CN115171416B - Recommended driving information sending method, device, electronic equipment and medium - Google Patents
Recommended driving information sending method, device, electronic equipment and medium Download PDFInfo
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- CN115171416B CN115171416B CN202211019347.1A CN202211019347A CN115171416B CN 115171416 B CN115171416 B CN 115171416B CN 202211019347 A CN202211019347 A CN 202211019347A CN 115171416 B CN115171416 B CN 115171416B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
Abstract
The embodiment of the invention discloses a recommended driving information sending method, a recommended driving information sending device, electronic equipment and a medium. One embodiment of the method comprises the following steps: determining a road path corresponding to a target map according to a starting point and a stopping point preset by a target user; determining a lane set of a road where the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle; determining the road condition information of a lane where the running vehicle is located; according to the road condition information of the lanes, a recommended lane set is screened out from the lane set; generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set; and sending the recommended driving information for the recommended lane-level path set to the driving vehicle. The embodiment can reduce useless lane change in the driving process and improve the safety of the vehicle.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a recommended driving information sending method, a recommended driving information sending device, electronic equipment and a medium.
Background
The automatic driving technology can coordinate travel routes and planning time under the support of the Internet of vehicles technology and the artificial intelligence technology, so that travel efficiency is improved, and energy consumption is reduced to a certain extent. The route recommendation is carried out according to the road condition information of different lanes by adopting the following general method: the user runs according to his own experience.
However, the inventors found that when the travel information transmission is recommended in the above manner, there are often the following technical problems:
first, there is also an useless lane change, resulting in lower safety of the vehicle.
Secondly, the existing road path recommending method cannot meet the requirements of different users, the driving time is long, and the user experience is low.
Third, the success rate of vehicle diversion during driving is low, resulting in the vehicle missing the correct diversion entrance.
The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a recommended driving information transmission method, apparatus, electronic device, and medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a recommended traveling information transmission method, including: determining a road path corresponding to a target map according to a starting point and a stopping point preset by a target user; determining a lane set of a road on which the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle; determining the road condition information of the lane where the driving vehicle is located; screening a recommended lane set from the lane set according to the lane road condition information; generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area with the positioning information as a center and a first preset threshold as a radius; and transmitting recommended driving information for the recommended lane-level path set to the driving vehicle.
In a second aspect, some embodiments of the present disclosure provide a recommended traveling information transmitting apparatus including: a first determining unit configured to determine a road path corresponding to a target map according to a start point and an end point preset by a target user; a second determining unit configured to determine a lane set of a road on which the traveling vehicle is located, based on the road path and positioning information of the traveling vehicle; a third determining unit configured to determine lane condition information of a lane in which the traveling vehicle is located; the screening unit is configured to screen a recommended lane set from the lane sets according to the lane road condition information; a generation unit configured to generate a recommended lane-level path for each recommended lane in the recommended lane set from the positioning information, to obtain a recommended lane-level path set, where the lane set is a lane set in a target area, and the target area is a target sector area centered on the positioning information and having a radius of a first predetermined threshold; and a transmitting unit configured to transmit recommended traveling information for the recommended lane-level route set to the traveling vehicle.
In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method as described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program when executed by a processor implements a method as described in any of the implementations of the first aspect.
In a fifth aspect, some embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method described in any of the implementations of the first aspect above.
