CN114613160B

CN114613160B - Lane use method, lane use device, computer equipment and storage medium

Info

Publication number: CN114613160B
Application number: CN202210309791.0A
Authority: CN
Inventors: 杜海宁
Original assignee: Tencent Cloud Computing Beijing Co Ltd
Current assignee: Tencent Cloud Computing Beijing Co Ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2023-07-18
Anticipated expiration: 2042-03-28
Also published as: CN114613160A

Abstract

The embodiment of the invention relates to a lane using method, a lane using device, a lane using computer device, a lane using storage medium and a lane using computer program product, and can be applied to the fields of map and automatic driving. The lane use method comprises the following steps: acquiring running information of a special vehicle in a running state; determining a current special buffer area in a road according to the driving information, wherein the special buffer area comprises a part of road sections of a special lane where a special vehicle is positioned and a part of road sections of a common lane; determining a running area where the common vehicle is located according to the position information of the common vehicle, wherein the running area comprises a special buffer area and a reusable area except the special buffer area in the road; and acquiring matched prompt information according to a running area where the common vehicle is located, wherein the prompt information is used for indicating that the special lane in the reusable area is in an open state when the running area is the reusable area. The method can improve the lane multiplexing rate.

Description

Lane use method, lane use device, computer equipment and storage medium

Technical Field

The present application relates to the field of map and autopilot, and in particular to a lane usage method, apparatus, computer device, storage medium and computer program product.

Background

With the improvement of living standard, vehicles owned by individuals are more and more, and road congestion is easily caused. In a road, some lanes are usually set as special lanes, which only allow the corresponding special vehicle to use, but normal vehicles except the special vehicle cannot use, so that other normal vehicles cannot interfere with the running of the special vehicle.

However, the conventional lane use method has a problem of low lane reuse rate.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a lane use method, apparatus, computer device, computer-readable storage medium, and computer program product that can improve the lane reuse rate.

In a first aspect, the present application provides a lane use method. The method comprises the following steps:

acquiring running information of a special vehicle in a running state;

determining a current special buffer area in a road according to the driving information, wherein the special buffer area comprises a part of road sections of a special lane where the special vehicle is located and a part of road sections of a common lane;

determining a driving area where the common vehicle is located according to the position information of the common vehicle, wherein the driving area comprises the special buffer area and a reusable area except the special buffer area in the road;

And acquiring matched prompt information according to a running area where the common vehicle is located, wherein the prompt information is used for indicating that a special lane in the reusable area is in an open state when the running area is the reusable area.

In a second aspect, the present application also provides a lane use apparatus. The device comprises:

the acquisition module is used for acquiring the running information of the special vehicle in the running state;

the determining module is used for determining a current special buffer area in the road according to the driving information, wherein the special buffer area comprises a part of road sections of a special lane where the special vehicle is located and a part of road sections of a common lane;

the determining module is further used for determining a driving area where the common vehicle is located according to the position information of the common vehicle, wherein the driving area comprises the special buffer area and a reusable area except the special buffer area in the road;

the acquisition module is further configured to acquire matched prompt information according to a driving area where the common vehicle is located, where the prompt information is used to indicate that a dedicated lane in the reusable area is in an open state when the driving area is the reusable area.

In one embodiment, the determining module is further configured to determine a current forced closing area in the road according to the driving information; determining a warning-off zone in front of the forced closing zone in the forward direction of the dedicated vehicle; the forced closing area and the warning off area belong to a special buffer area, and the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning off area.

In one embodiment, the forced closing area includes a front forced closing area and a rear forced closing area, and the determining module is further configured to determine a front forced closing duration and a rear forced closing duration of the special vehicle according to the driving information; determining a current front forced closing area in a road based on the front forced closing time period, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction; and determining a current rear forced closing area in the road based on the rear forced closing time period, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction.

In one embodiment, the determining module is further configured to determine that the time length of the front forced closing of the special vehicle is greater than the first front forced duration threshold and the time length of the rear forced closing is greater than the first rear forced duration threshold if the driving speed in the driving information is less than the first speed threshold or greater than the second speed threshold; if the running speed in the running information is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than a second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than a second rear forced time length threshold.

In one embodiment, the method is applied to a command center system; the device also comprises a recording module; the recording module is used for identifying the common vehicle on the special lane in the forced closing area according to the position information of the common vehicle; recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for deducting resources of the common vehicles on the special lanes in the forced closing area.

In one embodiment, the determining module is further configured to obtain current condition information of the dedicated vehicle; determining the congestion degree of the road where the special vehicle is located based on the current situation information; and determining a warning drive-off area in front of the forced closing area based on the congestion degree and the driving information.

In one embodiment, the determining module is further configured to determine a warning duration according to the congestion degree, and obtain a running speed in the running information; the congestion level is positively correlated with the warning time; and determining a warning off-zone in front of the forced closing zone based on the warning duration and the running speed.

In one embodiment, the apparatus is applied to a command center system; the apparatus further comprises a setup module; the establishment module is used for establishing a first communication link between the command center system and the special vehicle, and the first communication link is used for acquiring the running information of the special vehicle in a running state; and establishing a second communication link between the command center system and the common vehicle, wherein the second communication link is used for pushing prompt information to the common vehicle.

In one embodiment, the apparatus further comprises a transceiver module and a planning module; the receiving and transmitting module is used for receiving the initial position and the target position uploaded by the special vehicle through the first communication link; the planning module is used for planning a target running path of the special vehicle based on the initial position and the target position, and the receiving and transmitting module is also used for pushing prompt information to a common vehicle running on the target running path through the second communication link.

In one embodiment, the planning module is further configured to plan, if a dedicated lane exists between the initial position and the target position, a target travel path including the dedicated lane for the dedicated vehicle to travel based on the initial position and the target position; and if no special lane exists between the initial position and the target position, planning a target running path for running the special vehicle, and determining a new special lane in a road of the target running path.

In one embodiment, the planning module is further configured to obtain a congestion level of each road between the initial location and the target location; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

In one embodiment, the planning module is further configured to, if there are multiple dedicated vehicles in a driving state in the same preset area, simultaneously plan a target driving path of each dedicated vehicle based on an initial position and a target position of each dedicated vehicle; wherein, the target driving paths of all the special vehicles are partially overlapped.

In one embodiment, the device is applied to a common vehicle; the acquisition module is also used for receiving the running information of the special vehicle issued by the command center system; the running information is uploaded to the command center system by the special vehicle in a running state; the apparatus further comprises a presentation module; the presenting module is used for presenting the prompt information in a perceivable manner at the vehicle-mounted terminal of the common vehicle.

In one embodiment, in the case that the driving area is a dedicated buffer area, the prompt information is used to indicate that the dedicated lane in the dedicated buffer area is in a non-multiplexing state, and the warning level of the prompt information on the dedicated lane of the dedicated buffer area for the ordinary vehicle is greater than the warning level of the prompt information on the ordinary lane of the dedicated buffer area for the ordinary vehicle.

In one embodiment, when the driving area is a dedicated buffer area, the prompt information further includes a first duration for which the dedicated lane is in a re-open state; the determining module is further used for determining a first distance from the position where the common vehicle is located to the target edge position of the special buffer area on the lane where the common vehicle is traveling; and predicting a first duration that the common vehicle leaves the special buffer area based on the first distance.

In one embodiment, the dedicated buffer area includes a forced closure area and a warning off area, the warning off area being in front of the forced closure area in the forward direction of the dedicated vehicle; when the driving area is the warning driving-out area in the special buffer area, the prompt information further comprises a second duration of entering the forced closing area by a common vehicle in the warning driving-out area; the determining module is further used for determining a second distance from the position where the common vehicle is located to the nearest edge position in the forced closing area on the lane where the common vehicle is driven; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

acquiring running information of a special vehicle in a running state;

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

Acquiring running information of a special vehicle in a running state;

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

acquiring running information of a special vehicle in a running state;

The lane using method, the lane using device, the computer equipment, the storage medium and the computer program product acquire the running information of the special vehicle in the running state, determine the current special buffer area in the road according to the running information, and the special buffer area comprises a part of sections of the special lane where the special vehicle is located and a part of sections of the common lane, so that the special vehicle in the running state can be buffered, and the common vehicle is prevented from interfering with the running of the special vehicle. The driving area of the common vehicle can be determined according to the position information of the common vehicle, and matched prompt information is obtained according to the driving area of the common vehicle, so that when the driving area of the common vehicle is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state, that is, the reusable area of the common vehicle does not interfere with the driving of the special vehicle, the common vehicle can drive on the special lane in the reusable area based on the prompt information, the special lane is safely and quickly used by the common vehicle, the dynamic time-sharing multiplexing of the special lane is realized, the utilization rate of the special lane and the traffic capacity of a road are improved, and the congestion is relieved.

Drawings

FIG. 1 is an application environment diagram of a lane use method in one embodiment;

FIG. 2 is a flow chart of a lane use method according to one embodiment;

FIG. 3 is a schematic illustration of a dedicated roadway in one embodiment;

FIG. 4 is a flow chart of a lane usage method according to another embodiment;

FIG. 5 is a flow chart of a lane usage method according to another embodiment;

FIG. 6 is a flow chart of a lane usage method according to another embodiment;

FIG. 7 is a flow chart of a lane usage method according to another embodiment;

FIG. 8 is a flow chart of a lane use method according to another embodiment;

FIG. 9 is a flow chart of a lane usage method according to another embodiment;

FIG. 10 is a schematic diagram of a lane use method in one embodiment;

FIG. 11 is a flow chart of a lane use method according to another embodiment;

FIG. 12 is a block diagram of a lane use apparatus in one embodiment;

FIG. 13 is an internal block diagram of a server in one embodiment that directs a volatile center system;

fig. 14 is an internal structural diagram of an in-vehicle terminal of a general vehicle in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The lane use method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The special vehicle and the command center system communicate through a first communication link, and the common vehicle and the command center system communicate through a second communication link. The command center system may store the data to be processed in a data storage system. The data storage system may be integrated on a server, or may be placed on a cloud or other server. Taking the application of the lane use method to a command center system as an example for explanation, the command center system obtains the running information of the special vehicle in a running state; determining a current special buffer area in a road according to the driving information, wherein the special buffer area comprises a part of road sections of a special lane where a special vehicle is positioned and a part of road sections of a common lane; determining a running area where the common vehicle is located according to the position information of the common vehicle, wherein the running area comprises a special buffer area and a reusable area except the special buffer area in the road; and acquiring matched prompt information according to a running area where the common vehicle is located and pushing the matched prompt information to the common vehicle, wherein the prompt information is used for indicating that a special lane in the reusable area is in an open state when the running area is the reusable area. The command center system may be implemented by a stand-alone server or a server cluster formed by a plurality of servers.

