CN115273477A

CN115273477A - Crossing driving suggestion pushing method, device and system and electronic equipment

Info

Publication number: CN115273477A
Application number: CN202210956548.8A
Authority: CN
Inventors: 徐少朋; 凤鸾; 张海勇; 包金艳
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-11-01
Anticipated expiration: 2042-08-10
Also published as: CN115273477B

Abstract

The disclosure provides a method, a device and a system for pushing driving advice at a road junction and electronic equipment, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, intelligent transportation and the like. The specific implementation scheme is as follows: the method comprises the steps of acquiring a road surface distance between a vehicle and a target intersection to be passed ahead in the vehicle running process, determining driving suggestion information of the vehicle at the target intersection based on current running data of the vehicle and current intersection state information of the target intersection sent by road side equipment under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold, and sending the driving suggestion information to the vehicle. Therefore, the driving suggestion information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle which is about to pass through the intersection and the current driving data of the vehicle, so that the vehicle can be driven safely at the intersection based on the driving suggestion information conveniently, and the safe driving of the vehicle is facilitated.

Description

Crossing driving suggestion pushing method, device and system and electronic equipment

Technical Field

The disclosure relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, intelligent transportation and the like, and particularly relates to a method, a device and a system for pushing driving suggestions at intersections and electronic equipment.

Background

The Vehicle to electric Vehicle (V2X) means that the driving safety is improved, the traffic efficiency is improved, and the purposes of energy saving and environmental protection are achieved by performing information interaction between vehicles and vehicles, roads and people. V2X may include Vehicle to Vehicle (V2V), vehicle to Pedestrian (V2P), vehicle to Infrastructure (V2I), and Vehicle to Network (V2N), among others.

In the process of driving a vehicle by a driver, the vehicle often passes through an intersection, and how to assist the vehicle to safely and quickly pass through the intersection based on the vehicle networking technology is very important for the safe driving of the vehicle.

Disclosure of Invention

The disclosure provides a method, a device, a system, electronic equipment and a storage medium for pushing intersection driving advice.

According to an aspect of the present disclosure, there is provided a method for pushing intersection driving advice, the method including: acquiring the road surface distance between a vehicle and a target intersection; acquiring current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold; acquiring current intersection state information of the target intersection, which is sent by roadside equipment; determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information; transmitting the driving advice information to the vehicle.

According to another aspect of the present disclosure, there is provided an intersection driving advice pushing device, the device including: the first acquisition module is used for acquiring the road distance between the vehicle and the target intersection; the second acquisition module is used for acquiring the current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold; the third acquisition module is used for acquiring the current intersection state information of the target intersection sent by the road side equipment; the first determination module is used for determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information; the first sending module is used for sending the driving suggestion information to the vehicle.

According to another aspect of the present disclosure, a driving suggestion push system at a road junction is provided, including a vehicle, a cloud server and a roadside device, wherein: the cloud server is used for acquiring the road distance between the vehicle and the target intersection; acquiring current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold; acquiring current intersection state information of the target intersection, which is sent by roadside equipment; determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information; and transmitting the driving advice information to the vehicle; the vehicle is used for sending the current driving data to the cloud server and receiving the driving suggestion information of the cloud server; and the road side equipment is used for determining the current intersection state information according to the current sensing data of the target intersection and sending the current intersection state information to the cloud server.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intersection driving advice push method of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the intersection driving advice push method disclosed in the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the intersection driving advice pushing method of the present disclosure.

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

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;

FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;

FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;

FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;

FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;

FIG. 7 is a schematic diagram according to a seventh embodiment of the present disclosure;

FIG. 8 is a schematic illustration according to an eighth embodiment of the present disclosure;

FIG. 9 is a schematic diagram according to a ninth embodiment of the present disclosure;

figure 10 is a schematic illustration according to a tenth embodiment of the present disclosure;

fig. 11 is a block diagram of an electronic device for implementing the intersection driving advice push method of the embodiment of the present disclosure.

Detailed Description

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

In the related art, when a driver drives a vehicle to pass through an intersection ahead, a navigation function server provides data such as map data, navigation path planning, and road congestion information to a vehicle-mounted terminal of the vehicle when the vehicle uses a navigation function. However, the navigation function server relies on traffic management data, determines road conditions of a front intersection such as road congestion data by means of a monitoring type signal control device, and cannot provide more driving suggestion information for a user, so that for an intersection where a vehicle is about to pass, how to provide accurate driving suggestion information for the vehicle based on current intersection state information of the intersection is provided, and the navigation function server is very important for assisting a driver to quickly and effectively make a response to safe driving of the vehicle.

Therefore, in the process of vehicle driving, the road surface distance between the vehicle and the target intersection to be passed ahead is obtained, and under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold value, the driving suggestion information of the vehicle on the target intersection is determined based on the current driving data of the vehicle and the current intersection state information of the target intersection sent by the road side equipment, and the driving suggestion information is sent to the vehicle. Therefore, the driving suggestion information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle which is about to pass through the intersection and the current driving data of the vehicle, so that the vehicle can be driven safely at the intersection based on the driving suggestion information conveniently, and the safe driving of the vehicle is facilitated.

The intersection driving advice push method, apparatus, system, electronic device, and storage medium of the embodiments of the present disclosure are described below with reference to the drawings.

Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure, which provides an intersection driving advice push method.

As shown in fig. 1, the intersection driving advice push method may include:

step 101, obtaining a road surface distance between a vehicle and a target intersection.

The road surface distance refers to a distance which a vehicle travels to reach a target intersection along a current road.

In some examples, the target intersection may be an intersection through which the vehicle is about to pass along the current road.

It should be noted that the main execution body of the intersection driving advice pushing method is an intersection driving advice pushing device, the intersection driving advice pushing device can be implemented by software and/or hardware, and the intersection driving advice pushing device can be an electronic device or can be configured in the electronic device.

The electronic device may include, but is not limited to, a terminal device, a server, and the like, and the embodiment does not specifically limit the electronic device.

In the present example embodiment, an example is described by taking an electronic device as a cloud server.

It should be noted that the electronic device in this embodiment may perform data communication with a vehicle.

As an exemplary embodiment, during the driving process of the vehicle on the current road, the position information and the driving direction of the vehicle can be obtained in real time, and based on the position information and the driving direction, it is determined whether an intersection exists in front of the vehicle, if so, the intersection can be used as a target intersection, and based on the current position information of the vehicle, the road surface distance between the vehicle and the target intersection can be determined.

And 102, acquiring current driving data of the vehicle under the condition that the road surface distance between the vehicle and the target intersection is less than a preset distance threshold.