The above embodiments of the present disclosure have the following advantages: according to the recommended driving information sending method, useless lane changing can be reduced, and the safety of a vehicle is improved. In particular, the reason for the low safety of the vehicle concerned is that: the vehicle has useless lane change in the driving process, so that the safety of the vehicle is low. Based on this, the recommended traveling information transmission method of some embodiments of the present disclosure may first determine a road path corresponding to a target map according to a start point and an end point preset by a target user. Here, the resulting corresponding road path determines the traveling direction of the traveling vehicle. And secondly, determining a lane set of the road where the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle. Here, the obtained lane set is used for subsequent screening to obtain a recommended lane set. And then, determining the lane road condition information of the lane where the driving vehicle is located. And then, according to the lane road condition information, a recommended lane set is screened out from the lane set. Here, according to the road condition information of different lanes of the lane where the driving vehicle is located, screening is performed from the lane set to obtain a recommended lane set, useless lane change in the driving process is reduced, and the safety of the driving vehicle is further improved. And generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area with the positioning information as a center and a first preset threshold as a radius. Here, the traveling vehicle travels according to the recommended lane set, improving the safety of the vehicle. And finally, transmitting the recommended driving information for the recommended lane-level path set to the driving vehicle. Here, the traveling vehicle travels from the start point to the end point according to the received recommended traveling information, reducing unnecessary lane changes during traveling. Therefore, the recommended driving information sending method can reduce useless lane change and improve the safety of the vehicle.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of some embodiments of a recommended travel information transmission method according to the present disclosure;
fig. 2 is a schematic structural view of some embodiments of a recommended traveling information transmitting apparatus according to the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, a flow 100 of some embodiments of a recommended travel information transmission method according to the present disclosure is shown. The recommended driving information sending method comprises the following steps:
In some embodiments, the execution subject (for example, the navigation assistance driving system) of the recommended driving information transmission method may determine the road path corresponding to the target map according to the start point and the end point preset by the target user. Wherein the target user may be a user who sets the start position and the end position using a high-definition map. The target map may be a high-precision map showing a path between a start point and an end point. The road path may be a road path from a start point to an end point, which is pre-selected by the user from the target map. For example, the starting point is location 1 and the ending point is location 2, and the corresponding road path may be a road path selected by the user between location 1 and location 2 on the high-definition map.
Optionally, the determining the road path corresponding to the target map according to the starting point and the ending point preset by the target user may include:
and a first step of generating a road path set from the starting point to the ending point according to the starting point and the ending point.
As an example, a set of road paths from a start point to an end point is generated using Dijkstra's algorithm according to a start point and an end point preset by a user.
And secondly, acquiring a historical driving record of the driving vehicle in a target time period. Wherein the target time period may be half a year.
Third, according to the history running record, the following first determining step is executed:
substep 1, determining a plurality of road paths passing through at least one location corresponding to the necessary ground information. The necessary location information is location information that the target user passes from the start point to the end point.
In response to determining that the record content of the history of travel records relates to at least one road path of the plurality of road paths, setting a first weight corresponding to the at least one road path to 0.7.
And 3, setting the first weight corresponding to the plurality of road paths with at least one road path removed to 0.3.
And a sub-step 4 of determining the estimated congestion time of the road path corresponding to each of the plurality of road paths.
And a substep 5, multiplying a first weight corresponding to each road path with the estimated congestion time of the road path being greater than 1 hour in the plurality of road paths by 0.4 to obtain a multiplied result, wherein the multiplied result is used as a first tested weight.
And a substep 6, multiplying the first weight corresponding to each road path with the estimated congestion time of the road paths being less than or equal to 1 hour by 0.6, and obtaining a multiplied result as a second experience weight.
And fourthly, sorting the plurality of road paths according to the obtained experience weight set to obtain 5 road paths with the numerical value of 5 at the front, wherein the experience weight set is a set of first experience weight and second experience weight.
As an example, according to the obtained empirical weight set, the values of path a, path B, path C, and path E are calculated to be 0.95, 0.9, 0.86, 0.83, 0.8, and 0.75, respectively, and the 5 values are located in the path of the first 5.
And fifthly, the first 5 road paths are sent to a display screen loaded by the running vehicle so that a target user can select the road paths.
And sixthly, responding to the target user to select a target path in the first 5 road paths, and sending weather information, road condition information and corresponding place information related to the first 5 road paths to a display screen loaded by the running vehicle for the target user to refer to. The corresponding location information may be information of some of the more representative buildings, among others.