The command center system can be an intelligent traffic system or an intelligent vehicle-road cooperative system. The intelligent transportation system (Intelligent Traffic System, ITS) is also called an intelligent transportation system (Intelligent Transportation System), and is an integrated transportation system for effectively and comprehensively applying advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence and the like) to transportation, service control and vehicle manufacturing, and enhancing the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.

The intelligent vehicle-road cooperative system (Intelligent Vehicle Infrastructure Cooperative Systems, IVICS), which is simply called a vehicle-road cooperative system, is one development direction of an Intelligent Transportation System (ITS). The vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, carries out vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time idle dynamic traffic information acquisition and fusion, fully realizes effective cooperation of people and vehicles and roads, ensures traffic safety, improves traffic efficiency, and forms a safe, efficient and environment-friendly road traffic system.

The lane usage method may be applied to a computer device, where the computer device may be a command center system, or may be a vehicle-mounted terminal in a common vehicle, and the vehicle-mounted terminal may be a vehicle-mounted device deployed in a common vehicle, or may be a portable device located in a common vehicle, or the like, and the application is not limited herein. The vehicle-mounted device can be, but not limited to, various car machines, desktop computers, notebook computers, smart phones, tablet computers and portable wearable devices, and the portable wearable devices can be smart watches, smart bracelets, head-mounted devices and the like.

In one embodiment, as shown in fig. 2, there is provided a lane use method including the steps of:

step 202, obtaining running information of the special vehicle in a running state.

Where a special purpose vehicle refers to a vehicle having a particular application. For example, the special vehicle is an ambulance, racing car, securicar, bus, etc. The travel information is information generated by the special vehicle in the traveling state. The travel information may include at least one of a travel speed, a travel lane, and positioning information.

Specifically, the computer device establishes a communication link with the special purpose vehicle, through which the state of the special purpose vehicle is detected; if the state of the special vehicle belongs to the running state, the running information of the special vehicle in the running state is acquired.

In another embodiment, the computer device establishes a communication link with the special purpose vehicle, through which travel information uploaded by the special purpose vehicle in a traveling state is acquired.

The high-precision positioning equipment is arranged in the special vehicle, the running information of the special vehicle can be acquired in real time through the high-precision positioning equipment, the running information can be uploaded to the command center system through the vehicle-mounted navigation program of the special vehicle, and command information such as a target running path and the like issued by the command center system is received.

If the computer equipment is a command center system, the command center system establishes a first communication link with the special vehicle, and acquires the running information of the special vehicle in a running state, which is uploaded by the special vehicle, through the first communication link.

If the computer equipment is a vehicle-mounted terminal on the common vehicle, receiving running information of the special vehicle in a running state, which is issued by the command center system, through a second communication link; the travel information is uploaded to the command center system by the dedicated vehicle via a first communication link.

Step 204, determining the current special buffer area in the road according to the driving information, wherein the special buffer area comprises a part of road sections of the special lane where the special vehicle is located and a part of road sections of the common lane.

The dedicated buffer area is an area for buffering during running of the dedicated vehicle. It is understood that the dedicated vehicle is within the dedicated buffer zone. In one embodiment, the dedicated vehicle is in a central location of the dedicated buffer area. In another embodiment, the dedicated vehicle is located at a location other than the center location within the dedicated buffer area, without limitation.

The dedicated lane is a lane on which a dedicated vehicle travels. One or more dedicated lanes may be included in the road, as may one or more common lanes. Wherein the common lane is other lanes than the special lane in the road. It will be appreciated that any vehicle may be driven on a common lane. FIG. 3 is a schematic diagram of a dedicated lane for an event AAA and an event BBB in one embodiment.

The position of the special lane in the road is not limited, and may be an edge position of the road, such as the leftmost lane in the road forward direction, or may be a middle position of the road.

The dedicated buffer area may cover a part of a road section of each lane, a part of a dedicated lane and a part of a common lane, and a part of a dedicated lane and a part of a common lane, which are not limited herein.

In the dedicated buffer area, the length of the part of the dedicated lane and the length of the part of the ordinary lane are not limited, and the length of the part of the dedicated lane may be the same as the length of the part of the ordinary lane, and the length of the part of the dedicated lane may be greater than the length of the part of the ordinary lane, and the length of the part of the dedicated lane may be less than the length of the part of the ordinary lane.

If the length of the part of the section of the special lane may be the same as the length of the part of the section of the ordinary lane, the part of the section of the special lane and the part of the section of the ordinary lane may be arranged in a rectangular shape or may be arranged in an irregular shape, which is not limited herein.

Specifically, the computer device acquires the running speed of the special vehicle from the running information, determines the buffer duration based on the running speed, and determines the current special buffer area in the road based on the running speed and the buffer time; wherein the buffer duration and the travel speed are positively correlated. It will be appreciated that a greater travel speed means that the faster the vehicle is traveling, the greater the buffer length is required and thus the buffer length and travel speed are positively correlated.

The computer device multiplies the travel speed and the buffering time, determines the length of the current dedicated buffering area in the road, and determines the current dedicated buffering area in the road based on the length and each lane in the road, i.e., the length as the length of the dedicated buffering area.

In one embodiment, the dedicated buffer area may cover a part of a dedicated lane and a part of a normal lane among lanes of the dedicated vehicle traveling direction. In another embodiment, the dedicated buffer area may also cover a part of the dedicated lane and a part of the normal lane in the lanes of the direction in which the dedicated vehicle is traveling, and cover a part of the dedicated lane and a part of the normal lane in the lanes of another direction opposite to the direction in which the dedicated vehicle is traveling. In other embodiments, the dedicated buffer area may also cover other areas, which are not limited herein.

In step 206, a driving area where the ordinary vehicle is located is determined according to the position information of the ordinary vehicle, and the driving area includes a dedicated buffer area and a reusable area except the dedicated buffer area in the road.

The reusable region is a region of the road other than the dedicated buffer region, i.e., a region that can be reused.

Specifically, the computer equipment acquires the position information of the common vehicle and a current special buffer area in the road, and matches the position information of the common vehicle with the current special buffer area; if the position information of the common vehicle is matched with the current special buffer area, the running area of the common vehicle is the special buffer area; if the position information of the common vehicle is not matched with the current special buffer area, the running area where the common vehicle is located is a reusable area.

Further, if the driving area where the common vehicle is located is a dedicated buffer area, the computer device may determine, from the position information of the common vehicle, a driving lane where the common vehicle is located in the dedicated buffer area; the driving lanes include a dedicated lane and a common lane in a dedicated buffer area.

The lane-level high-precision positioning equipment is installed in the common vehicle, so that information such as position information, speed information and the like of the common vehicle can be acquired in real time. The common vehicle is also provided with a traffic application program, and the traffic application program can be used for communicating with the command center system, so that the position information or the speed information of the common vehicle is uploaded to the command center system, and the prompt information issued by the command center system is received. The traffic application program may be, but not limited to, a car navigation software, a traffic parent program, or a traffic child program.

And step 208, acquiring matched prompt information according to a running area where the common vehicle is located, wherein the prompt information is used for indicating that the special lanes in the reusable area are in an open state when the running area is the reusable area.

If the computer equipment is a command center system, the command center system pushes the prompt information which is matched with the driving area where the common vehicle is located to the common vehicle.

If the computer equipment is a vehicle-mounted terminal on the common vehicle, the electronic equipment on the common vehicle presents the prompt information in a perceptible mode.

If the running area where the common vehicle is located is a reusable area, the computer equipment acquires prompt information matched with the reusable area, wherein the prompt information is used for indicating that the special lane in the reusable area is in an open state.

In the case that the driving area is the special buffer area, the computer device acquires the prompt information matched with the special buffer area, wherein the prompt information is used for indicating that the special lane is in a non-multiplexing state in the special buffer area, and the warning degree of the prompt information on the special lane of the special buffer area of the common vehicle is larger than that of the prompt information on the common lane of the special buffer area of the common vehicle.

It will be appreciated that the special vehicle normally travels on the special lane, and if the ordinary vehicle is on the special lane in the special buffer area, the travel of the special vehicle will be greatly disturbed, and if the ordinary vehicle is on the ordinary lane in the special buffer area, the travel of the special vehicle will be disturbed, so the warning degree of the prompt information on the special lane in the special buffer area of the ordinary vehicle is greater than the warning degree of the prompt information on the ordinary lane in the special buffer area of the ordinary vehicle.

For example, the prompt message of the ordinary vehicle on the special lane of the special buffer area may be "please drive away from the special lane, otherwise penalized", and the prompt message of the ordinary vehicle on the ordinary lane of the special buffer area may be "please pay attention to the vehicles beside the salute".

According to the lane use method, the running information of the special vehicle in the running state is acquired, the current special buffer area in the road is determined according to the running information, the special buffer area comprises the part of the road sections of the special lane where the special vehicle is located and the part of the road sections of the common lane, the special vehicle in the running state can be buffered, and the common vehicle is prevented from interfering with the running of the special vehicle. The driving area of the common vehicle can be determined according to the position information of the common vehicle, and matched prompt information is obtained according to the driving area of the common vehicle, so that when the driving area of the common vehicle is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state, that is, the reusable area of the common vehicle does not interfere with the driving of the special vehicle, the common vehicle can drive on the special lane in the reusable area based on the prompt information, the special lane is safely and quickly used by the common vehicle, the dynamic time-sharing multiplexing of the special lane is realized, the utilization rate of the special lane when the special lane is idle is improved, the traffic capacity of a road is improved, and the congestion is relieved.