The current driving data may include, but is not limited to, current position information, driving direction, heading angle, corresponding time information, and the like, which is not limited in this embodiment.

The preset distance threshold is preset according to actual requirements. For example, the preset distance threshold may be 300 meters, 500 meters, and the like, and in some examples, a value of the preset distance threshold may be predetermined in combination with one or more of a sensing range of a roadside device at the target intersection, the number of lanes, a historical road condition, and the like, which is not limited in this embodiment.

In some examples, the preset distance threshold may be set in conjunction with a perception range of each roadside device at the target intersection. For example, the sensing range of each roadside device at the target intersection may be obtained, the maximum sensing distance of the sensing range of each roadside device may be determined, the minimum value of each maximum sensing distance may be obtained, and the minimum value may be set as the preset distance threshold.

In other examples, the value of the preset distance threshold may be preset in combination with the driving advice information, for example, in a case that the driving advice information is lane advice information, the preset distance threshold may be set to 350 meters, where it should be noted that, in a case that the distance between the vehicle and the road surface of the target intersection is less than 350 meters, when the driving advice is pushed to the vehicle, the suggested lane advice information is determined in combination with the current situation of the vehicle at the target intersection, and therefore, the pushed lane advice information better meets the driving requirement of the vehicle, and is beneficial to the safe driving of the vehicle at the target intersection.

In other examples, the preset distance threshold may be set in conjunction with a perception range of the target intersection in the case where the driving advice information is a green wave vehicle speed advice, or, in the case where the target intersection has a fence, a distance from an end point of the fence far away from the target intersection to the target intersection may be determined and a value of the preset distance threshold may be set based on the distance. For example, a preset distance threshold may be set as the distance of the endpoint to the target intersection.

And 103, acquiring current intersection state information of the target intersection, which is sent by the road side equipment.

In some exemplary embodiments, a roadside device may be disposed at the target intersection, and the roadside device may sense the target intersection to obtain current sensing data of the target intersection, and determine current intersection state information of the target intersection according to the current sensing data. Correspondingly, the road side equipment sends the current intersection state information of the target intersection to an intersection driving suggestion recommending device. Correspondingly, the intersection driving suggestion recommending device receives the current intersection state information of the target intersection, which is sent by the road side equipment.

It should be noted that, in this example embodiment, the roadside device may send the current intersection state information of the target intersection to the intersection driving suggestion pushing device in real time.

In this exemplary embodiment, the roadside device may include, but is not limited to, a signal control device, a camera, and a roadside computing unit. Correspondingly, a camera in the road side equipment can acquire a road junction image corresponding to the target road junction, and correspondingly, a road side computing unit in the road side equipment can determine the current road junction state information corresponding to the target road junction according to the road junction image.

The current intersection state information in this exemplary embodiment may include, but is not limited to, one or more of vehicle flow information, queuing information, overflow state, traffic accident, headway, lane state, real-time signal light information, and the like, and in an actual application, the current intersection state information may be selected and expanded according to an actual application requirement, which is not limited in this embodiment.

In some exemplary embodiments, the roadside device in this example may be connected to the intersection driving suggestion recommendation device by way of a public network or a proprietary network.

And step 104, determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information.

In the present exemplary embodiment, the above-described driving advice information is some advice information related to vehicle driving, such as green wave vehicle speed advice information, lane advice information, and the like, which is determined based on the current traveling data and the current intersection state information.

Step 105, the driving advice information is sent to the vehicle.

Correspondingly, the vehicle receives the driving advice information transmitted by the intersection driving advice recommending device and outputs the driving advice information.

In some examples, the vehicle may display the driving advice information on a display screen of the in-vehicle terminal. In other examples, the vehicle may play the driving advice information audibly. In other examples, the vehicle may display the driving advice information on a display screen of the in-vehicle terminal and play the driving advice information by voice. Therefore, the user can know the driving suggestion information without looking up the display screen of the vehicle-mounted terminal, and the driving safety is further improved.

It should be noted that, in practical application, the output mode of the driving advice information may be set according to actual requirements, and this embodiment is not particularly limited to this.

According to the crossing driving suggestion pushing method provided by the embodiment of the disclosure, in the driving process of a vehicle, the road surface distance between the vehicle and a target crossing to be passed ahead is obtained, and under the condition that the road surface distance between the vehicle and the target crossing is smaller than a preset distance threshold, the driving suggestion information of the vehicle on the target crossing is determined based on the current driving data of the vehicle and the current crossing state information of the target crossing sent by road side equipment, and the driving suggestion information is sent to the vehicle. Therefore, the driving suggestion information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle which is about to pass through the intersection and the current driving data of the vehicle, so that the vehicle can be driven safely at the intersection based on the driving suggestion information conveniently, and the safe driving of the vehicle is facilitated.

It can be understood that, in some scenarios, for a certain steering direction, multiple lanes corresponding to the steering direction may exist at a target intersection, and vehicle queue lengths corresponding to different lanes may be different, and during a driving process of the vehicle, the vehicle may know a target lane having a shortest vehicle queue length corresponding to its steering direction, the driving recommendation information in this exemplary embodiment may include lane recommendation information, which is exemplarily described below with reference to fig. 2, where fig. 2 is a schematic diagram according to a second embodiment of the present disclosure, and this exemplary embodiment is a further refinement of a road intersection driving recommendation pushing method.

As shown in fig. 2, the intersection driving advice push method may include:

step 201, obtaining a road distance between a vehicle and a target intersection.

And 202, acquiring the current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value.

Step 203, obtaining the current intersection state information of the target intersection sent by the road side equipment.

It should be noted that, for specific implementation manners of step 201 to step 203, reference may be made to the relevant description of the foregoing embodiments, and details are not described herein again.

Step 204, the predicted steering direction of the vehicle at the target intersection is determined.

It will be appreciated that in different application scenarios, determining the predicted turning direction of the vehicle at the target intersection can be accomplished in a number of ways, with the following exemplary implementation:

as an example, in a case where the vehicle does not use the navigation function, a plurality of turning directions corresponding to the target intersection may be sent to the vehicle, and the predicted turning direction of the vehicle at the target intersection may be determined according to a selection result returned by the vehicle.

As another example, in the case where the vehicle uses a navigation function, a predicted turning direction of the vehicle at the target intersection is determined from the navigation path according to the navigation path currently used by the vehicle.

It should be noted that the navigation path includes information such as a turning direction at each intersection through which the vehicle passes from the start position to the destination position.

In the present exemplary embodiment, in the case where the navigation function is used by the vehicle, the predicted turning direction of the vehicle at the target intersection is determined quickly and accurately by the navigation path currently used by the vehicle.