The technical scheme and the related content are taken as an invention point of the embodiment of the disclosure, and the technical problem mentioned in the background art is solved, namely the conventional road path recommending method cannot meet the requirements of different users, the driving time is long, and the user experience is reduced. ". Factors that lead to longer travel times and lower user experience tend to be as follows: the existing road path recommending method cannot meet the requirements of different users. If the factors are solved, the driving time can be reduced, and the experience of the user is improved. To achieve this effect, the determining a road path corresponding to a target map according to a start point and an end point preset by a target user may include: first, a road path set from the start point to the end point is generated according to the start point and the end point. Here, the resulting set of road paths is used to subsequently assign different weights. Next, a history of traveling of the traveling vehicle in the target period is acquired. Wherein the target time period may be half a year. Here, the acquired historical driving records within the target time period characterize different demands of the user for subsequent determination of the weights of each road path. Next, according to the above-described history, the following first determination step is performed: a plurality of road paths are determined that pass through at least one location corresponding to the requisite location information. The necessary location information is location information that the target user passes from the start point to the end point. Here, the necessary ground information is used to further screen the road path set. In response to determining that the recorded content of the history relates to at least one road path of the plurality of road paths, a first weight corresponding to the at least one road path is set to 0.7. The first weight corresponding to the plurality of road paths from which at least one road path is removed is set to 0.3. Here, the first weight is assigned to each path in the plurality of road paths according to the historical running record of the running vehicle, so that different requirements of users can be met. And determining the estimated congestion time of the road path corresponding to each road path in the plurality of road paths.
Multiplying a first weight corresponding to each road path with the estimated congestion time of the road paths being greater than 1 hour by 0.4 to obtain a multiplied result, wherein the multiplied result is used as a first tested weight. Multiplying a first weight corresponding to each road path with the estimated congestion time of the road paths being less than or equal to 1 hour by 0.6 to obtain a multiplied result, wherein the multiplied result is used as a second experience weight. Here, according to the length of the congestion time of the plurality of road paths, an experience weight set is obtained, so that the road paths with longer congestion time can be avoided by the driving vehicle, and the driving time is reduced. Here, different weights are given to the road paths in combination with different demands of users and road congestion conditions, so that the requirements of the users are met, the driving time is reduced, and the experience of the users is improved. Then, the plurality of road paths are ordered according to the obtained experience weight set, and 5 road paths with the numerical value of 5 at the front are obtained, wherein the experience weight set is a set of first experience weight and second experience weight. Here, the 5 road paths with the value of the obtained value being 5 are used for being pushed to the target user for selection. And then, the first 5 road paths are sent to a display screen loaded by the running vehicle so as to enable a target user to select the road paths. Here, the first 5 road paths will be obtained. And finally, responding to the target user to select a target path in the first 5 road paths, and sending weather information, road condition information and road condition information related to the first 5 road paths and corresponding place information to a display screen loaded by the running vehicle for the target user to refer to. The corresponding location information may be information of some of the more representative buildings, among others. The weather condition, the road condition information and the corresponding place information are pushed to the user, so that the user can select one road path according to the self requirement. Therefore, the road path recommendation for the target user is completed, the requirements of different users are met, the driving time is shortened, and the experience of the user is improved.
In some embodiments, the executing body may determine the lane set of the road on which the driving vehicle is located according to the road path and the positioning information of the driving vehicle. The positioning information may be position information of the traveling vehicle recorded by a positioning device on which the traveling vehicle is mounted. In practice, the positioning information may include, but is not limited to, at least one of: the detailed geographic location of the traveling vehicle, the status of the traveling vehicle, and the detailed course of travel of the traveling vehicle. The traveling vehicle may be a vehicle that is traveling, for example, the traveling vehicle may be an unmanned vehicle. For example, the lane set may be a set of all lanes within 3km beyond line of sight based on a high-definition map.
As an example, a traveling vehicle is located on a road path selected by a target user, and the traveling vehicle is located on a main road, each lane within a range of 3km in front of the traveling vehicle is scanned by a camera device mounted on the traveling vehicle, and a lane set of the road on which the traveling vehicle is located is obtained.
In some embodiments, the executing body may determine the traffic information of the lane in which the driving vehicle is located. The lane road condition information may be road surface information describing the front of a lane in which the driving vehicle is located. For example, the lane road condition information may be at least one of: the lane where the running vehicle is located corresponds to the road running type in front of the road, and whether the running vehicle is congested in front.
And 104, screening a recommended lane set from the lane set according to the lane road condition information.
In some embodiments, the executing body may screen the recommended lane set from the lane set according to the lane road condition information.
As an example, when a camera mounted on a traveling vehicle detects that a road congestion occurs in a front lane, an intelligent auxiliary navigation system mounted on the traveling vehicle is utilized to screen at least one lane with congestion from the obtained lane set, and a recommended lane set is obtained.