In one embodiment, as shown in fig. 4, there is provided a lane use method including the steps of:

step S402, acquires traveling information of the special vehicle in a traveling state.

Step S404, determining the current forced closing area in the road according to the driving information.

The forced closing region is a region that most interferes with the vehicle in the running state. The dedicated vehicle is in the forced-closure region.

Specifically, the computer equipment acquires the running speed of the special vehicle from the running information, and determines the forced closing time length according to the running speed; determining a current forced closing area in the road based on the running speed and the forced closing time length; wherein the forced closing time period and the running speed are positively correlated. It will be appreciated that the larger the travel speed, the faster the special vehicle travels, the longer the forced closure period that needs to be buffered, and thus the forced closure period and the travel speed are positively correlated.

The computer device multiplies the travel speed and the forced closure time, determines the length of the current forced closure area in the road, and determines the current forced closure area in the road, i.e., the length as the length of the forced closure area, based on the length and each lane in the road.

Step S406, in the forward direction of the special vehicle, determining a warning off zone in front of the forced closing zone; the special buffer area comprises a part of road sections of a special lane where the special vehicle is located and a part of road sections of a common lane, the forced closing area and the warning drive-off area belong to the special buffer area, and the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area.

The special vehicle is provided with a forced closing area and a warning off area in sequence in the advancing direction of the special vehicle, and the warning off area is positioned in front of the forced closing area. It is understood that the ordinary vehicle in the forced-closure region interferes most with the special vehicle in the running state during the forward movement of the special vehicle, and the ordinary vehicle in the warning drive-away region interferes less greatly with the special vehicle in the running state. Therefore, the warning level of the warning information matched with the forced closing area is greater than the warning level of the warning information matched with the warning drive-off area.

Specifically, the computer device determines a warning-off region that is a preset length in front of the forced-closing region in the forward direction of the special vehicle. The preset length can be set according to requirements.

In another embodiment, the computer device obtains the running speed of the special vehicle from the running information, and determines the warning off duration according to the running speed; determining a current warning off-road area in the road based on the running speed and the warning off-time length; wherein the warning drive-off duration and the drive-off speed are positively correlated.

Wherein, the forced closing area and the warning driving-away area are both areas of Frenet coordinate system. The Frenet coordinate system is a coordinate system established using the center line of the road as a reference line and using a tangential vector and a normal vector of the reference line.

Step S408, determining a running area where the common vehicle is located according to the position information of the common vehicle, wherein the running area comprises a special buffer area and a reusable area except the special buffer area in the road;

step S410, obtaining matched prompt information according to a running area where a common vehicle is located, wherein the prompt information is used for indicating that a special lane in the reusable area is in an open state when the running area is the reusable area.

Further, the warning degree of the prompt information on the special lane of the forced closing area of the common vehicle is larger than that of the prompt information on the common lane of the forced closing area of the common vehicle; the warning degree of the prompt information on the special lane of the normal vehicle in the warning departure area is larger than that of the prompt information on the normal lane of the normal vehicle in the warning departure area.

For example, the prompt information that the ordinary vehicle is on the special lane of the warning drive-out area may be "please drive out of the special lane, otherwise, the entering into the forced closing area after X minutes may be penalized", and the prompt information that the ordinary vehicle is on the ordinary lane of the warning drive-out area may be "the special lane is about to be closed, please pay attention to the vehicles beside the gift and merge into the lane".

In this embodiment, the current forced closing area in the road is determined according to the driving information, and the warning driving-away area located in front of the forced closing area is determined in the advancing direction of the special vehicle, it is understood that the normal vehicle in the forced closing area has the largest disturbance to the special vehicle in the driving state, and the normal vehicle in the warning driving-away area has the largest disturbance to the special vehicle in the driving state, so that the warning degree of the prompt information matched with the forced closing area is greater than the warning degree of the prompt information matched with the warning driving-away area, and the matched prompt information can be acquired for the areas with different disturbance degrees, thereby prompting the normal vehicle in each area more accurately.

In one embodiment, as shown in fig. 5, there is provided a lane use method including the steps of:

Step S502, acquires traveling information of the special vehicle in a traveling state.

Step S504, determining the front forced closing time length and the rear forced closing time length of the special vehicle according to the running information.

The front forced closing period is a buffer period in front of the vehicle in the forward direction in the forced closing region. The rear forced closing period is a buffer period in the rear of the forced closing region in the forward direction of the vehicle.

Specifically, the computer device acquires the running speed of the special vehicle from the running information, and respectively determines the front forced closing time length and the rear forced closing time length of the special vehicle based on the running speed; the front forced closing time length and the running speed are positively correlated, the rear forced closing time length and the running speed are positively correlated, and the front forced closing time length is longer than or equal to the rear forced closing time length.

Step S506, determining a current front forced closure area in the road based on the front forced closure period, wherein the front forced closure area is in front of the special vehicle in the forward direction.

Step S508, determining a current rear forced closing area in the road based on the rear forced closing time length, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction; the forced closing area includes a front forced closing area and a rear forced closing area.

The front forced closing region is a buffer region in front of the special vehicle in the forward direction within the forced closing region. The rear forced closing region is a buffer region in the rear of the forced closing region in the forward direction of the vehicle.

The computer equipment multiplies the front forced closing time length and the running speed to obtain a current front forced closing area in the road, and multiplies the rear forced closing time length and the running speed to obtain a current rear forced closing area in the road.

For example, the computer device obtains the running speed of the special vehicle from the running information as Vi, and determines the front forced closing time period Tf and the rear forced closing time period Tr of the special vehicle based on the running speed, respectively, and then the front forced closing area df=tf=vi and the rear forced closing area dr=tr=vi.

Step S510, determining a warning off zone in front of the forced closing zone in the forward direction of the special vehicle; the special buffer area comprises a part of road sections of a special lane where the special vehicle is located and a part of road sections of a common lane, the forced closing area and the warning drive-off area belong to the special buffer area, and the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area.

Step S512, determining a running area where the common vehicle is located according to the position information of the common vehicle, wherein the running area comprises a special buffer area and a reusable area except the special buffer area in the road;

step S514, obtaining matched prompt information according to the running area of the common vehicle, wherein the prompt information is used for indicating that the special lanes in the reusable area are in an open state when the running area is the reusable area.

In this embodiment, the front forced closing time period and the rear forced closing time period of the special vehicle are determined according to the traveling information, so that the current front forced closing area and the rear forced closing area in the road can be determined respectively. It can be understood that the front forced closing area can ensure that the road is kept smooth within a certain distance in front of the special vehicle, the rear forced closing area can ensure that the special vehicle does not enter the special lane immediately after passing through the special vehicle, and the special vehicle is disturbed, so that the safety of the special vehicle in a running state can be improved.

In one embodiment, determining a front forced closing duration and a rear forced closing duration of the dedicated vehicle according to the traveling information includes: if the running speed in the running information is smaller than the first speed threshold value or larger than the second speed threshold value, determining that the front forced closing time length of the special vehicle is larger than the first front forced duration threshold value and the rear forced closing time length of the special vehicle is larger than the first rear forced duration threshold value; if the running speed in the running information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than the second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than the second rear forced time length threshold.

Both the first speed threshold and the second speed threshold may be set as desired, and the first speed threshold is less than the second speed threshold. The first pre-mandatory time length threshold and the second pre-mandatory time length threshold can be set as required, and the first pre-mandatory time length threshold is greater than the second pre-mandatory time length threshold. The first post-forcing duration threshold and the second post-forcing duration threshold may both be set as desired, and the first post-forcing duration threshold is greater than the second post-forcing duration threshold.

If the running speed in the running information is smaller than the first speed threshold value, which means that the speed of the special vehicle is lower, the special vehicle can be considered to run on the congested road, and the required buffering time of the special vehicle is longer. If the running speed in the running information is greater than the second speed threshold value, which means that the speed of the special vehicle is higher, the special vehicle also needs longer buffer time to ensure running safety.

Therefore, if the running speed in the running information is smaller than the first speed threshold value or larger than the second speed threshold value, the fact that the front forced closing time length of the special vehicle is larger than the first front forced time length threshold value is determined, and the rear forced closing time length of the special vehicle is larger than the first rear forced time length threshold value is determined, namely, the front forced closing time length and the rear forced closing time length of the special vehicle are both longer, so that the special vehicle can have longer reaction time in a congested road and in fast running, and the safety of the special vehicle is improved.

If the running speed in the running information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, which means that the speed of the special vehicle is moderate, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than the second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than the second rear forced time length threshold, namely that the front forced closing time length and the rear forced closing time length are moderate, and increasing the multiplexing time of the special lane and improving the multiplexing rate of the special lane.

In one embodiment, applied to a command center system; the method further comprises the following steps: identifying a normal vehicle on the special lane in the forced closing area according to the position information of the normal vehicle; recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for resource deduction for a general vehicle on a special lane in the forced closure area.

The resources include at least one of electronic resources and physical resources. The electronic resource may include in particular points, virtual usage coupons, virtual energy, etc. The physical resources may include, in particular, the ordinary vehicle itself, etc.

Specifically, the command center system acquires position information of the ordinary vehicle, and determines whether the ordinary vehicle is on a dedicated lane within the forced closure area based on the position information of the ordinary vehicle.

In this embodiment, the command center system determines the common vehicle on the special lane in the forced closing area according to the position information of the common lane, records the identifier of the common vehicle, so as to deduct the resource of the common vehicle, so that the common vehicle can travel from the special lane to other common lanes, avoid interference to the special lane, and improve the safety of the special lane in the traveling state.

In one embodiment, as shown in fig. 6, there is provided a lane use method including the steps of:

step S602, acquires travel information of the special vehicle in a traveling state.

Step S604, determining the current forced closing area in the road according to the driving information.

Step S606, current condition information of the special purpose vehicle is acquired.

The current situation information may include at least one of position information of the specific vehicle, a current time, a traveling speed of the specific vehicle, the number of general vehicles within a preset range of the specific vehicle, or an image photographed by an image sensor of the specific vehicle, etc.