The predicted turning direction is one of a straight direction, a left-turning direction, a right-turning direction, and the like.

In other examples, historical turn direction data of the vehicle at the target intersection is obtained without the vehicle using the navigation function; and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

In this example, the predicted turn direction of the vehicle at the target intersection is accurately determined in conjunction with the historical turn direction data of the vehicle at the target intersection.

In some examples, from historical turn direction data, one possible implementation of determining a predicted turn direction for the vehicle at the target intersection is: according to the historical steering direction data, the steering times of the vehicle in all the steering directions are determined, and the steering direction with the highest steering time is obtained from the multiple steering directions and is used as the predicted steering direction of the vehicle on the target road.

In other examples, one possible implementation of determining a predicted turn direction of the vehicle at the target intersection based on historical turn direction data is: according to historical steering direction data, determining the steering times of the vehicle in each steering direction, acquiring a plurality of candidate steering directions of which the steering times exceed a preset time threshold from the plurality of steering directions, providing the plurality of candidate steering directions for the vehicle, and determining the predicted steering direction of the vehicle at the target intersection according to a selection result returned by the vehicle.

Step 205, determining the current vehicle speed of the vehicle to be greater than a preset first vehicle speed threshold according to the current driving data, and determining the vehicle queue length of each lane according to the current intersection state information under the condition that a plurality of lanes with predicted steering directions exist at the target intersection.

It should be noted that the first vehicle speed threshold is a critical value of the vehicle speed of the vehicle preset according to an actual demand, for example, the first vehicle speed threshold may be 20 kilometers per second (KM/s).

In this exemplary embodiment, the current vehicle speed of the vehicle may be obtained from the current driving data, and it is determined whether the current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, if the current vehicle speed of the vehicle is greater than the preset first vehicle speed threshold, it is further determined whether there are a plurality of lanes corresponding to the predicted steering direction at the target intersection, and if so, the vehicle queue length of each lane is obtained from the current intersection state information.

In some examples, the vehicle queue lengths of the lanes corresponding to the respective steering directions may be included in the current intersection state information. Correspondingly, the vehicle queue length of each lane can be obtained from the current intersection state information.

In still other embodiments of the present disclosure, it may be determined that the lane suggestion condition is not satisfied in a case where it is determined that the current vehicle speed of the vehicle is less than or equal to a preset first vehicle speed threshold.

The lane changing method includes the steps that if the current vehicle speed of the vehicle is smaller than or equal to a preset first vehicle speed threshold value, the vehicle is in a traffic jam state, at the moment, even if a lane is recommended, the vehicle cannot change the lane, and at the moment, lane recommendation does not need to be carried out on the vehicle.

And step 206, determining a target lane with the shortest vehicle queuing length from the lanes.

Step 207, sending lane suggestion information to the vehicle, wherein the lane suggestion information comprises lane information of the target lane.

Correspondingly, after the vehicle receives the lane suggestion information, the lane information of the target lane can be output in a display and/or voice playing mode.

For example, the lane suggestion information may be: the target lane is the leftmost lane in the traveling direction of the vehicle.

In this exemplary embodiment, for a target intersection where the vehicle is about to pass, under the condition that the predicted steering direction of the vehicle at the target intersection is determined, the target lane with the shortest vehicle queuing length among the multiple lanes corresponding to the predicted steering direction is determined by combining the current driving data of the vehicle and the current intersection data of the target intersection, and the lane information of the target lane is sent to the vehicle, so that the vehicle can know the lane information of the target lane with the shortest vehicle queuing length, the lane change of the vehicle based on the lane suggestion information is facilitated, and the safe driving of the vehicle is facilitated.

Based on the above embodiments, in order to make the recommended target lane meet the lane change requirement of the vehicle, in some exemplary embodiments, before determining the target lane with the shortest vehicle queuing length from the multiple lanes, the method further includes: and determining the maximum value and the minimum value in the vehicle queuing lengths of all the lanes, and determining that the difference value between the maximum value and the minimum value is greater than a preset length threshold value.

The preset length threshold is a threshold of the vehicle queuing length preset according to actual requirements, and for example, the preset length threshold may be 20 meters.

In other examples, if it is determined that the difference between the maximum value and the minimum value is less than or equal to the preset length threshold, it is determined that the difference between the vehicle queue lengths of the lanes in the respective predicted steering directions is not large, and at this time, the meaning of recommending the target lane with the shortest vehicle queue length to the vehicle is not large, and therefore, in the case where it is determined that the difference between the maximum value and the minimum value is less than or equal to the preset length threshold, it may be determined that the vehicle big settlement condition is not satisfied, and at this time, the lane suggestion information is not transmitted to the vehicle.

In order to clearly understand the scheme of transmitting the lane advice information to the vehicle, the method of the embodiment is exemplarily described below with reference to fig. 3.

Fig. 3 is a schematic diagram according to a third embodiment of the present disclosure.

As shown in fig. 3, the intersection driving advice push method may include:

step 301, receiving the driving data reported by the vehicle in real time.

Step 302, current intersection state information on a target intersection through which a vehicle is about to pass is obtained based on road side equipment, wherein the current intersection state information includes countdown time when a signal lamp of the target intersection is in a red light state.

Step 303, when the signal lamp is in a red light state, determining whether the road distance from the vehicle to the target intersection at the moment is within a preset distance range according to the driving data, if so, continuing to execute step 304, and if not, executing step 305.

Step 304, determining whether the current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold value according to the driving data, and judging whether the number of lanes corresponding to the predicted steering direction of the vehicle at the target intersection is greater than or equal to 2, if so, continuing to execute step 306, otherwise, executing step 305.

Step 305, the lane suggestion condition is not satisfied.

It should be noted that, when the lane suggestion condition is not satisfied, the intersection driving suggestion recommending device does not transmit the lane suggestion information to the vehicle.

Step 306, according to the current intersection state information of the target intersection sent by the road side equipment, determining whether the difference between the maximum value of the vehicle queuing length and the minimum value of the vehicle queuing length is above a preset length threshold, if so, executing step 307, otherwise, executing step 305.

And 307, determining a target lane with the shortest vehicle queuing length from a plurality of lanes corresponding to the predicted steering direction.

Step 308, sending lane information of the target lane to the vehicle.