In some optional implementations of some embodiments, the selecting the recommended lane set from the lane set according to the lane road condition information may include the following steps:
and a first step of determining whether the lanes to be merged exist in the lane set or not in response to determining that the front road driving type of the road corresponding to the lane where the driving vehicle is located is a main road-to-main road type. The front road traveling type may be a road type into which the current traveling vehicle is about to enter. For example, the forward road travel type may be at least one of: the ramp is split, the ramp merges, the main road merges, and the main road is to be merged. The type from the main road to the main road can be that the lane where the current running vehicle is located is the main road and then the vehicle still needs to run on the main road. The lane to be incorporated may be a lane that merges with an adjacent lane into one lane.
And a second step of removing at least one lane to be merged from the lane set to obtain a removed lane set as a recommended lane set in response to determining that the lane exists.
And thirdly, determining each lane in the lane set as a recommended lane in response to determining that the recommended lane is not present, and obtaining the recommended lane set.
Optionally, the selecting the recommended lane set from the lane sets according to the lane road condition information may include the following steps:
first, in response to determining that the type of road ahead of the road corresponding to the lane in which the traveling vehicle is located is one of: the main road-to-ramp split road type, the ramp-to-ramp split road type, and the number of lanes corresponding to the lane set is greater than a second predetermined threshold, where the second predetermined threshold may be a value required by the minimum number of lanes corresponding to the lane set. The main road-to-ramp split road type can be that the lane where the current running vehicle is located is a main road, the current running vehicle is about to run to the ramp road, and other vehicles are split. The ramp-to-ramp split road type can be that the lane where the current running vehicle is located is a ramp lane, and the current running vehicle is to run to another ramp road to split with other vehicles. For example, the second predetermined threshold may be 2. According to the positioning information of the running vehicle, the following first screening step is executed:
Step 1, responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to a third preset threshold value and larger than a fourth preset threshold value, and screening lanes of a first target position from the lane set to serve as a recommended lane set, wherein the ramp starting point is one of the following: the method comprises the steps of starting a junction of a main road lane and a ramp diversion lane, and starting a junction of the ramp diversion lane and the ramp diversion lane. The third predetermined threshold may be a value of the minimum distance requirement of the traveling vehicle from the start of the ramp. For example, the third predetermined threshold may be 1.5km. The fourth predetermined threshold may be a value of the minimum distance requirement of the traveling vehicle from the start of the ramp. For example, the fourth predetermined threshold may be 1km. The lane of the first target location may be the first lane closest to the ramp entrance. For example, if the ramp entrance is located to the right of the lane, the lane of the first target position may be the rightmost lane. If the ramp entrance is located to the left of the lane, the lane of the first target location may be the leftmost lane.
And 2, responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to a fifth preset threshold value and larger than the third preset threshold value, and screening lanes of the first target position and lanes of the second target position from the lane set to serve as a recommended lane set. The fifth predetermined threshold may be a value of a minimum distance requirement of the traveling vehicle from the start point of the ramp. For example, the fifth predetermined threshold may be 2km. The lane of the second target location may be the nearest second lane to the ramp entrance. For example, if the ramp entrance is located to the right of the lane, the lane of the second target location may be a second lane from right to left. If the ramp entrance is located to the left of the lane, the lane of the second target location may be a second lane from left to right.
And 3, responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to a sixth preset threshold value and larger than the fifth preset threshold value, and screening lanes of the first target position, lanes of the second target position and lanes of the third target position from the lane set to serve as a recommended lane set. The sixth predetermined threshold may be a value of a minimum distance requirement of the traveling vehicle from the start of the ramp. For example, the sixth predetermined threshold may be 2.5km. The lane of the third target location may be the third lane closest to the ramp entrance. For example, if the ramp entrance is located on the right side of the lane, the lane of the third target position may be the third lane from right to left. If the ramp entrance is located to the left of the lane, the lane of the second target position may be the third lane from left to right.
And a sub-step 4 of determining each lane in the lane set as a recommended lane in response to the distance between the positioning information and the ramp starting point being less than or equal to the first predetermined threshold and greater than the sixth predetermined threshold, thereby obtaining the recommended lane set. The first predetermined threshold may be a value of a farthest distance from the road ahead scanned by the navigation assistance driving system mounted on the running vehicle. For example, the first predetermined threshold may be 3km.