Step S608, determining the congestion level of the road where the special vehicle is located based on the current situation information.

In one embodiment, a computer device obtains location information of a dedicated vehicle and obtains congestion conditions in a map; the congestion degree of the road where the special vehicle is located is determined from the map. Further, the computer device may further determine a congestion degree of the road non-passage section where the special vehicle is located according to the target travel path of the special vehicle.

In another embodiment, a computer device obtains a travel speed of a dedicated vehicle; if the running speed is smaller than the first speed threshold value or larger than the second speed threshold value, the congestion degree is larger; if the travel speed in the travel information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, the degree of congestion is small.

In another embodiment, the computer device obtains the current time, determines a historical congestion degree of a historical time corresponding to the current time, and uses the historical congestion degree as the congestion degree of the road where the special vehicle is located. For example, if the current time is a rush hour, the historical congestion degree of the historical time corresponding to the current time is more congested, and the congestion degree of the road where the special vehicle is located is more congested.

In another embodiment, the computer device obtains the number of common vehicles within a preset range of the dedicated vehicle; determining the congestion degree of the road where the special vehicle is located based on the quantity; this number is positively correlated with the degree of congestion.

In other embodiments, the computer device may also determine the congestion level of the road on which the special purpose vehicle is located in other ways, without limitation.

Step S610, determining a warning drive-off area in front of the forced closing area based on the congestion degree and the driving information; the special buffer area comprises a part of road sections of a special lane where the special vehicle is located and a part of road sections of a common lane, the forced closing area and the warning drive-off area belong to the special buffer area, and the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area.

Step S612, determining a driving area where the ordinary vehicle is located according to the position information of the ordinary vehicle, wherein the driving area includes a dedicated buffer area and a reusable area of the road other than the dedicated buffer area.

Step S614, obtaining matched prompt information according to the running area of the common vehicle, wherein the prompt information is used for indicating that the special lanes in the reusable area are in an open state when the running area is the reusable area.

In the present embodiment, the current condition information of the special vehicle is acquired, and the congestion degree of the road on which the special vehicle is located is determined based on the current condition information, and then, based on the congestion degree and the traveling information, the warning off-traveling area in front of the forced off-traveling area can be accurately determined, so that the safety of the special vehicle in the traveling state can be improved.

In one embodiment, determining a warning drive-off zone in front of a forced shutdown zone based on the congestion level and the travel information includes: determining a warning duration according to the congestion degree, and acquiring a running speed in running information; the congestion degree is positively correlated with the warning time; based on the warning duration and the travel speed, a warning travel-off region in front of the forced closure region is determined.

It will be appreciated that the more congested the road the special lane is on, the longer the buffering time required for the special vehicle, i.e. the larger the warning off-zone required in the direction of travel of the special vehicle, and therefore the degree of congestion is positively correlated with the time of warning.

Specifically, the computer device obtains a warning duration corresponding to the congestion degree of the road where the special vehicle is located from a preset relation between the congestion degree and the warning duration, multiplies the warning duration and the running speed, and determines a warning off-zone in front of the forced closing zone.

For example, the computer apparatus multiplies the warning duration Tw by the travel speed Vi, and can determine a warning departure area dw=tw=vi that is in front of the forced closure area.

In other modes, the computer device may also acquire each running speed within a preset time range from the running information, determine a target running speed based on each running speed, multiply the warning duration with the target running speed, and determine a warning off-zone in front of the forced closing zone.

The computer device may average the respective travel speeds to obtain a target travel speed, determine a median value from the respective travel speeds as the target travel speed, and perform weighted average on the respective travel speeds to obtain the target travel speed, which is not limited herein.

In the present embodiment, the warning duration is determined according to the degree of congestion, and the running speed in the running information is acquired, and then, based on the warning duration and the running speed, the warning off-zone in front of the forced closing zone can be accurately determined, so that the safety of the special vehicle in the running state can be improved.

In one embodiment, as shown in fig. 7, there is provided a lane use method applied to a command center system, comprising the steps of:

Step S702, a first communication link between the command center system and the special vehicle is established, and running information of the special vehicle in a running state is acquired through the first communication link.

A command center system is a system for coordinated management of a dedicated vehicle and a general vehicle. The first communication link may be a network link or V2X (vehicle to everything, vehicle-to-outside information exchange), but is not limited thereto. The network link may be a 4G network, a 5G network, or other networks, and is not limited herein.

In step S704, a current dedicated buffer area in the road is determined according to the driving information, where the dedicated buffer area includes a part of the section of the dedicated lane where the dedicated vehicle is located and a part of the section of the common lane.

Step S706, a driving area where the ordinary vehicle is located is determined according to the position information of the ordinary vehicle, and the driving area includes a dedicated buffer area and a reusable area in the road other than the dedicated buffer area.

Step S708, the matched prompt information is acquired according to the running area of the common vehicle.

Step S710, a second communication link between the command center system and the common vehicle is established, wherein the second communication link is used for pushing prompt information to the common vehicle; when the driving area is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state.

The second communication link may be a network link or V2X (vehicle to everything, information exchange between vehicles and the outside world), but is not limited thereto. The network link may be a 4G network, a 5G network, or other networks, and is not limited herein.

In this embodiment, the command center system can communicate with the special vehicle and the normal vehicle in time by establishing a communication link with the special vehicle and the normal vehicle, so as to coordinate and manage the use condition of the special vehicle and the normal vehicle on the lane, and improve the safety and timeliness of the lane use.

In one embodiment, as shown in fig. 8, there is provided a lane use method applied to a command center system, comprising the steps of:

step S802, a first communication link between the command center system and the special vehicle is established, and an initial position and a target position uploaded by the special vehicle are received through the first communication link. Wherein the initial position is the position of the special vehicle before running. The target location is the destination of the dedicated vehicle.

Step S804, a target travel path for the private vehicle to travel is planned based on the initial position and the target position.

Specifically, the command center system adopts a path planning algorithm to plan a target driving path of the special vehicle from an initial position to a target position.

Further, the command center system adopts a path planning algorithm to plan a plurality of alternative driving paths for the special vehicle to drive from the initial position to the target position; and issuing the multiple alternative travel paths to the special vehicle through the first communication link, and acquiring a target travel path selected from the multiple alternative travel paths and returned by the special vehicle through the first communication link.

Further, the command center system can also send the running information of the special vehicle and the target running path to the simulation deduction system; predicting the prediction time of the special vehicle driving to each preset place in the target driving path through the simulation deduction system, and pushing the prompt information to the common vehicle in the preset range of the preset place through the command center system aiming at each preset place. The prompt message includes a preset time.

It can be understood that the simulation deduction system predicts the predicted time when the special vehicle travels to each preset place in the target travel path, and sends the prompt information to the common vehicle in the preset range of the preset place, so that the common vehicle on the special lane has enough reaction time to travel away from the special vehicle, thereby avoiding the occurrence of safety accidents caused by confusion and improving the traffic safety.

In step S806, the traveling information of the special vehicle in the traveling state is acquired through the first communication link.

In step S808, a current dedicated buffer area in the road is determined according to the driving information, where the dedicated buffer area includes a part of the section of the dedicated lane where the dedicated vehicle is located and a part of the section of the common lane.

In step S810, a driving area where the normal vehicle is located is determined according to the position information of the normal vehicle, and the driving area includes a dedicated buffer area and a reusable area in the road other than the dedicated buffer area.

Step S812, the matched prompt information is obtained according to the running area of the common vehicle.

Step S814, a second communication link between the command center system and the common vehicle is established, and prompt information is pushed to the common vehicle running on the target running path through the second communication link; when the driving area is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state.

The command center system establishes a second communication link between the command center system and the common vehicles, obtains the position information of each vehicle through the second communication link, determines the common vehicle running on the target running path, determines the running area where the common vehicle running on the target path is located, obtains the prompt information matched with the running area, and pushes the prompt information to the common vehicle.

In this embodiment, the command center system obtains the initial position and the target position uploaded by the special vehicle, and plans the target running path of the special vehicle, so that the normal vehicle running on the target running path is determined, the prompt information is pushed to the normal vehicle running on the target running path, the prompt information is prevented from being pushed to the normal vehicles on all roads, and resources can be saved.

In other embodiments, the command center system may also plan a target travel path for the dedicated vehicle based on the priority of the dedicated vehicle. For example, if the special vehicle is an ambulance, the priority of the special vehicle is highest, and the target running path of the special vehicle from the initial position to the target position with the shortest time can be planned.

In one embodiment, planning a target travel path for travel of the private vehicle based on the initial position and the target position includes: if a special lane exists between the initial position and the target position, planning a target running path of the special vehicle, which comprises the special lane, based on the initial position and the target position; if no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, and a new special lane is determined in the road of the target running path.

It can be understood that if a special lane exists between the initial position and the target position, a target running path including the special lane for running the special vehicle is planned, so that the special vehicle can run on the preset special lane, and the safety of the special vehicle in a running state is ensured.

If no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, a new special lane is determined in the road of the target running path, and the safety of the special vehicle in a running state can be ensured.

In one embodiment, the command center system determines an edge lane in the road of the target travel path as a new dedicated lane. Edge lanes such as the leftmost or rightmost lanes in the road. In another embodiment, the command center system determines a middle lane in the road of the target travel path as a new dedicated lane. In other embodiments, the command center system may also determine a new lane of the road of the target driving path based on the real-time situation where the special vehicle is located, which is not limited herein.

In this embodiment, if the special lane exists between the initial position and the target position, a target travel path including the special lane for the special vehicle to travel is planned based on the initial position and the target position, so that the safety of the special vehicle in the traveling state can be ensured. If no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, a new special lane is determined in the road of the target running path, and the safety of the running state can be ensured.

In one embodiment, planning a target travel path for travel of the private vehicle based on the initial position and the target position includes: acquiring the congestion degree of each road between the initial position and the target position; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

Specifically, the command center system obtains the congestion degree of each road between the initial position and the target position from the map, can remove the road with the congestion degree exceeding the congestion threshold value, obtains each target road, plans out candidate running paths based on each target road, and determines the target running path with the shortest running time from a plurality of candidate running paths. The congestion threshold may be set as needed.

