to the second traffic service information and the first traffic service information, wherein the third traffic driving strategy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information;

and sending the third traffic driving strategy to the traveler subsystem.

10. The method of claim 6, wherein the generating a first traffic driving maneuver according to the intent priority information comprises:

generating a first traffic driving strategy for the target vehicle and the cooperative vehicle, wherein the first traffic driving strategy is used for indicating that the target vehicle decelerates at a first preset amplitude and the cooperative vehicle decelerates at a second preset amplitude, and the first preset amplitude and the second preset amplitude correspond to the intention priority information.

11. The method according to claim 10, wherein the second preset region includes a region where a distance from the target vehicle in a preset direction is smaller than a preset threshold value, the preset threshold value corresponding to the intention priority information.

12. The method of claim 11, wherein the determining the cooperating vehicle to which the target vehicle corresponds comprises:

and determining the preset vehicles with the minimum distance from the target vehicle in the preset direction as the cooperative vehicles corresponding to the target vehicle.

13. The method of any of claims 5-12, wherein the second traffic service information comprises at least one of: vehicle basic information, vehicle power information, and vehicle accessory information.

14. A traffic control device applied to a traveler subsystem, comprising:

the information acquisition module is configured to acquire intention information and first traffic service information of other traffic participants;

an information sending module configured to send intention information of other traffic participants and first traffic service information to a computing device;

the strategy receiving module is configured to receive a first traffic driving strategy sent by the computing device, wherein the first traffic driving strategy is used for controlling other traffic participants to continue driving according to first traffic service information, the first traffic driving strategy is generated by the computing device according to intention information of the other traffic participants and intention information of a target vehicle, and the intention information of the target vehicle is obtained by inputting second traffic service information of the target vehicle into a pre-trained intention recognition model.

15. The apparatus of claim 14, wherein the policy receiving module is further configured to: and receiving a second traffic driving strategy sent by the computing equipment, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to second traffic service information.

16. The apparatus of claim 14, wherein the policy receiving module is further configured to:

17. The apparatus of any of claims 14-16, wherein the first traffic information comprises at least one of: other traffic participant basis information, other traffic participant motivation information, and other traffic participant affiliate information.

18. A traffic control device applied to a computing device comprises:

the information receiving module is configured to receive intention information and first traffic service information of other traffic participants sent by the traveler subsystem;

the intention obtaining module is configured to input second traffic service information of a target vehicle into a pre-trained intention recognition model to obtain intention information of the target vehicle;

the strategy generation module is configured to generate a first traffic driving strategy according to the intention information of the other traffic participants and the intention information of the target vehicle, wherein the first traffic driving strategy is used for controlling the other traffic participants to continue driving according to first traffic service information;

a strategy transmitting module configured to transmit the first traffic driving strategy to the traveler subsystem.

19. The apparatus of claim 18, wherein the policy generation module comprises:

a priority determination unit configured to determine intention priority information according to the intention information of the other traffic participants and the intention information of the target vehicle;

a first policy generation unit configured to generate a first traffic driving policy according to the intention priority information.

20. The apparatus of claim 19, wherein the first policy generation unit is further configured to:

21. The apparatus of claim 20, the apparatus further comprising:

a second strategy generation unit configured to generate a second traffic driving strategy in response to the target vehicle not being within the first preset area, wherein the second traffic driving strategy is used for controlling the target vehicle to continue driving according to second traffic service information;

the strategy transmitting module is further configured to transmit the second traffic driving strategy to the traveler subsystem.

22. The apparatus of claim 20, the apparatus further comprising:

a third policy generation unit configured to determine a third traffic driving policy according to the second traffic service information and the first traffic service information in response to the target vehicle not being within the first preset area, wherein the third traffic driving policy is used for controlling the target vehicle to drive according to the third traffic service information and controlling other traffic participants to drive according to the fourth traffic service information;

the strategy transmitting module is further configured to transmit the third traffic driving strategy to the traveler subsystem.

23. The apparatus of claim 19, wherein the first policy generation unit comprises:

a first determining subunit, configured to determine a cooperative vehicle corresponding to a target vehicle in response to the intention priority information including that the priority of the target vehicle is lower than that of other traffic participants, wherein the cooperative vehicle is a vehicle within a second preset area of the target vehicle;

a first policy generation subunit configured to generate a first traffic driving policy for the target vehicle and the cooperative vehicle, wherein the first traffic driving policy is used to instruct the target vehicle to decelerate at a first preset magnitude and the cooperative vehicle to decelerate at a second preset magnitude, and the first preset magnitude and the second preset magnitude correspond to the intention priority information.

24. The apparatus according to claim 23, wherein the second preset region includes a region where a distance from the target vehicle in a preset direction is smaller than a preset threshold value, the preset threshold value corresponding to the intention priority information.

25. The apparatus of claim 23, wherein the first determining subunit is further configured to:

26. The apparatus of any of claims 18-25, wherein the second traffic service information comprises at least one of: vehicle basic information, vehicle power information, vehicle accessory information.

27. A traveler subsystem comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

28. An in-vehicle subsystem comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 5-12.

29. A roadside sensing system comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

30. A traffic control system, comprising: the traveler subsystem of claim 27 and the vehicle subsystem of claim 28.

31. The system of claim 30, further comprising: the roadside sensing system of claim 29.

32. The system of claim 31, further comprising: and the cloud control platform is in communication connection with the roadside sensing system.

33. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-12.