In an embodiment of the present disclosure, when it is determined that the signal lamp of the target intersection is in the green light state, it may be determined that the vehicle is in the green light state based on the remaining time of the green light state of the vehicle, the current traffic condition of the target intersection, and the driving data of the vehicle, and the vehicle may obtain the green wave vehicle speed suggestion information through the green wave vehicle speed suggestion information of the target intersection, so that the vehicle can conveniently obtain the green wave vehicle speed suggestion information. In order to clearly understand the process of transmitting the green wave vehicle speed advice information to the vehicle, the intersection driving advice push method of the embodiment is exemplarily described below with reference to fig. 4.

Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure, which is a further refinement of the intersection driving advice push method.

As shown in fig. 4, the intersection driving advice push method may include:

step 401, obtaining a road distance between a vehicle and a target intersection.

Step 402, acquiring current driving data of the vehicle when the road distance is smaller than a preset distance threshold, wherein the current driving data includes a current position.

Step 403, obtaining current intersection state information of the target intersection sent by the road side equipment.

It should be noted that, for specific implementation manners of step 401 to step 403, reference may be made to the relevant description of the foregoing embodiments, and details are not described herein again.

Step 404, determine a distance traveled between the current position and a stopping position of the vehicle at the target intersection.

In one embodiment of the present disclosure, the traffic condition type at the target intersection can be determined according to the current intersection state information, and the stopping position of the vehicle at the target intersection can be determined according to the traffic condition type.

Step 405, according to the current intersection state information, determining the waiting time of the signal lamp at the target intersection and the traffic condition type of the target intersection.

And step 406, determining the green wave speed of the vehicle according to the driving distance, the waiting time, the traffic condition type and the traffic speed corresponding to the traffic condition type.

In some exemplary embodiments, the passing time of the vehicle is determined according to the waiting time, the traffic condition type and the communication speed corresponding to the traffic condition type, and the green wave speed of the vehicle is determined according to the running distance and the passing time.

In this exemplary embodiment, for a target intersection through which the vehicle is about to pass, the green wave vehicle speed of the vehicle is determined by combining the current driving data of the vehicle and the current intersection state information of the target intersection, and the green wave vehicle speed is transmitted to the vehicle. Therefore, the vehicle can know the green wave vehicle speed passing through the target intersection in the green light state.

In one embodiment of the present disclosure, in order to enable the vehicle to safely pass through the target intersection, before the driving advice information is sent to the vehicle, it may be further determined that the green wave vehicle speed is greater than a preset second vehicle speed threshold value and is less than a vehicle speed limit value corresponding to the target intersection.

In some exemplary embodiments, in the case where it is determined that the green wave vehicle speed is less than or equal to the preset second vehicle speed threshold value, the vehicle does not normally adopt the green wave vehicle speed to pass through the target intersection while traveling due to the determined slow green wave vehicle speed, and therefore it may be determined that the green wave vehicle speed recommendation condition is not satisfied, and at this time, the green wave vehicle speed recommendation suggestion is not sent to the vehicle.

The second vehicle speed threshold is a threshold of a vehicle speed preset according to a demand, and may be, for example, 30km/s.

For clarity of understanding of the present disclosure, an exemplary process for transmitting a green wave vehicle speed to a vehicle is described below in conjunction with FIG. 5.

Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure.

As shown in fig. 5, the intersection driving advice push method may include:

step 501, receiving current driving data reported by a vehicle in real time.

Step 502, obtaining current intersection state information on a target intersection through which a vehicle is going to pass based on a roadside device, wherein the current intersection state information includes signal lamp information of the target intersection.

Step 503, determining whether the road surface distance between the vehicle and the target intersection is within a preset distance range according to the current position in the current driving data, if so, executing step 504, otherwise, executing step 505.

Step 504, determining whether the vehicle needs to wait for a green light at the intersection according to the current vehicle speed in the current driving data and the signal light information of the target intersection, if not, executing step 506, otherwise, executing step 505.

And step 505, the green wave vehicle speed recommendation condition is not met.

Correspondingly, in the case that the green wave vehicle speed recommendation condition is determined not to be met, the intersection driving suggestion recommending device does not send the green wave vehicle speed suggestion to the vehicle.

Step 506, determining the green wave vehicle speed of the vehicle according to the current intersection state information and the current driving data of the vehicle, and judging whether the green wave vehicle speed is greater than a preset second vehicle speed threshold value and smaller than a vehicle speed limit value corresponding to the target intersection, if so, executing step 507, otherwise, executing step 505.

Step 507, sending the green wave vehicle speed suggestion information including the green wave vehicle speed to the vehicle.

Correspondingly, the vehicle can directly output the green wave vehicle speed in the green wave vehicle speed suggestion information after receiving the green wave vehicle speed suggestion information.

In other exemplary embodiments, after the vehicle receives the green wave vehicle speed suggestion information, the vehicle may further determine whether a current vehicle speed of the vehicle is greater than a preset third vehicle speed threshold, if not, determine that the vehicle does not satisfy a condition for outputting the green wave vehicle speed suggestion, and if so, output the green wave vehicle speed suggestion information.

Wherein the third vehicle speed threshold is a preset vehicle speed threshold according to actual demand, for example, the third vehicle speed threshold may be 20km/s.

It can be understood that, if the current vehicle speed of the vehicle is less than the preset third vehicle speed threshold, it indicates that the vehicle is traveling very slowly at this time, and through the slow traveling of the vehicle, it can be known that the vehicle decides to wait for a red light and then passes through the target intersection at this time, and at this time, even if the vehicle outputs a green wave speed, the driver of the vehicle does not use the green wave vehicle speed. Therefore, in the present exemplary embodiment, in the case where the vehicle determines that the current vehicle speed of the vehicle is less than the preset third vehicle speed threshold, the vehicle no longer outputs the green wave vehicle speed transmitted by the intersection driving advice recommending means.

Based on any one of the above embodiments, in order to enable the vehicle to know the signal light information of the target intersection about to pass in front of the vehicle in real time in the driving process of the vehicle, in an embodiment of the present disclosure, the signal light information of the target intersection may be determined according to the current intersection state information, and the signal light information is sent to the vehicle. Correspondingly, the vehicle receives the signal light information and outputs the signal light information. From this, can make the vehicle can know the signal lamp information at the target crossing of will passing, avoid sheltering from because of other vehicles and can't know signal lamp information, perhaps highlight disturbs and does not see the emergence of the signal lamp condition clearly, further improved and driven driving safety.

The signal light information may include a current state of the signal light and remaining time information corresponding to the current state.

The current state may include a red light state, a green light state, a yellow light state, and the like.