Optionally, after determining each lane in the lane set as a recommended lane in response to the distance between the positioning information and the starting point of the ramp being less than or equal to the first predetermined threshold and greater than the sixth predetermined threshold, the method may further include the steps of:
and in response to the distance between the positioning information and the ramp starting point being less than or equal to a fourth preset threshold value, screening lanes of the first target position from the lane set, and executing the following second screening step for the ramp split lane set in the lane set:
and 1, determining the farthest ramp split lane in the ramp split lane set in response to the number of the ramp split lane sets being greater than or equal to a second preset threshold, wherein the farthest ramp split lane is the farthest ramp split lane from the driving vehicle at the ramp entrance.
And 2, determining the side distance of the lane of the split lane of the farthest ramp, wherein the side distance of the lane is the side distance of the lane entrance of the ramp or the parallel lane of the main road.
And 3, determining at least one lane from which the farthest ramp split lanes are removed in the ramp split lane set as a recommended lane set in response to the lane side distance being smaller than a seventh preset threshold. The seventh predetermined threshold may be a value at which the lane side distance is minimum. For example, the seventh predetermined threshold may be 120m.
And step 4, determining the ramp diversion lane set as a recommended lane set in response to the lane side distance being greater than or equal to a seventh preset threshold.
Optionally, the method further comprises:
in response to determining that the type of road ahead of the road corresponding to the lane in which the traveling vehicle is located is one of: the main road-to-ramp split road type, the ramp-to-ramp split road type, and the number of lanes corresponding to the lane set is equal to or smaller than the second predetermined threshold, and according to the positioning information of the driving vehicle, the following third screening step is executed:
and a substep 1, determining each lane in the lane set as a recommended lane in response to the distance between the positioning information and the ramp starting point being less than or equal to the first predetermined threshold and greater than the third predetermined threshold, and obtaining the recommended lane set.
And 2, responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to the third preset threshold value and larger than the fourth preset threshold value, and screening lanes at the first target position from the lane set to serve as a recommended lane set.
A substep 3, in response to the distance between the positioning information and the ramp start point being smaller than or equal to a fourth preset threshold, of screening the lanes of the first target position from the lane set, and executing the following fourth screening step for the ramp split lane set in the lane set:
And a first sub-step of determining a farthest ramp split lane among the ramp split lanes in response to the number of the ramp split lane sets being greater than or equal to the second predetermined threshold, wherein the farthest ramp split lane is a farthest ramp split lane from the traveling vehicle at a ramp entrance.
And a second substep, determining the lane side distance of the most-far ramp split lane.
And a third sub-step of determining at least one lane of the set of the ramp split lanes excluding the farthest ramp split lane as a recommended lane set in response to the lane side distance being smaller than a seventh predetermined threshold.
And a fourth sub-step of determining the ramp diversion lane set as a recommended lane set in response to the lane side distance being greater than or equal to a seventh preset threshold.