In another embodiment, the command center system may determine a target travel path with the shortest travel path from the plurality of candidate travel paths. In other embodiments, the command center system may also determine a target driving path with the least traffic light from the plurality of candidate driving paths, which is not limited thereto.

In this embodiment, the command center system obtains the congestion degree of each road between the initial position and the target position, and plans a plurality of candidate travel paths based on the congestion degree of each road, so that the target travel path can be determined from the plurality of candidate travel paths, and the diversity of travel paths is improved.

In one embodiment, planning a target travel path for travel of the private vehicle based on the initial position and the target position includes: if a plurality of special vehicles in a running state exist in the same preset area, simultaneously planning a target running path of each special vehicle based on the initial position and the target position of each special vehicle; wherein, the target driving paths of all the special vehicles are partially overlapped. The preset area can be set according to requirements. For example, the preset area may be within 10 km of a hospital-centered square.

It can be understood that if there are multiple special vehicles in the same preset area, the possible target positions or initial positions of the multiple special vehicles in the running state are the same, then the target running paths of each special vehicle can be planned based on the initial position and the target position of each special vehicle, and the target running paths of all special vehicles are partially overlapped, so that all special vehicles can run on the partially overlapped special lanes, more special lanes can be saved, so that more special lanes are multiplexed by common vehicles, and the overall multiplexing rate of the special lanes is improved.

In one embodiment, as shown in FIG. 9, applied to a command center system, includes the steps of: step S902, receiving position and speed information uploaded by a common vehicle; step 904, if the normal vehicle is in the forced closing area, executing step 906 if the normal vehicle is in the forced closing area, and if the normal vehicle is in the forced closing area, executing step 908 if the normal vehicle is not in the forced closing area; step 906, pushing the prompt message matched with the forced closing area, and returning to execute step 902; step 908, if the normal vehicle is in the warning off area, step 910 is executed if the normal vehicle is judged to be in the warning off area, and if the normal vehicle is judged to be in the warning off area, step 912 is executed; step 910, pushing the prompt message of the matching of the warning drive-off area, and returning to execute step 902; step 912, pushing the prompt message that the reusable region matches, and returning to execute step 902.

In one embodiment, as shown in FIG. 10, is applied to a command center system. The command center system establishes a first communication link with the dedicated vehicle and establishes a second communication link with the ordinary vehicle 1, the ordinary vehicle 2, and the ordinary vehicle 3, respectively.

The command center system acquires the running information of the special vehicle in a running state through a first communication link; determining a current forced closing area in the road according to the driving information; determining a warning drive-off area in front of the forced closing area in the forward direction of the special vehicle; the forced closing area and the warning driving-out area belong to a special buffer area, and the special buffer area comprises a part of road sections of a special lane where a special vehicle is located and a part of road sections of a common lane.

The command center system respectively acquires the position information of the common vehicle 1, the common vehicle 2 and the common vehicle 3 through a second communication link, and respectively determines the running areas of the common vehicle 1, the common vehicle 2 and the common vehicle 3; the driving area comprises a special buffer area and a reusable area except the special buffer area in the road; the traveling area in which the ordinary vehicle 1 is located is the forced closure area, the traveling area in which the ordinary vehicle 2 is located is the warning off-traveling area, and the traveling area in which the ordinary vehicle 3 is located is the reusable area.

The command center system acquires matched prompt information according to a running area where the common vehicle is located and pushes the prompt information to the common vehicle; if the running area where the common vehicle 1 is located is a forced closing area, the command center system pushes prompt information to the common vehicle 1, where the prompt information is used for indicating that the special lane in the forced closing area is in a non-open state; if the driving area at the common vehicle 2 is a warning driving-off area, the command center system pushes prompt information to the common vehicle 2, wherein the prompt information is used for indicating that the common vehicle 2 is about to enter a forced closing area; if the driving area where the common vehicle 3 is located is a reusable area, the command center system pushes prompt information to the common vehicle 3, where the prompt information is used to indicate that the special lanes in the reusable area are in an open state.

In one embodiment, as shown in fig. 11, there is provided a lane use method applied to a general vehicle, comprising the steps of:

step S1102, receiving running information of a special vehicle issued by a command center system; the running information is uploaded to the command center system by the special vehicle in a running state.

In step S1104, a current dedicated buffer area in the road is determined according to the driving information, where the dedicated buffer area includes a part of the section of the dedicated lane where the dedicated vehicle is located and a part of the section of the common lane.

In step S1106, a travel area in which the ordinary vehicle is located is determined based on the position information of the ordinary vehicle, the travel area including the dedicated buffer area and a reusable area other than the dedicated buffer area in the road.

In step S1108, a matched prompt message is obtained according to the driving area where the common vehicle is located, where the prompt message is used to indicate that the dedicated lane in the reusable area is in an open state when the driving area is the reusable area.

In step S1110, a prompt message is perceptibly presented at a vehicle-mounted terminal of a general vehicle.

The perceivable manner is a manner that can be perceived by an operator. The perceivable manner may include at least one of displaying images and video, playing sound or vibration.

In one embodiment, a general vehicle presents a prompt message in a screen of an in-vehicle terminal. In another embodiment, the general vehicle plays the prompt message at the vehicle terminal. In other embodiments, the command center system may also send the prompt message to a portal, a drive test variable information board, or a broadcasting device on a road, but is not limited thereto.

In this embodiment, the common vehicle obtains the running information of the special vehicle in the running state, and the current special buffer area in the road can be determined according to the running information, where the special buffer area includes a part of the road section of the special lane where the special vehicle is located and a part of the road section of the common lane, so that the special vehicle in the running state can be buffered, and the common vehicle is prevented from interfering with the running of the special vehicle. And the running area of the common vehicle can be determined according to the position information of the common vehicle, and matched prompt information is obtained according to the running area of the common vehicle, so that when the running area of the common vehicle is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state, that is, the reusable area of the common vehicle does not interfere with the running of the special vehicle, and the common vehicle can run on the special lane in the reusable area based on the prompt information, so that the multiplexing rate of the special lane is improved, and the traffic jam is relieved. Further, the prompt information is presented in a perceptible mode at the vehicle-mounted terminal of the common vehicle, so that an operator can be timely prompted in a perceptible mode.

In one embodiment, when the driving area is a dedicated buffer area, the prompt information further includes a first duration for which the dedicated lane is in the open state again; the first time length determining mode comprises the following steps: determining a first distance from the position of the common vehicle to the target edge position of the special buffer area on a lane where the common vehicle runs; based on the first distance, a first duration for the common vehicle to leave the dedicated buffer area is predicted.

The target edge position refers to the edge position of the dedicated buffer area. The target edge position may be an edge position in front of the forward direction of the vehicle, or may be an edge position in rear of the forward direction of the vehicle.

Specifically, the computer equipment acquires the position of the common vehicle in real time, determines the target edge position of the special buffer area, and determines a first distance from the position of the common vehicle to the target edge position of the special buffer area from the map; and acquiring the running speed of the special vehicle in real time, dividing the first distance by the running speed of the special vehicle, and predicting the first time length of the common vehicle leaving the special buffer area in real time.

In another embodiment, the computer device acquires the running speed of the special vehicle and the running speed of the ordinary vehicle in real time, and determines a speed difference between the running speed of the special vehicle and the running speed of the ordinary vehicle; the first distance is divided by the speed difference value, and a first duration that the common vehicle leaves the special buffer area is predicted in real time.

In other embodiments, the computer device may also predict the first time that the common vehicle leaves the dedicated buffer area in other manners, which are not limited herein.

It will be appreciated that a common vehicle leaves the dedicated buffer area and enters the reusable area with the dedicated lanes in the reusable area in an open state. Therefore, the common vehicle can leave the special buffer area after the first time length, and can travel on the special lane of the reusable area.

For example, in the case where the driving area is a dedicated buffer area, the prompt message may be "the dedicated lane has been closed, please drive away immediately, otherwise the penalty will be paid, and the dedicated lane will be opened to the ordinary vehicle after the first period of time.

In this embodiment, when the driving area is the dedicated buffer area, the first time length when the dedicated lane is in the open state again can be accurately calculated, and the prompt information includes the first time length, so as to prompt the operator to drive on the dedicated lane in the reusable area after the first time length, and more accurately coordinate the multiplexing of the common lane to the dedicated lane.

In one embodiment, the dedicated buffer area includes a forced closure area and a warning-off area, the warning-off area being in front of the forced closure area in the forward direction of the dedicated vehicle; when the driving area is a warning driving-out area in the special buffer area, the prompt information also comprises a second duration of entering the forced closing area by the common vehicle in the warning driving-out area; the determining manner of the second duration comprises the following steps: determining a second distance from the position of the common vehicle to the nearest edge position in the forced closing area on the lane where the common vehicle runs; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

Specifically, the computer equipment acquires the position of the common vehicle in real time, determines the nearest edge position in the forced closing area, and determines a second distance from the position of the common vehicle to the nearest edge position in the forced closing area from the map; and acquiring the running speed of the special vehicle in real time, dividing the second distance by the running speed of the special vehicle, and predicting the second time length of the common vehicle entering the forced closing area in real time.

In another embodiment, the computer device acquires the running speed of the special vehicle and the running speed of the ordinary vehicle in real time, and determines a speed difference between the running speed of the special vehicle and the running speed of the ordinary vehicle; and dividing the second distance by the speed difference value to predict a second time length for the common vehicle to enter the forced closing area in real time.

In other embodiments, the computer device may also predict the second duration of the normal vehicle entering the forced-shut-down region in other manners, which are not limited herein.

It will be appreciated that the special vehicle is within the forced closure zone and the warning-off zone is in front of the forced closure zone in the direction of travel of the special vehicle, i.e. the forced closure zone is closer to the special vehicle than the warning-off zone, the degree of warning of the warning message matched by the forced closure zone being greater than the degree of warning of the warning message matched by the warning-off zone. Therefore, the interference of the common vehicle in the forced closing area to the special vehicle is maximum, and the common vehicle in the warning driving-away area needs to be prompted to drive away from the special lane in the second duration, so that the interference of the special vehicle in the driving state is avoided.