Based on any one of the above embodiments, in some scenes, there may be some unequivocal traffic violations at the target intersection, for example, traffic violations such as red light running by pedestrians, red light running by non-motor vehicles, sudden intrusion of pedestrians, and sudden intrusion of non-motor vehicles, and in order to inform vehicles in advance and avoid dangers, in the case that it is determined that a traffic violation occurs at the target intersection according to current intersection state information, a warning message is sent to the vehicles, where the warning message is used to prompt the target intersection to have the traffic violation. Therefore, the vehicle can know that the traffic violation occurs at the target intersection through the reminding information, and can further pay more attention to the driving of the vehicle, so that the vehicle can be driven safely.

Based on any of the above embodiments, in order to make the vehicle have more knowledge about the target intersection, in some exemplary embodiments, the method further includes: and determining the crossing risk level of the target crossing according to the historical violation driving behavior of the target crossing and the historical traffic accident data, and sending reminding information containing the crossing risk level to the vehicle. Therefore, the vehicle can know the intersection risk level corresponding to the target intersection, and the intersection risk level of the target intersection is reminded, so that the safe driving of the vehicle is facilitated.

Based on any one of the above embodiments, the driving reminding information of the vehicle at the target intersection can be determined according to the current driving data and/or the current intersection state information, and the driving reminding information is sent to the vehicle. Therefore, the corresponding driving reminding information is sent to the vehicle in time, and safe driving of the vehicle is facilitated.

Wherein, the driving reminding information comprises at least one of the following: overspeed reminding information and red light running reminding information.

In some exemplary embodiments, in the case where the driving reminder information includes overspeed reminder information, an exemplary process of the intersection driving advice recommending apparatus determining whether the vehicle is overspeed is: the current speed in the current driving data can be compared with the corresponding vehicle speed limit value at the target intersection, and overspeed reminding information can be sent to the vehicle under the condition that the current speed exceeds the vehicle speed limit value. The vehicle speed reminding information is used for reminding that the current vehicle speed of the vehicle is overspeed. Therefore, the vehicle is subjected to overspeed reminding, and safe driving of the vehicle is facilitated.

In some exemplary embodiments, in the case that the driving reminding information includes red light running reminding information, an exemplary process of the intersection driving suggestion recommendation device determining whether the vehicle is at risk of running red light is as follows: whether the vehicle has the risk of running the red light or not can be determined according to the current running data and the current intersection state information, and correspondingly, under the condition that the vehicle is determined to run at the current speed and the risk of running the red light is increased, the red light running reminding information can be sent to the vehicle. Therefore, the vehicle can be reminded of running the red light, and safe driving of the vehicle is facilitated.

Correspondingly, the red light running reminding information is used for reminding the vehicle of paying attention to the traffic light information and reducing the speed.

In some exemplary embodiments, the driving reminding information may further include start reminding information, and correspondingly, when it is determined that the signal lamp corresponding to the lane where the vehicle is located is in a non-green state based on the current intersection state information, and it is determined that the vehicle has been suspended based on the current driving data, if it is determined that the signal lamp on the lane where the vehicle is located is changed from a yellow lamp to a green lamp according to the current intersection state information uploaded by the roadside device in real time, the start reminding may be sent to the vehicle, so that the vehicle may be started quickly based on the start reminding, the traffic efficiency at the target intersection is effectively enhanced, and the probability of occurrence of a traffic accident may be reduced.

In order to clearly understand the present disclosure, the intersection driving advice pushing method of the embodiment is exemplarily described below with reference to fig. 6, in the present exemplary embodiment, an example is given in which the intersection driving advice recommending apparatus includes a cloud control platform and a policy platform, and the vehicle includes the vehicle-mounted terminal. The interaction process among the vehicle-mounted terminal, the roadside device, the cloud control platform, and the policy platform, as shown in fig. 6, may include:

step 601, the vehicle-mounted terminal sends current driving data of the vehicle to the cloud control platform.

Step 602, the cloud control platform determines that the road distance between the vehicle and a target intersection to be passed ahead is smaller than a preset distance threshold according to the current driving data, determines signal lamp information of the intersection based on the current intersection state information of the target intersection sent by the road side equipment, and sends the signal lamp information to the vehicle-mounted terminal.

And step 603, the vehicle-mounted terminal outputs signal lamp information.

The vehicle-mounted terminal can display the signal lamp information on the interactive interface and can play the signal information in a voice mode, and the embodiment does not specifically limit the mode of outputting the signal lamp information by the vehicle-mounted terminal.

And step 604, sending the current intersection state information and the current driving data sent by the road test equipment to a strategy platform.

Step 605, the strategy platform performs safety analysis and efficiency analysis based on the current intersection state information and the current driving data to determine safety reminding information and driving suggestion information.

And 606, the strategy platform sends the safety reminding information and the driving suggestion information to the cloud control platform.

Step 607, the strategy platform forwards the safety reminding information and the driving suggestion information to the vehicle smashing terminal.

And step 608, the vehicle-mounted terminal outputs safety reminding information and driving suggestion information.

In the embodiment of the present invention, through the mutual interaction between the above four, the driving safety of the vehicle and the passing efficiency of the vehicle passing through the intersection can be greatly improved, and the driving safety of the vehicle is improved.

In order to clearly understand the intersection driving advice push method of the present disclosure, the intersection driving advice push method of the embodiment is exemplarily described below with reference to fig. 7, where the embodiment exemplifies that a vehicle uses a navigation function and the vehicle includes a vehicle-mounted terminal having the navigation function.

As shown in fig. 7, the intersection driving advice push method may include:

and step 701, the vehicle-mounted terminal sends current driving data of the vehicle to the cloud control platform.

Step 702, the cloud control platform determines that the road distance between the vehicle and a target intersection which is about to pass through ahead is smaller than a preset distance threshold according to the current driving data, and the cloud control platform acquires current intersection state information sent by road side equipment corresponding to the target intersection.

It should be noted that the roadside device corresponding to the target intersection sends intersection state information of the target intersection pair in real time.

And 703, the cloud control platform sends the current driving data and the current intersection state information to the strategy platform.

Step 704, the strategy platform determines the signal light information of the intersection according to the current driving data and the current intersection state information, and determines the driving suggestion information and the driving reminding information of the vehicle at the target intersection.

Step 705, the strategy platform sends the signal lamp information, the driving suggestion information and the driving reminding information to the cloud control platform.

And step 706, the cloud control platform forwards the signal lamp information, the driving suggestion information and the driving reminding information to the navigation function server.

And step 707, the navigation function server sends the signal lamp information, the driving suggestion information and the driving reminding information to a vehicle-mounted terminal in the vehicle.

In step 708, the on-board terminal in the vehicle may output signal light information, driving advice information, and driving reminder information.

In some exemplary embodiments, the in-vehicle terminal may display signal light information, driving advice information, and driving reminder information on the interactive interface.