The technical scheme and the related content are taken as an invention point of the embodiment of the disclosure, so that the problem that the success rate of vehicle shunting is low in the driving process and the vehicle misses a correct shunting entrance in the technical problem three mentioned in the background art is solved. ". Factors that cause the vehicle to miss the correct split entrance are often as follows: the success rate of vehicle shunting during driving is low. If the factors are solved, the success rate of vehicle shunting in the driving process can be improved, and the vehicle shunting is successfully realized. To achieve this effect, the present disclosure first, in response to determining that the road ahead of the road corresponding to the lane in which the above-described traveling vehicle is located is one of the following types of road traveling: the main road-to-ramp split road type, the ramp-to-ramp split road type, and the number of lanes corresponding to the lane set is equal to or smaller than the second predetermined threshold, and according to the positioning information of the driving vehicle, the following third screening step is executed: and determining each lane in the lane set as a recommended lane in response to the distance between the positioning information and the starting point of the ramp being less than or equal to the first predetermined threshold and greater than the third predetermined threshold, thereby obtaining the recommended lane set. Here, the traveling vehicle can travel by arbitrarily selecting one lane line, and unnecessary lane change is not required. And secondly, responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to the third preset threshold value and larger than the fourth preset threshold value, and screening lanes of the first target position from the lane set to be used as a recommended lane set. Here, the traveling vehicle needs to change lanes from other lanes to the first target position lane, improving the success rate of vehicle diversion so as to correctly enter the corresponding diversion entrance. Then, in response to the distance between the positioning information and the ramp starting point being smaller than or equal to a fourth preset threshold value, the lane of the first target position is screened from the lane set, and the following fourth screening step is executed for the ramp split lane set in the lane set: and determining the most-distant ramp split lanes in the ramp split lane set in response to the number of the ramp split lane sets being greater than or equal to the second predetermined threshold, wherein the most-distant ramp split lanes are the most-distant ramp split lanes from the traveling vehicle at the ramp entrance. And determining the lane side surface distance of the farthest ramp diversion lane. The lane side distance of the most distant ramp split lane is determined for a subsequent recommendation of a different lane for the driving vehicle to drive, depending on the lane side distance. And determining at least one lane of the ramp diversion lane set excluding the farthest ramp diversion lane as a recommended lane set in response to the lane side distance being less than a seventh predetermined threshold. And determining the ramp diversion lane set as a recommended lane set in response to the lane side distance being greater than or equal to a seventh preset threshold. Here, the recommendation of the corresponding split lane is performed according to the magnitude of the lane side distance. Therefore, the corresponding diversion lanes are recommended to the target user under different conditions, and the success rate of vehicle diversion in the driving process is improved.
Optionally, the method for screening the recommended lane set from the lane set according to the lane road condition information may further include the following steps:
first, in response to determining that the type of road ahead of the road corresponding to the lane in which the traveling vehicle is located is one of: and determining whether the lanes are to be merged in the lane set or not according to the type of the ramp-to-main road merging road and the type of the ramp-to-ramp merging road. The lane to be merged may be a lane where a ramp merging lane intersects with a main road or a ramp merging lane intersects with a ramp, and the width of the lane gradually converges at the end intersecting with the main road or the ramp until the lane disappears, or a lane where a lane merging with an adjacent lane at the vertex of a ramp merging diversion area. The type of the ramp-to-main road merging road can be that the lane where the current running vehicle is located is taken as a main road, and the current running vehicle is about to run to the main road and is merged with other vehicles. The ramp-to-ramp converging road type can be that a lane where a current running vehicle is located is a ramp lane, and the current running vehicle is about to run to another ramp road and is converged with other vehicles.
And a second step of removing at least one lane to be merged from the lane set to obtain a removed lane set as a recommended lane set in response to determining that the lane exists.
And thirdly, determining each lane in the lane set as a recommended lane in response to determining that the recommended lane is not present, and obtaining the recommended lane set.
In some embodiments, the executing body may generate a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set, to obtain a recommended lane-level path set, where the lane set is a lane set in a target area, and the target area is a target sector area centered on the positioning information and having a radius of a first predetermined threshold. For example, the target sector area may be a sector area that is centered on the positioning information of the traveling vehicle, is directed in the traveling direction of the traveling vehicle, is directed at a radius of 3km, and can scan each lane in front of the traveling vehicle.
As an example, the lane where the driving vehicle is located may be a third lane of the main road from right to left, where the ramp entrance is located on the right side of the main road. When the distance of the traveling vehicle from the start point of the ramp is less than 2km, it is necessary to merge from the third lane to the second lane rightward. When the driving vehicle is driving on the second road, the distance from the starting point of the ramp is less than 1.5km, and the driving vehicle needs to sink to the right from the second road to the first lane.
And step 106, transmitting the recommended driving information for the recommended lane-level path set to the driving vehicle.
In some embodiments, the executing body may send recommended traveling information for the recommended lane-level path set to the traveling vehicle.