For example, in the case where the driving area is a warning driving-out area in the dedicated buffer area, the prompt information may be "the dedicated lane will be closed to the normal vehicle after the second period of time, please drive out of the dedicated lane as soon as possible".

In this embodiment, in the case where the driving area is the warning driving-out area in the dedicated buffer area, the second time period for the normal vehicle in the warning driving-out area to enter the forced closing area may be accurately calculated, and the second time period may be included in the prompt information to prompt the operator to enter the forced closing area after the second time period, so that the safety of the dedicated vehicle in the driving state may be ensured.

In one embodiment, a lane use method is provided, the method being applied to a command center system, comprising the steps of:

step 1: a first communication link between the command center system and the special purpose vehicle is established, and the initial position and the target position uploaded by the special purpose vehicle are received through the first communication link, and then any one mode of steps 2A, 2B and 2C is executed.

Step 2A: if a special lane exists between the initial position and the target position, planning a target running path of the special vehicle, which comprises the special lane, based on the initial position and the target position; if no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, and a new special lane is determined in the road of the target running path.

Step 2B: acquiring the congestion degree of each road between the initial position and the target position; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

Step 2C: if a plurality of special vehicles in a running state exist in the same preset area, simultaneously planning a target running path of each special vehicle based on the initial position and the target position of each special vehicle; wherein, the target driving paths of all the special vehicles are partially overlapped.

After any one of the modes 2A, 2B and 2C is performed, step 3 is performed.

Step 3: travel information of a special vehicle in a travel state on a target travel path is acquired through a first communication link.

Step 4: if the running speed in the running information is smaller than the first speed threshold value or larger than the second speed threshold value, determining that the front forced closing time length of the special vehicle is larger than the first front forced duration threshold value and the rear forced closing time length of the special vehicle is larger than the first rear forced duration threshold value; if the running speed in the running information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than the second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than the second rear forced time length threshold.

Step 5: determining a current front forced closing area in the road based on the front forced closing time length, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction; determining a current rear forced closing area in the road based on the rear forced closing time length, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction; the forced closing area includes a front forced closing area and a rear forced closing area.

Step 6: acquiring current condition information of a special vehicle through a first communication link; and determining the congestion degree of the road where the special vehicle is located based on the current condition information.

Step 7: determining a warning duration according to the congestion degree, and acquiring a running speed in running information; the congestion degree is positively correlated with the warning time; determining a warning drive-off area in front of the forced closing area based on the warning duration and the driving speed; the forced closing area and the warning drive-off area both belong to a special buffer area, the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area, and the special buffer area comprises a part of road sections of a special lane where a special vehicle is located and a part of road sections of a common lane.

Step 8: and establishing a second communication link between the command center system and the common vehicle, acquiring the position information of the common vehicle through the second communication link, and determining the common vehicle running on the target running path.

Step 9: identifying a normal vehicle on the special lane in the forced closing area according to the position information of the normal vehicle; recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for resource deduction for a general vehicle on a special lane in the forced closure area.

Step 10: and determining a driving area where the common vehicle is located according to the position information of the common vehicle, wherein the driving area comprises a special buffer area and a reusable area except the special buffer area in the road.

Step 11: acquiring matched prompt information according to a running area where a common vehicle is located, and pushing the prompt information to the common vehicle running on a target running path; when the driving area is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state; in the case where the traveling area is the dedicated buffer area, the prompt information is used to indicate that the dedicated lane is in a non-multiplexed state in the dedicated buffer area, and the warning level of the prompt information on the dedicated lane where the ordinary vehicle is in the dedicated buffer area is greater than the warning level of the prompt information on the ordinary lane where the ordinary vehicle is in the dedicated buffer area.

Step 12: when the driving area is a special buffer area, the prompt information also comprises a first duration for the special lane to be in an open state again; the first time length determining mode comprises the following steps: determining a first distance from the position of the common vehicle to the target edge position of the special buffer area on a lane where the common vehicle runs; based on the first distance, a first duration for the common vehicle to leave the dedicated buffer area is predicted.

Step 13: the special buffer area comprises a forced closing area and a warning off area, and the warning off area is positioned in front of the forced closing area in the advancing direction of the special vehicle; when the driving area is a warning driving-out area in the special buffer area, the prompt information also comprises a second duration of entering the forced closing area by the common vehicle in the warning driving-out area; the determining manner of the second duration comprises the following steps: determining a second distance from the position of the common vehicle to the nearest edge position in the forced closing area on the lane where the common vehicle runs; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

In another embodiment, there is provided a lane use method applied to a general vehicle, including the steps of:

step 1: establishing a second communication link with the command center system, receiving a target driving path of the special vehicle issued by the command center system through the second communication link, and then executing the step 2; the target driving path is obtained by a command center system receiving an initial position and a target position uploaded by a special vehicle through a first communication link and planning based on the initial position and the target position; the target travel path may be obtained in any one of the following modes one, two and three.

Mode one: if a special lane exists between the initial position and the target position, planning a target running path of the special vehicle, which comprises the special lane, based on the initial position and the target position; if no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, and a new special lane is determined in the road of the target running path.

Mode two: acquiring the congestion degree of each road between the initial position and the target position; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

Mode three: if a plurality of special vehicles in a running state exist in the same preset area, simultaneously planning a target running path of each special vehicle based on the initial position and the target position of each special vehicle; wherein, the target driving paths of all the special vehicles are partially overlapped.

Step 2: receiving running information of a special vehicle on a target running path, wherein the running information is issued by a command center system; the driving information is transmitted to the command center system through the first communication link by the special vehicle in the driving state.

Step 3: if the running speed in the running information is smaller than the first speed threshold value or larger than the second speed threshold value, determining that the front forced closing time length of the special vehicle is larger than the first front forced duration threshold value and the rear forced closing time length of the special vehicle is larger than the first rear forced duration threshold value; if the running speed in the running information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than the second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than the second rear forced time length threshold.

Step 4: determining a current front forced closing area in the road based on the front forced closing time length, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction; determining a current rear forced closing area in the road based on the rear forced closing time length, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction; the forced closing area includes a front forced closing area and a rear forced closing area.

Step 5: acquiring current condition information of a special vehicle issued by a command center system through a second communication link; determining the congestion degree of the road where the special vehicle is located based on the current situation information; the current condition information of the special purpose vehicle is uploaded to the command center system by the special purpose vehicle through the first communication link.

Step 6: determining a warning duration according to the congestion degree, and acquiring a running speed in running information; the congestion degree is positively correlated with the warning time; determining a warning drive-off area in front of the forced closing area based on the warning duration and the driving speed; the forced closing area and the warning drive-off area both belong to a special buffer area, the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area, and the special buffer area comprises a part of road sections of a special lane where a special vehicle is located and a part of road sections of a common lane.

Step 7: determining whether the vehicle is located on a special lane in the forced closing area according to the position information of the common vehicle; if the common vehicle is on the special lane in the forced closing area, recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for resource deduction for a general vehicle on a special lane in the forced closure area.

Step 8: and determining a driving area where the common vehicle is located according to the position information of the common vehicle, wherein the driving area comprises a special buffer area and a reusable area except the special buffer area in the road.

Step 9: acquiring matched prompt information according to a running area of a common vehicle, and presenting the prompt information in a perceptible mode at a vehicle-mounted terminal of the common vehicle; when the driving area is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state; in the case where the traveling area is the dedicated buffer area, the prompt information is used to indicate that the dedicated lane is in a non-multiplexed state in the dedicated buffer area, and the warning level of the prompt information on the dedicated lane where the ordinary vehicle is in the dedicated buffer area is greater than the warning level of the prompt information on the ordinary lane where the ordinary vehicle is in the dedicated buffer area.

Step 10: when the driving area is a special buffer area, the prompt information also comprises a first duration for the special lane to be in an open state again; the first time length determining mode comprises the following steps: determining a first distance from the position of the common vehicle to the target edge position of the special buffer area on a lane where the common vehicle runs; based on the first distance, a first duration for the common vehicle to leave the dedicated buffer area is predicted.

Step 11: the special buffer area comprises a forced closing area and a warning off area, and the warning off area is positioned in front of the forced closing area in the advancing direction of the special vehicle; when the driving area is a warning driving-out area in the special buffer area, the prompt information also comprises a second duration of entering the forced closing area by the common vehicle in the warning driving-out area; the determining manner of the second duration comprises the following steps: determining a second distance from the position of the common vehicle to the nearest edge position in the forced closing area on the lane where the common vehicle runs; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

In one embodiment, the command center system determines a forced closing area, a warning driving-out area and a reusable area except the forced closing area and the warning driving-out area of the special vehicle, pushes prompt information matched with the forced closing area to a common vehicle in the forced closing area, pushes prompt information matched with the warning driving-out area to the common vehicle in the warning driving-out area, and pushes prompt information matched with the reusable area to the common vehicle in the reusable area.

In another embodiment, the general vehicle receives the running information of the special vehicle issued by the command center system, determines a forced closing area, a warning driving-away area and a reusable area except the forced closing area and the warning driving-away area of the special vehicle based on the running information of the special vehicle, determines a running area where the general vehicle is located, acquires the prompt information matched with the running area, and presents the prompt information in a perceivable manner at a vehicle-mounted terminal of the general vehicle.

The application also provides various application scenes, and the application scenes apply the lane using method. The application of the lane use method in the application scene is as follows:

In one embodiment, the special vehicle is an event-related vehicle, if the event-related vehicle travels on a special lane, the travel information is uploaded to a command center system, the command center system determines a forced closing area, a warning off area and a reusable area except the forced closing area and the warning off area of the event-related vehicle, pushes prompt information matched with the forced closing area to a common vehicle in the forced closing area, pushes prompt information matched with the warning off area to the common vehicle in the warning off area, and pushes prompt information matched with the reusable area to the common vehicle in the reusable area.