In other exemplary embodiments, the vehicle-mounted terminal displays the signal lamp information, the driving advice information and the driving reminding information on the interactive interface, and can input the reminding information including the signal lamp information, the driving advice information and the driving reminding information in a voice playing mode, so that a driver can obtain the signal lamp information, the driving advice information and the driving reminding information without viewing the interactive interface, and the safe driving of a vehicle is further facilitated.

In order to implement the above embodiment, the embodiment of the present disclosure further provides a device for pushing driving advice at an intersection.

Fig. 8 is a schematic diagram according to an eighth embodiment of the present disclosure, which provides an intersection driving advice pushing device.

As shown in fig. 8, the crossing driving advice pushing device 80 may include a first obtaining module 801, a second obtaining module 802, a third obtaining module 803, a first determining module 804, and a first sending module 805, wherein:

the first obtaining module 801 is configured to obtain a road distance between a vehicle and a target intersection.

The second obtaining module 802 is configured to obtain current driving data of the vehicle when the road distance is smaller than a preset distance threshold.

The third obtaining module 803 is configured to obtain current intersection state information of the target intersection, which is sent by the road side device.

The first determining module 804 is configured to determine driving advice information of the vehicle at the target intersection according to the current driving data and the current intersection state information.

A first transmitting module 805 for transmitting the driving advice information to the vehicle.

The crossing driving suggestion pushing device of the embodiment of the disclosure obtains a road surface distance between a vehicle and a target crossing to be passed ahead in the vehicle driving process, determines driving suggestion information of the vehicle on the target crossing based on current driving data of the vehicle and current crossing state information of the target crossing sent by road side equipment under the condition that the road surface distance between the vehicle and the target crossing is smaller than a preset distance threshold, and sends the driving suggestion information to the vehicle. Therefore, the driving suggestion information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle which is about to pass through the intersection and the current driving data of the vehicle, so that the vehicle can be driven safely at the intersection based on the driving suggestion information conveniently, and the safe driving of the vehicle is facilitated.

In one embodiment of the present disclosure, as shown in fig. 9, the intersection driving advice pushing device 90 may include: the first obtaining module 901, the second obtaining module 902, the third obtaining module 903, the first determining module 904, the first sending module 905, the second determining module 906, the third determining module 907, the second sending module 908, the third sending module 909, the fourth determining module 910, the fourth sending module 911, the fifth determining module 912, and the fifth sending module 913 may include a first determining unit 9041, a second determining unit 9042, a third determining unit 9043, a fourth determining unit 9044, a fifth determining unit 9045, a sixth determining unit 9046, a seventh determining unit 9047, and an eighth determining unit 9048.

It should be noted that for the detailed description of the first obtaining module 901, the second obtaining module 902, and the third obtaining module 903, reference may be made to the description of the first obtaining module 801, the second obtaining module 802, and the third obtaining module 803 in fig. 8, and a description thereof is not repeated here.

In one embodiment of the present disclosure, the driving advice information includes lane advice information, and the first determining module 904 includes:

a first determination unit 9041 for determining a predicted turning direction of the vehicle at the target intersection;

a second determining unit 9042, configured to determine, according to the current driving data, that a current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, and determine, according to the current intersection state information, a vehicle queuing length of each lane when multiple lanes in the steering direction are present and predicted at the target intersection;

a third determining unit 9043, configured to determine, from the multiple lanes, a target lane in which the vehicle queue length is shortest;

the first sending module 905 is specifically configured to send lane suggestion information to the vehicle, where the lane suggestion information includes lane information of the target lane.

In an embodiment of the disclosure, the first determining module 904 further includes:

a fourth determining unit 9044, configured to determine a maximum value and a minimum value of vehicle queue lengths of the lanes;

a fifth determining unit 9045, configured to determine that a difference between the maximum value and the minimum value is greater than the preset length threshold.

In an embodiment of the present disclosure, the first determining unit 9041 is specifically configured to: under the condition that the vehicle uses the navigation function, according to the navigation path currently used by the vehicle; and determining the predicted steering direction of the vehicle at the target intersection according to the navigation path.

In an embodiment of the present disclosure, the first determining unit 9041 is specifically configured to: under the condition that the vehicle does not use the navigation function, acquiring historical turning direction data of the vehicle at a target intersection; and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

In one embodiment of the present disclosure, the driving advice information includes a green wave vehicle speed, the current driving data includes a current position, and the first determination module 904 includes:

a sixth determining unit 9046 for determining a travel distance between the current position and a stop position of the vehicle at the target intersection;

a seventh determining unit 9047, configured to determine, according to the current intersection state information, waiting time of a signal lamp at the target intersection and a traffic condition type of the target intersection;

an eighth determining unit 9048 determines the green wave speed of the vehicle according to the running distance, the waiting time, the traffic condition type and the traffic speed corresponding to the traffic condition type.

In one embodiment of the present disclosure, the apparatus further comprises:

the second determining module 906 is configured to determine that the green wave vehicle speed is greater than a preset second vehicle speed threshold and is less than a vehicle speed limit corresponding to the target intersection.

In one embodiment of the present disclosure, the apparatus further comprises:

a third determining module 907, configured to determine signal light information of the target intersection according to the current intersection state information;

and a second sending module 908 for sending signal light information to the vehicle.

In one embodiment of the present disclosure, the apparatus further comprises:

and a third sending module 909, configured to send a prompting message to the vehicle when it is determined that the traffic violation occurs at the target intersection according to the current intersection state information, where the prompting message is used to prompt the traffic violation at the target intersection.

In one embodiment of the present disclosure, the apparatus further comprises:

a fourth determining module 910, configured to determine an intersection risk level of the target intersection according to historical violation driving behaviors of the target intersection and historical traffic accident data;

a fourth sending module 911, configured to send a warning message including the intersection risk level to the vehicle.

In one embodiment of the present disclosure, the apparatus further comprises:

a fifth determining module 912, configured to determine driving reminding information of the vehicle at the target intersection according to the current driving data and/or the current intersection state information;

and a fifth sending module 913, configured to send driving reminding information to the vehicle.

In one embodiment of the present disclosure, the driving reminder information includes at least one of: overspeed reminding information and red light running reminding information.

It should be noted that the explanation of the method for pushing the driving advice of the intersection is also applicable to the device for pushing the driving advice of the intersection in this embodiment, and the embodiment is not described again.

In order to implement the above embodiment, the embodiment of the present disclosure further provides a system for pushing driving advice at an intersection.

Fig. 10 is a schematic diagram according to a tenth embodiment of the present disclosure, which provides an intersection driving advice pushing system.