The above embodiments of the present disclosure have the following advantages: according to the recommended driving information sending method, useless lane changing can be reduced, and the safety of a vehicle is improved. In particular, the reason for the low safety of the vehicle concerned is that: the vehicle has useless lane change in the driving process, so that the safety of the vehicle is low. Based on this, the recommended traveling information transmission method of some embodiments of the present disclosure may first determine a road path corresponding to a target map according to a start point and an end point preset by a target user. Here, the resulting corresponding road path determines the traveling direction of the traveling vehicle. And secondly, determining a lane set of the road where the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle. Here, the obtained lane set is used for subsequent screening to obtain a recommended lane set. And then, determining the lane road condition information of the lane where the driving vehicle is located. And then, according to the lane road condition information, a recommended lane set is screened out from the lane set. Here, according to the road condition information of different lanes of the lane where the driving vehicle is located, screening is performed from the lane set to obtain a recommended lane set, useless lane change in the driving process is reduced, and the safety of the driving vehicle is further improved. And generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area with the positioning information as a center and a first preset threshold as a radius. Here, the traveling vehicle travels according to the recommended lane set, improving the safety of the vehicle. And finally, transmitting the recommended driving information for the recommended lane-level path set to the driving vehicle. Here, the traveling vehicle travels from the start point to the end point according to the received recommended traveling information, reducing unnecessary lane changes during traveling. Therefore, the recommended driving information sending method can reduce useless lane change and improve the safety of the vehicle.
With further reference to fig. 2, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a recommended traveling information sending apparatus, which correspond to those method embodiments shown in fig. 1, and which are particularly applicable to various electronic devices.
As shown in fig. 2, a recommended traveling information transmitting apparatus 200 includes: a first determination unit 201, a second determination unit 202, a third determination unit 203, a screening unit 204, a generation unit 205, and a transmission unit 206. Wherein the first determining unit 201 is configured to determine the road path corresponding to the target map according to the start point and the end point preset by the target user. The second determination unit 202 is configured to determine a lane set of a road on which the traveling vehicle is located, based on the road path and the positioning information of the traveling vehicle. The third determination unit 203 is configured to determine the lane road condition information of the lane in which the traveling vehicle is located. The screening unit 204 is configured to screen a recommended lane set from the lane sets according to the lane road condition information. The generating unit 205 is configured to generate a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set, and obtain a recommended lane-level path set, where the lane set is a lane set in a target area, and the target area is a target sector area centered on the positioning information and having a radius of a first predetermined threshold. The transmission unit 206 is configured to transmit recommended traveling information for the recommended lane-level route set described above to the traveling vehicle described above.
It will be appreciated that the elements described in the apparatus 200 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting benefits described above for the method are equally applicable to the apparatus 200 and the units contained therein, and are not described in detail herein.
Referring now to fig. 3, a schematic diagram of an electronic device (e.g., electronic device) 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 308 including, for example, magnetic tape, hard disk, etc.; and communication means 309. The communication means 309 may allow the electronic device 300 to communicate with other devices wirelessly or by wire to exchange data. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 3 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 309, or from storage device 308, or from ROM 302. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 301.
It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a road path corresponding to a target map according to a starting point and a stopping point preset by a target user; determining a lane set of a road on which the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle; determining the road condition information of the lane where the driving vehicle is located; screening a recommended lane set from the lane set according to the lane road condition information; generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area with the positioning information as a center and a first preset threshold as a radius; and transmitting recommended driving information for the recommended lane-level path set to the driving vehicle.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a first determination unit, a second determination unit, a third determination unit, a screening unit, a generation unit, and a transmission unit. The names of these units do not constitute a limitation on the unit itself in some cases, and for example, the first determination unit may also be described as "a unit that determines a road path corresponding to a target map from a start point and an end point preset by a target user".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (9)
1. A recommended traveling information transmission method, comprising:
determining a road path corresponding to a target map according to a starting point and a stopping point preset by a target user;
determining a lane set of a road where the traveling vehicle is located according to the road path and the positioning information of the traveling vehicle;
determining the road condition information of a lane where the running vehicle is located;
screening a recommended lane set from the lane set according to the lane road condition information;
generating a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area taking the positioning information as a center and taking a first preset threshold value as a radius;
and sending recommended driving information aiming at the recommended lane-level path set to the driving vehicle.
2. The method of claim 1, wherein the screening the recommended lane set from the lane set according to the lane road condition information comprises:
determining whether lanes to be merged exist in the lane set or not in response to determining that the front road driving type of the road corresponding to the lane where the driving vehicle is located is a main road-to-main road type;
In response to determining that there is at least one lane to be incorporated from the lane set, obtaining a removed lane set as a recommended lane set;
and in response to determining that the recommended lane set does not exist, determining each lane in the lane set as a recommended lane, and obtaining the recommended lane set.