In another embodiment, the special vehicle is a police car, if the road on which the police car is traveling has no preset special lane, the police car uploads the traveling information to the command center system, the command center system takes the lane on which the police car is traveling as the special lane of the police car, determines a forced closing area, a warning driving-out area and a reusable area except the forced closing area and the warning driving-out area of the police car, pushes prompt information matched with the forced closing area to a common vehicle in the forced closing area, pushes prompt information matched with the warning driving-out area to a common vehicle in the warning driving-out area, and pushes prompt information matched with the reusable area to the common vehicle in the reusable area.

In another embodiment, the special vehicle is an ambulance, the ambulance uploads the initial position and the target position to a command center system, and the command center system plans a target travel path of the ambulance with shortest travel time from the initial position to the target position and sends the target travel path to the ambulance; in the running process of the ambulance according to the target running path, the running information is uploaded to a command center system, the command center system takes a lane on which the ambulance runs as a special lane of the ambulance, determines a forced closing area, a warning off-driving area and a reusable area except the forced closing area and the warning off-driving area of the ambulance, pushes prompt information matched with the forced closing area to a common vehicle in the forced closing area, pushes prompt information matched with the warning off-driving area to the common vehicle in the warning off-driving area, and pushes prompt information matched with the reusable area to the common vehicle in the reusable area.

The above application scenario is only illustrative, and it is to be understood that the application of the lane usage method provided in the embodiments of the present application is not limited to the above scenario. For example, the method and the device can be applied to the use scene of the bus lane, the driving safety of the bus is guaranteed through the lane use method provided by the embodiments of the application, and in the reusable area except for the current special buffer area of the bus, the common vehicle can reuse the bus lane, so that the multiplexing rate of the bus lane is improved.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a lane using device for realizing the lane using method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the lane usage device or lane usage devices provided below may be referred to the limitation of the lane usage method hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 12, there is provided a lane use apparatus comprising: an acquisition module 1202 and a determination module 1204, wherein:

an acquisition module 1202 for acquiring travel information of the special vehicle in a traveling state.

The determining module 1204 is configured to determine, according to the driving information, a current dedicated buffer area in the road, where the dedicated buffer area includes a part of a section of a dedicated lane where the dedicated vehicle is located and a part of a section of a common lane.

The determining module 1204 is further configured to determine a driving area in which the common vehicle is located according to the location information of the common vehicle, where the driving area includes a dedicated buffer area and a reusable area in the road other than the dedicated buffer area.

The obtaining module 1202 is further configured to obtain matched prompt information according to a driving area where the common vehicle is located, where the prompt information is used to indicate that the dedicated lane in the reusable area is in an open state when the driving area is the reusable area.

According to the lane using device, the running information of the special vehicle in the running state is acquired, the current special buffer area in the road is determined according to the running information, the special buffer area comprises the part of the road sections of the special lane where the special vehicle is located and the part of the road sections of the common lane, the special vehicle in the running state can be buffered, and the common vehicle is prevented from interfering with the running of the special vehicle. The driving area of the common vehicle can be determined according to the position information of the common vehicle, and matched prompt information is obtained according to the driving area of the common vehicle, so that when the driving area of the common vehicle is a reusable area, the prompt information is used for indicating that the special lane in the reusable area is in an open state, that is, the reusable area of the common vehicle does not interfere with the driving of the special vehicle, the common vehicle can drive on the special lane in the reusable area based on the prompt information, the special lane is safely and quickly used by the common vehicle, the dynamic time-sharing multiplexing of the special lane is realized, the utilization rate of the special lane and the traffic capacity of a road are improved, and the congestion is relieved.

In one embodiment, the determining module 1204 is further configured to determine a current forced closing area in the road according to the driving information; determining a warning drive-off area in front of the forced closing area in the forward direction of the special vehicle; the forced closing area and the warning drive-off area both belong to a special buffer area, and the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning drive-off area.

In one embodiment, the forced closing area includes a front forced closing area and a rear forced closing area, and the determining module 1204 is further configured to determine, according to the driving information, a front forced closing duration and a rear forced closing duration of the special vehicle; determining a current front forced closing area in the road based on the front forced closing time length, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction; the current rear forced closure area in the road is determined based on the rear forced closure period, wherein the rear forced closure area is located rearward in the forward direction of the special vehicle.

In one embodiment, the determining module 1204 is further configured to determine that the time period of the front forced closing of the special vehicle is greater than the first front forced duration threshold and the time period of the rear forced closing is greater than the first rear forced duration threshold if the driving speed in the driving information is less than the first speed threshold or greater than the second speed threshold; if the running speed in the running information is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than the second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than the second rear forced time length threshold.

In one embodiment, the method is applied to a command center system; the device also comprises a recording module; the recording module is used for identifying the common vehicle on the special lane in the forced closing area according to the position information of the common vehicle; recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for resource deduction for a general vehicle on a special lane in the forced closure area.

In one embodiment, the determining module 1204 is further configured to obtain current condition information of the special purpose vehicle; determining the congestion degree of the road where the special vehicle is located based on the current situation information; based on the degree of congestion and the travel information, a warning drive-off area in front of the forced closure area is determined.

In one embodiment, the determining module 1204 is further configured to determine a warning duration according to the congestion degree, and obtain a running speed in the running information; the congestion degree is positively correlated with the warning time; based on the warning duration and the travel speed, a warning travel-off region in front of the forced closure region is determined.

In one embodiment, the apparatus is applied to a command center system; the device also comprises a building module; the building module is used for building a first communication link between the command center system and the special vehicle, and the first communication link is used for acquiring the running information of the special vehicle in a running state; and establishing a second communication link between the command center system and the common vehicle, wherein the second communication link is used for pushing prompt information to the common vehicle.

In one embodiment, the apparatus further comprises a transceiver module and a planning module; the receiving and transmitting module is used for receiving the initial position and the target position uploaded by the special vehicle through the first communication link; the planning module is used for planning a target running path of the special vehicle running based on the initial position and the target position, and the receiving and transmitting module is also used for pushing prompt information to a common vehicle running on the target running path through a second communication link.

In one embodiment, the planning module is further configured to plan, if the dedicated lane exists between the initial position and the target position, a target driving path including the dedicated lane for driving the dedicated vehicle based on the initial position and the target position; if no special lane exists between the initial position and the target position, a target running path of the special vehicle is planned, and a new special lane is determined in the road of the target running path.

In one embodiment, the planning module is further configured to obtain a congestion degree of each road between the initial position and the target position; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

In one embodiment, the device is applied to a common vehicle; the acquisition module 1202 is further configured to receive driving information of a special vehicle issued by the command center system; the running information is uploaded to the command center system by the special vehicle in a running state; the apparatus further comprises a presentation module; the presentation module is used for presenting the prompt information in a perceivable manner at the vehicle-mounted terminal of the common vehicle.

In one embodiment, in the case that the driving area is the dedicated buffer area, the prompt information is used to indicate that the dedicated lane is in a non-multiplexing state in the dedicated buffer area, and the warning level of the prompt information on the dedicated lane where the ordinary vehicle is in the dedicated buffer area is greater than the warning level of the prompt information on the ordinary lane where the ordinary vehicle is in the dedicated buffer area.

In one embodiment, when the driving area is a dedicated buffer area, the prompt information further includes a first duration for which the dedicated lane is in the open state again; the determining module 1204 is further configured to determine, on a lane on which the ordinary vehicle is traveling, a first distance between a location where the ordinary vehicle is located and a target edge location of the dedicated buffer area; based on the first distance, a first duration for the common vehicle to leave the dedicated buffer area is predicted.

In one embodiment, the dedicated buffer area includes a forced closure area and a warning-off area, the warning-off area being in front of the forced closure area in the forward direction of the dedicated vehicle; when the driving area is a warning driving-out area in the special buffer area, the prompt information also comprises a second duration of entering the forced closing area by the common vehicle in the warning driving-out area; the determining module 1204 is further configured to determine, on a lane on which the ordinary vehicle is traveling, a second distance between a location where the ordinary vehicle is located and a nearest edge location in the forced closing area; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

The respective modules in the lane use apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server of a command center system, the internal structure of which may be as shown in fig. 13. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data such as the running information of the special lane, the target running path, the running information of the common lane and the like. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a lane use method.

In one embodiment, a computer device is provided, which may be an in-vehicle terminal in a general vehicle, and an internal structure diagram thereof may be as shown in fig. 14. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a lane use method. The display unit of the computer equipment is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device, wherein the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on a shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structures shown in fig. 13 or 14 are merely block diagrams of portions of structures related to the aspects of the present application and are not intended to limit the computer devices to which the aspects of the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A lane use method, the method comprising:

acquiring running information of a special vehicle in a running state;

determining a current forced closing area in the road according to the driving information;

determining a warning-off zone in front of the forced closing zone in the forward direction of the dedicated vehicle; the forced closing area and the warning driving-out area both belong to a special buffer area, wherein the special buffer area comprises part of road sections of a special lane where the special vehicle is positioned and part of road sections of a common lane in the advancing direction and the advancing reverse direction of the special vehicle; the special buffer area is an area for buffering during the running process of the special vehicle;

acquiring matched prompt information according to a running area where the common vehicle is located, wherein the prompt information is used for indicating that a special lane in the reusable area is in an open state when the running area is the reusable area; and when the driving area is the special buffer area, the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning driving-out area.

2. The method according to claim 1, wherein the forced closure zone includes a front forced closure zone and a rear forced closure zone, and the determining the current forced closure zone in the road based on the travel information includes:

determining the front forced closing time length and the rear forced closing time length of the special vehicle according to the running information;

determining a current front forced closing area in a road based on the front forced closing time period, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction;

And determining a current rear forced closing area in the road based on the rear forced closing time period, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction.

3. The method according to claim 2, wherein determining a front forced closing time period and a rear forced closing time period of the dedicated vehicle according to the running information includes:

if the running speed in the running information is smaller than a first speed threshold value or larger than a second speed threshold value, determining that the front forced closing time period of the special vehicle is larger than a first front forced duration threshold value and the rear forced closing time period of the special vehicle is larger than a first rear forced duration threshold value;

if the running speed in the running information is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than a second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than a second rear forced time length threshold.

4. The method of claim 1, applied to a command center system; the method further comprises the steps of:

Identifying a normal vehicle on a special lane in the forced closing area according to the position information of the normal vehicle;

recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for deducting resources of the common vehicles on the special lanes in the forced closing area.