As shown in fig. 10, the intersection driving advice push system 100 may include: vehicle 1001, cloud server 1002 and roadside equipment 1003, wherein:

the cloud server 1002 is used for acquiring the road distance between the vehicle 1001 and the target intersection; acquiring current driving data of the vehicle 1001 when the road surface distance is smaller than a preset distance threshold; acquiring current intersection state information of the target intersection, which is sent by the roadside device 1003; determining driving suggestion information of the vehicle 1001 at the target intersection according to the current driving data and the current intersection state information; and transmitting driving advice information to the vehicle 1001;

a vehicle 1001 configured to send current driving data to the cloud server 1002 and receive driving advice information of the cloud server 1002;

the road side device 1003 is configured to determine current intersection state information according to the current sensing data of the target intersection, and send the current intersection state information to the cloud server 1002.

In an embodiment of the present disclosure, the driving advice information includes lane advice information, and the specific process of determining the driving advice information of the vehicle 1001 at the target intersection by the cloud server 1002 according to the current driving data and the current intersection state information is as follows: determining a predicted steering direction of vehicle 1001 at the target intersection; determining that the current vehicle speed of the vehicle 1001 is greater than a preset first vehicle speed threshold value according to the current driving data, and determining the vehicle queuing length of each lane according to the current intersection state information under the condition that a plurality of lanes in the steering direction are predicted and exist at the target intersection; determining a target lane with the shortest vehicle queuing length from the lanes; the lane suggestion information is transmitted to the vehicle 1001, wherein the lane suggestion information includes lane information of the target lane.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine a maximum value and a minimum value of the vehicle queue lengths of the lanes among the lanes; determining that a difference between the maximum value and the minimum value is greater than a preset length threshold.

In an embodiment of the present disclosure, the specific process of the cloud server 1002 determining the predicted turning direction of the vehicle 1001 at the target intersection is as follows: in the case where the vehicle 1001 uses the navigation function, according to the navigation path currently used by the vehicle 1001; from the navigation path, a predicted turning direction of the vehicle 1001 at the target intersection is determined.

In an embodiment of the present disclosure, the specific process of the cloud server 1002 determining the predicted turning direction of the vehicle 1001 at the target intersection is as follows: acquiring historical turning direction data of the vehicle 1001 at a target intersection in a case where the vehicle 1001 is not using a navigation function; from the historical turning direction data, the predicted turning direction of the vehicle 1001 at the target intersection is determined.

In an embodiment of the present disclosure, the driving recommendation information includes a green wave vehicle speed, the current driving data includes a current position, and the specific process of determining the driving recommendation information of the vehicle 1001 at the target intersection by the cloud server 1002 according to the current driving data and the current intersection state information is as follows: determining a travel distance between a current location and a stopping location of vehicle 1001 at a target intersection; determining the waiting time of signal lamps at the target intersection and the traffic condition type of the target intersection according to the current intersection state information; the green wave speed of the vehicle 1001 is determined according to the travel distance, the waiting time, the traffic condition type and the traffic speed corresponding to the traffic condition type.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to determine that the green wave vehicle speed is greater than a preset second vehicle speed threshold and is less than a vehicle speed limit corresponding to the target intersection.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to determine signal light information of a target intersection according to the current intersection state information; signal light information is transmitted to the vehicle 1001.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to send a prompting message to the vehicle 1001 when determining that a traffic violation occurs at the target intersection according to the current intersection state information, where the prompting message is used to prompt the traffic violation occurring at the target intersection.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to determine an intersection risk level of the target intersection according to historical violating driving behaviors of the target intersection and historical traffic accident data; a reminder message containing the intersection risk level is sent to the vehicle 1001.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to determine driving reminding information of the vehicle 1001 at the target intersection according to the current driving data and/or the current intersection state information; the driving advice information is transmitted to the vehicle 1001.

It should be noted that the explanation of the method for pushing driving advice to the intersection is also applicable to the system for pushing driving advice to the intersection in this embodiment, and the embodiment is not described again.

The intersection driving advice pushing system of the embodiment of the disclosure obtains a road surface distance between a vehicle and a target intersection to be passed ahead in the vehicle driving process, determines driving advice information of the vehicle at the target intersection based on current driving data of the vehicle and current intersection state information of the target intersection sent by roadside equipment under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold, and sends the driving advice information to the vehicle. Therefore, the driving suggestion information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle which is about to pass through the intersection and the current driving data of the vehicle, so that the vehicle can be driven safely at the intersection based on the driving suggestion information conveniently, and the safe driving of the vehicle is facilitated.

It should be noted that, in the technical solution of the present disclosure, the acquisition, storage, application, and the like of the related various data all conform to the regulations of the relevant laws and regulations, and do not violate the common customs of the public order.

The present disclosure also provides an electronic device and a readable storage medium and a computer program product according to embodiments of the present disclosure.

FIG. 11 shows a schematic block diagram of an example electronic device 1100 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 1100 may include a computing unit 1101, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

A number of components in device 1100 connect to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, and the like; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108 such as a magnetic disk, optical disk, or the like; and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1109 allows the device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 1101 can be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1101 executes the respective methods and processes described above, such as the intersection driving advice push method. For example, in some embodiments, the intersection driving advice pushing method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1100 via ROM 1102 and/or communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the intersection driving advice push method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the intersection driving advice pushing method by any other suitable means (e.g., by means of firmware).

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

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

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

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

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

The computer device may include a client and a server. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may be a cloud server, a server of a distributed device, or a server combining a blockchain.

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

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

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

Claims

1. An intersection driving advice pushing method includes:

acquiring the road distance between a vehicle and a target intersection;

acquiring current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold;

acquiring current intersection state information of the target intersection, which is sent by roadside equipment;

determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information;

transmitting the driving advice information to the vehicle.

2. The method of claim 1, wherein the driving advice information comprises lane advice information, and the determining the driving advice information of the vehicle at the target intersection based on the current driving data and the current intersection state information comprises:

determining a predicted steering direction of the vehicle at the target intersection;

determining that the current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold value according to the current driving data, and determining the vehicle queuing length of each lane according to the current intersection state information under the condition that a plurality of lanes corresponding to the predicted steering direction exist at the target intersection;

determining a target lane with the shortest vehicle queuing length from the lanes;

the transmitting the driving advice information to the vehicle includes: transmitting the lane suggestion information to the vehicle, wherein the lane suggestion information includes lane information of the target lane.