3. The method of claim 1, wherein the screening the recommended lane set from the lane set according to the lane road condition information comprises:
in response to determining that the forward road travel type of the road corresponding to the lane in which the traveling vehicle is located is one of: the main road-to-ramp split road type, the ramp-to-ramp split road type, and the number of lanes corresponding to the lane set is larger than a second preset threshold, and according to the positioning information of the running vehicle, the following first screening step is executed:
and responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to a third preset threshold value and larger than a fourth preset threshold value, and screening lanes of the first target position from the lane set to serve as a recommended lane set, wherein the ramp starting point is one of the following: a starting point of a junction of the main road lane and the ramp diversion lane, and a starting point of a junction of the ramp diversion lane and the ramp diversion lane;
Selecting a lane of a first target position and a lane of a second target position from the lane set as a recommended lane set in response to the distance between the positioning information and the ramp starting point being less than or equal to a fifth predetermined threshold and greater than the third predetermined threshold;
responding to the fact that the distance between the positioning information and the ramp starting point is smaller than or equal to a sixth preset threshold value and larger than the fifth preset threshold value, and screening lanes of a first target position, lanes of a second target position and lanes of a third target position from the lane set to serve as a recommended lane set;
and determining each lane in the lane set as a recommended lane in response to the distance between the positioning information and the starting point of the ramp being smaller than or equal to the first preset threshold and larger than the sixth preset threshold, and obtaining the recommended lane set.
4. The method of claim 3, after said determining each lane of the set of lanes as a recommended lane resulting in the set of recommended lanes in response to the distance of the positioning information from the ramp start being less than or equal to the first predetermined threshold and greater than the sixth predetermined threshold, the method further comprising:
In response to the positioning information being less than or equal to a fourth preset threshold from the ramp start point, selecting a lane of a first target location from the lane set, and performing the following second screening step for a ramp split lane set in the lane set:
determining a farthest ramp split lane in the ramp split lane set in response to the number of the ramp split lane sets being greater than or equal to a second predetermined threshold, wherein the farthest ramp split lane is the farthest ramp split lane from the traveling vehicle at a ramp entrance;
determining the side distance of the lane of the split lane of the farthest ramp, wherein the side distance of the lane is the side distance of the lane entrance of the ramp or the parallel lane of the main road;
determining at least one lane of the set of ramp split lanes excluding the furthest ramp split lane as a set of recommended lanes in response to the lane side distance being less than a seventh predetermined threshold;
and determining the ramp diversion lane set as a recommended lane set in response to the lane side distance being greater than or equal to a seventh preset threshold.
5. The method of claim 1, wherein the screening the recommended lane set from the lane set according to the lane road condition information comprises:
In response to determining that the forward road travel type of the road corresponding to the lane in which the traveling vehicle is located is one of: the type of the converging road from the ramp to the main road and the type of the converging road from the ramp to the ramp are used for determining whether the lanes are to be merged in the lane set;
in response to determining that there is at least one lane to be incorporated from the lane set, obtaining a removed lane set as a recommended lane set;
and in response to determining that the recommended lane set does not exist, determining each lane in the lane set as a recommended lane, and obtaining the recommended lane set.
6. A recommended traveling information transmitting apparatus comprising:
a first determining unit configured to determine a road path corresponding to a target map according to a start point and an end point preset by a target user;
a second determining unit configured to determine a lane set of a road on which the traveling vehicle is located, based on the road path and positioning information of the traveling vehicle;
a third determination unit configured to determine lane road condition information of a lane in which the traveling vehicle is located;
the screening unit is configured to screen a recommended lane set from the lane sets according to the lane road condition information;
a generation unit configured to generate a recommended lane-level path from the positioning information to each recommended lane in the recommended lane set, to obtain a recommended lane-level path set, wherein the lane set is a lane set in a target area, and the target area is a target sector area with the positioning information as a center and a first predetermined threshold as a radius;
And a transmission unit configured to transmit recommended traveling information for the recommended lane-level path set to the traveling vehicle.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-5.
8. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-5.
9. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-5.
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