5. The method according to claim 1, wherein the determining a warning-off zone in front of the forced-closure zone in the forward direction of the dedicated vehicle includes:

acquiring current condition information of the special vehicle;

determining the congestion degree of the road where the special vehicle is located based on the current situation information;

and determining a warning drive-off area in front of the forced closing area based on the congestion degree and the driving information.

6. The method of claim 5, wherein the determining a warning drive-off zone in front of the forced closure zone based on the congestion level and the travel information comprises:

determining a warning duration according to the congestion degree, and acquiring a running speed in the running information; the congestion level is positively correlated with the warning time;

And determining a warning off-zone in front of the forced closing zone based on the warning duration and the running speed.

7. The method of claim 1, wherein the method is applied to a command center system; the method further comprises the steps of:

establishing a first communication link between the command center system and the special vehicle, wherein the first communication link is used for acquiring running information of the special vehicle in a running state;

and establishing a second communication link between the command center system and the common vehicle, wherein the second communication link is used for pushing prompt information to the common vehicle.

8. The method of claim 7, wherein the method further comprises:

receiving an initial position and a target position uploaded by the special vehicle through the first communication link;

and planning a target running path of the special vehicle based on the initial position and the target position, and pushing prompt information to a common vehicle running on the target running path through the second communication link.

9. The method of claim 8, wherein the planning a target travel path for the private vehicle to travel based on the initial position and the target position comprises:

If a special lane exists between the initial position and the target position, a target running path containing the special lane for running of the special vehicle is planned based on the initial position and the target position;

and if no special lane exists between the initial position and the target position, planning a target running path for running the special vehicle, and determining a new special lane in a road of the target running path.

10. The method of claim 8, wherein the planning a target travel path for the private vehicle to travel based on the initial position and the target position comprises:

acquiring the congestion degree of each road between the initial position and the target position;

planning a plurality of candidate driving paths based on the congestion degree of each road;

a target travel path is determined from the plurality of candidate travel paths.

11. The method of claim 8, wherein the planning a target travel path for the private vehicle to travel based on the initial position and the target position comprises:

if a plurality of special vehicles in a running state exist in the same preset area, simultaneously planning a target running path of each special vehicle based on the initial position and the target position of each special vehicle; wherein, the target driving paths of all the special vehicles are partially overlapped.

12. The method according to claim 1, wherein the method is applied to a common vehicle; the acquiring the running information of the special vehicle in the running state comprises the following steps:

receiving running information of a special vehicle issued by a command center system; the running information is uploaded to the command center system by the special vehicle in a running state;

the method further comprises the steps of:

and presenting the prompt information in a perceivable manner at the vehicle-mounted terminal of the common vehicle.

13. The method according to any one of claims 1 to 12, wherein in the case where the traveling area is a dedicated buffer area, the warning information is used to indicate that a dedicated lane in the dedicated buffer area is in a non-multiplexed state, and a warning level of the warning information on the dedicated lane of the dedicated buffer area where the ordinary vehicle is located is greater than a warning level of the warning information on the ordinary lane of the dedicated buffer area where the ordinary vehicle is located.

14. The method according to any one of claims 1 to 12, wherein in the case where the travel area is a dedicated buffer area, the hint information further includes a first duration for which the dedicated lane is again in an open state;

The first time length determining manner includes:

determining a first distance from the position of the common vehicle to the target edge position of the special buffer area on the lane where the common vehicle runs;

and predicting a first duration that the common vehicle leaves the special buffer area based on the first distance.

15. The method according to any one of claims 1 to 12, characterized in that the dedicated buffer area includes a forced closure area and a warning off area, the warning off area being in front of the forced closure area in the forward direction of the dedicated vehicle; when the driving area is the warning driving-out area in the special buffer area, the prompt information further comprises a second duration of entering the forced closing area by a common vehicle in the warning driving-out area;

the determining manner of the second duration includes:

determining a second distance from the position of the common vehicle to the nearest edge position in the forced closing area on the lane where the common vehicle runs;

and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

16. A lane use apparatus, the apparatus comprising:

the determining module is used for determining the current forced closing area in the road according to the driving information; determining a warning-off zone in front of the forced closing zone in the forward direction of the dedicated vehicle; the forced closing area and the warning driving-out area both belong to a special buffer area, wherein the special buffer area comprises part of road sections of a special lane where the special vehicle is positioned and part of road sections of a common lane in the advancing direction and the advancing reverse direction of the special vehicle; the special buffer area is an area for buffering during the running process of the special vehicle;

the acquisition module is further used for acquiring matched prompt information according to a running area where the common vehicle is located, wherein the prompt information is used for indicating that a special lane in the reusable area is in an open state when the running area is the reusable area; and when the driving area is the special buffer area, the warning degree of the prompt information matched with the forced closing area is larger than that of the prompt information matched with the warning driving-out area.

17. The apparatus of claim 16, wherein the forced closure area comprises a front forced closure area and a rear forced closure area, the determining module further configured to determine a front forced closure duration and a rear forced closure duration of the dedicated vehicle based on the travel information; determining a current front forced closing area in a road based on the front forced closing time period, wherein the front forced closing area is positioned in front of the special vehicle in the advancing direction; and determining a current rear forced closing area in the road based on the rear forced closing time period, wherein the rear forced closing area is positioned at the rear of the special vehicle in the advancing direction.

18. The apparatus of claim 17, wherein the determining module is further configured to determine that a front forced closing time period of the dedicated vehicle is greater than a first front forced duration threshold and a rear forced closing time period is greater than a first rear forced duration threshold if a travel speed in the travel information is less than a first speed threshold or greater than a second speed threshold; if the running speed in the running information is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, determining that the front forced closing time length of the special vehicle is less than the first front forced time length threshold and greater than a second front forced time length threshold, and the rear forced closing time length is less than the first rear forced time length threshold and greater than a second rear forced time length threshold.

19. The apparatus of claim 16, applied to a command center system; the device also comprises a recording module; the recording module is used for identifying the common vehicle on the special lane in the forced closing area according to the position information of the common vehicle; recording the identification of the common vehicle on the special lane in the forced closing area; the identification is used for deducting resources of the common vehicles on the special lanes in the forced closing area.

20. The apparatus of claim 16, wherein the determination module is further configured to obtain current condition information of the dedicated vehicle; determining the congestion degree of the road where the special vehicle is located based on the current situation information; and determining a warning drive-off area in front of the forced closing area based on the congestion degree and the driving information.

21. The apparatus of claim 20, wherein the determining module is further configured to determine a warning duration based on the congestion level and obtain a travel speed in the travel information; the congestion level is positively correlated with the warning time; and determining a warning off-zone in front of the forced closing zone based on the warning duration and the running speed.

22. The apparatus of claim 16, wherein the apparatus is applied to a command center system; the apparatus further comprises a setup module; the establishment module is used for establishing a first communication link between the command center system and the special vehicle, and the first communication link is used for acquiring the running information of the special vehicle in a running state; and establishing a second communication link between the command center system and the common vehicle, wherein the second communication link is used for pushing prompt information to the common vehicle.

23. The apparatus of claim 22, further comprising a transceiver module and a planning module; the receiving and transmitting module is used for receiving the initial position and the target position uploaded by the special vehicle through the first communication link; the planning module is used for planning a target running path of the special vehicle based on the initial position and the target position, and the receiving and transmitting module is also used for pushing prompt information to a common vehicle running on the target running path through the second communication link.

24. The apparatus of claim 23, wherein the planning module is further configured to plan a target travel path for the private vehicle to travel including the private lane based on the initial position and the target position if a private lane exists between the initial position and the target position; and if no special lane exists between the initial position and the target position, planning a target running path for running the special vehicle, and determining a new special lane in a road of the target running path.

25. The apparatus of claim 23, wherein the planning module is further configured to obtain a congestion level of each link between the initial location and the target location; planning a plurality of candidate driving paths based on the congestion degree of each road; a target travel path is determined from the plurality of candidate travel paths.

26. The apparatus of claim 23, wherein the planning module is further configured to simultaneously plan a target travel path for each of the dedicated vehicles based on the initial position and the target position of each of the dedicated vehicles if there are a plurality of dedicated vehicles in a travel state within a same preset area; wherein, the target driving paths of all the special vehicles are partially overlapped.

27. The device according to claim 16, wherein the device is applied to a common vehicle; the acquisition module is also used for receiving the running information of the special vehicle issued by the command center system; the running information is uploaded to the command center system by the special vehicle in a running state; the apparatus further comprises a presentation module; the presenting module is used for presenting the prompt information in a perceivable manner at the vehicle-mounted terminal of the common vehicle.

28. The apparatus according to any one of claims 16 to 27, wherein in the case where the traveling area is a dedicated buffer area, the warning information is for indicating that a dedicated lane in the dedicated buffer area is in a non-multiplexed state, and a warning level of the warning information on the dedicated lane of the dedicated buffer area where the ordinary vehicle is located is greater than a warning level of the warning information on the ordinary lane of the dedicated buffer area where the ordinary vehicle is located.

29. The apparatus according to any one of claims 16 to 27, wherein in the case where the travel area is a dedicated buffer area, the hint information further includes a first duration for which the dedicated lane is again in an open state; the determining module is further used for determining a first distance from the position where the common vehicle is located to the target edge position of the special buffer area on the lane where the common vehicle is traveling; and predicting a first duration that the common vehicle leaves the special buffer area based on the first distance.

30. The apparatus according to any one of claims 16 to 27, wherein the dedicated buffer area includes a forced closure area and a warning off area, the warning off area being forward of the forced closure area in a forward direction of the dedicated vehicle; when the driving area is the warning driving-out area in the special buffer area, the prompt information further comprises a second duration of entering the forced closing area by a common vehicle in the warning driving-out area; the determining module is further used for determining a second distance from the position where the common vehicle is located to the nearest edge position in the forced closing area on the lane where the common vehicle is driven; and predicting a second duration of the common vehicle entering the forced closing area based on the second distance.

31. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 15 when the computer program is executed.

32. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 15.