3. The method of claim 2, wherein prior to said determining a target lane of the plurality of lanes in which vehicle queue length is shortest, the method further comprises:

determining the maximum value and the minimum value in the vehicle queuing lengths of all the lanes;

determining that a difference between the maximum value and the minimum value is greater than a preset length threshold.

4. The method of claim 2, wherein said determining a predicted turn direction of said vehicle at said target intersection comprises:

under the condition that the vehicle uses the navigation function, according to a navigation path currently used by the vehicle;

and determining the predicted steering direction of the vehicle at the target intersection according to the navigation path.

5. The method of claim 2, wherein said determining a predicted turn direction of the vehicle at the target intersection comprises:

under the condition that the vehicle does not use a navigation function, acquiring historical turning direction data of the vehicle at the target intersection;

and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

6. The method of claim 1, wherein the driving advice information includes a green wave vehicle speed, the current travel data includes a current location, and the determining driving advice information for the vehicle at the target intersection based on the current travel data and the current intersection state information includes:

determining a travel distance between the current location and a stopping location of the vehicle at the target intersection;

determining the waiting time of signal lamps at the target intersection and the traffic condition type of the target intersection according to the current intersection state information;

and determining the green wave speed of the vehicle according to the driving distance, the waiting time, the traffic condition type and the traffic speed corresponding to the traffic condition type.

7. The method of claim 6, wherein prior to the transmitting the driving advice information to the vehicle, the method further comprises:

and determining that the green wave vehicle speed is greater than a preset second vehicle speed threshold and is less than a vehicle speed limit value corresponding to the target intersection.

8. The method of claim 1, wherein the method further comprises:

determining signal lamp information of the target intersection according to the current intersection state information;

and sending the signal lamp information to the vehicle.

9. The method of claim 1, wherein the method further comprises:

and sending reminding information to the vehicle under the condition that the traffic violation behavior of the target intersection is determined according to the current intersection state information, wherein the reminding information is used for reminding the traffic violation behavior of the target intersection.

10. The method of claim 1, wherein the method further comprises:

determining an intersection risk level of the target intersection according to historical violation driving behaviors of the target intersection and historical traffic accident data;

and sending reminding information containing the crossing risk level to the vehicle.

11. The method according to any one of claims 1-10, wherein the method further comprises:

determining driving reminding information of the vehicle at the target intersection according to the current driving data and/or the current intersection state information;

and sending driving reminding information to the vehicle.

12. The method of claim 11, wherein the driving reminder information includes at least one of: overspeed reminding information and red light running reminding information.

13. An intersection driving advice pushing device, comprising:

the first acquisition module is used for acquiring the road distance between a vehicle and a target intersection;

the second acquisition module is used for acquiring the current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold;

the third acquisition module is used for acquiring the current intersection state information of the target intersection sent by the road side equipment;

the first determination module is used for determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information;

the first sending module is used for sending the driving suggestion information to the vehicle.

14. The apparatus of claim 13, wherein the driving advice information includes lane advice information, the first determination module comprising:

a first determination unit for determining a predicted turning direction of the vehicle at the target intersection;

a second determining unit, configured to determine, according to the current driving data, that a current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, and determine, according to the current intersection state information, a vehicle queuing length of each lane when multiple lanes corresponding to the predicted steering direction exist at the target intersection;

a third determining unit, configured to determine, from the multiple lanes, a target lane in which the vehicle queuing length is shortest;

the first sending module is specifically configured to send the lane suggestion information to the vehicle, where the lane suggestion information includes lane information of the target lane.

15. The apparatus of claim 14, wherein the first determining means further comprises:

a fourth determining unit, configured to determine a maximum value and a minimum value of vehicle queue lengths of the lanes;

a fifth determining unit, configured to determine that a difference between the maximum value and the minimum value is greater than a preset length threshold.

16. The apparatus according to claim 14, wherein the first determining unit is specifically configured to:

17. The apparatus according to claim 14, wherein the first determining unit is specifically configured to:

acquiring historical turning direction data of the vehicle at the target intersection under the condition that the vehicle does not use a navigation function;

18. The apparatus of claim 13, wherein the driving advice information includes a green wave vehicle speed, the current driving data includes a current location, and the first determination module includes:

a sixth determining unit configured to determine a travel distance between the current position and a stop position of the vehicle at the target intersection;

a seventh determining unit, configured to determine, according to the current intersection state information, waiting time of a signal lamp at the target intersection and a traffic condition type of the target intersection;

and the eighth determining unit determines the green wave speed of the vehicle according to the running distance, the waiting time, the traffic condition type and the passing speed corresponding to the traffic condition type.

19. The apparatus of claim 18, wherein the apparatus further comprises:

and the second determining module is used for determining that the green wave vehicle speed is greater than a preset second vehicle speed threshold and is smaller than the vehicle speed limit value corresponding to the target intersection.

20. The apparatus of claim 13, wherein the apparatus further comprises:

the third determining module is used for determining signal lamp information of the target intersection according to the current intersection state information;

and the second sending module is used for sending the signal lamp information to the vehicle.

21. The apparatus of claim 13, wherein the apparatus further comprises:

and the third sending module is used for sending reminding information to the vehicle under the condition that the traffic violation of the target intersection is determined according to the current intersection state information, wherein the reminding information is used for reminding the traffic violation of the target intersection.

22. The apparatus of claim 13, wherein the apparatus further comprises:

the fourth determination module is used for determining the crossing risk level of the target crossing according to the historical violation driving behavior and the historical traffic accident data of the target crossing;

and the fourth sending module is used for sending reminding information containing the crossing risk level to the vehicle.

23. The apparatus of any one of claims 13-22, wherein the apparatus further comprises:

the fifth determining module is used for determining the driving reminding information of the vehicle at the target intersection according to the current driving data and/or the current intersection state information;

and the fifth sending module is used for sending driving reminding information to the vehicle.

24. The apparatus of claim 23, wherein the driving reminder information includes at least one of: overspeed reminding information and red light running reminding information.

25. The utility model provides a crossing driving suggestion push system, includes vehicle, high in the clouds server and roadside equipment, wherein:

the cloud server is used for acquiring the road distance between the vehicle and the target intersection; acquiring current driving data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold; acquiring current intersection state information of the target intersection, which is sent by roadside equipment; determining driving suggestion information of the vehicle at the target intersection according to the current driving data and the current intersection state information; and transmitting the driving advice information to the vehicle;

the vehicle is used for sending the current driving data to the cloud server and receiving the driving suggestion information of the cloud server;

and the road side equipment is used for determining the current intersection state information according to the current sensing data of the target intersection and sending the current intersection state information to the cloud server.

26. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.

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

28. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of any one of claims 1-12.