CN115273508A - Vehicle travel guidance method, device, electronic device, and storage medium - Google Patents

Abstract

The invention provides a vehicle driving guidance method, device, electronic equipment and storage medium, belonging to the technical field of intelligent transportation. The method includes: acquiring lane water depth information and lane condition auxiliary information of each lane, the lane condition auxiliary information including multiple Other lane condition information except the lane water depth information in the lane condition information; obtain vehicle driving guidance information based on the lane water depth information and lane condition assistance information of each lane; send the vehicle driving guidance information to the coverage of the roadside system Vehicles in the area; vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass through flooded road sections. In the embodiment of the present invention, by obtaining the lane water depth information and lane condition auxiliary information corresponding to each lane, the vehicle driving guidance information can be obtained and sent to the vehicle, so that the vehicle can safely pass through the flooded road section or avoid the flooded road section, which can effectively eliminate the The safety hazards brought by flooded roads to vehicle traffic.

Description

Vehicle driving guidance method, device, electronic device and storage medium

technical field

The invention relates to the technical field of intelligent transportation, in particular to a vehicle driving guidance method, device, electronic equipment and storage medium.

Background technique

In related technologies, the roadside system can broadcast road information, and the road information can include information about water accumulation in front of the road. Vehicles can only know that there is water on the road ahead through this road information. When vehicles need to pass through flooded roads with deep pits or manhole covers, there are still potential safety hazards for vehicles to pass. How to eliminate the potential safety hazards caused by flooded roads to vehicle traffic is an important issue to be solved urgently in the industry.

Contents of the invention

The invention provides a vehicle driving guidance method, device, electronic equipment and storage medium, which are used to solve the defect that the safety hazards caused by flooded roads to vehicle traffic cannot be eliminated in the prior art, and to realize the elimination of flooded roads to vehicle traffic. coming security risks.

In a first aspect, the present invention provides a vehicle driving guidance method applied to a roadside system, including:

Obtain the lane water depth information and lane condition auxiliary information of each lane, the lane condition auxiliary information includes lane condition information other than the lane water depth information among various lane condition information;

Acquiring vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane;

sending the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass through flooded road sections.

Optionally, according to a vehicle driving guidance method provided by the present invention, the acquisition of lane water depth information and lane condition auxiliary information of each lane includes:

Obtain the water depth information of each lane through the water level sensor installed at each lane;

The lane condition assistance information of each lane is acquired through the perception sensors arranged at each lane.

Optionally, according to a vehicle driving guidance method provided in the present invention, the lane condition assistance information includes at least one of the following lane condition information:

manhole cover status information;

Pothole condition information;

accident vehicle information;

Lost object information.

Optionally, according to a vehicle driving guidance method provided in the present invention, the vehicle driving guidance information includes: first guidance information and/or second guidance information;

The acquisition of vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane includes:

Acquiring the first guidance information, the first guidance information includes lane water depth information and lane condition assistance information of each lane, the first guidance information is used to guide vehicles in the coverage area to avoid or through flooded roads;

And/or, based on the structural information of the target vehicle, the lane water depth information of each lane, and the lane condition auxiliary information of each lane, obtain the second guidance information corresponding to the target vehicle, and the second guidance information is used to guide the The target vehicle avoids or passes through the flooded road section;

The target vehicle is a vehicle to pass through the flooded road section in the coverage area.

Optionally, according to a vehicle driving guidance method provided in the present invention, the sending the vehicle driving guidance information to vehicles in the coverage area of the roadside system includes:

When the vehicle driving guidance information includes the first guidance information, sending the first guidance information to the vehicle-mounted system corresponding to the vehicle in the coverage area;

And/or, in a case where the vehicle driving guidance information includes the second guidance information, sending the second guidance information to an in-vehicle system corresponding to the target vehicle.

In the second aspect, the present invention also provides a vehicle driving guidance method applied to a vehicle-mounted system, including:

Receive vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, the vehicle driving guidance information is determined by the roadside system based on the lane water depth information of each lane and lane condition auxiliary information, The lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

Based on the vehicle driving guidance information, one or more target guidance information is determined.

Optionally, according to a vehicle driving guidance method provided in the present invention, the vehicle driving guidance information includes: first guidance information and/or second guidance information, and the first guidance information includes the lane area of each lane Water depth information and lane condition auxiliary information, the second guidance information is used to guide the vehicle where the on-board system is located to avoid or pass through flooded road sections;

The determining one or more target guidance information based on the vehicle driving guidance information includes any one or more of the following:

When the vehicle driving guidance information includes the first guidance information, based on the first guidance information and the location information of the vehicle where the vehicle-mounted system is located, determine first target guidance information, and the first target guidance information Used to guide vehicles to avoid flooded roads;

Or, when the vehicle driving guidance information includes the first guidance information, second target guidance information is determined based on the first guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the second target Guidance information is used to guide vehicles through flooded roads;

Or, when the vehicle driving guidance information includes the second guidance information, third target guidance information is determined based on the second guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the third target Guidance information is used to guide vehicles through flooded roads;

Or, in the case that the vehicle driving guidance information includes the second guidance information, based on the second guidance information and the position information of the vehicle where the vehicle-mounted system is located, determine fourth target guidance information, the fourth target Guidance information is used to guide vehicles to avoid flooded road sections.

In the third aspect, the present invention also provides a vehicle driving guidance device applied to a roadside system, including:

The first acquisition module is used to acquire lane water depth information and lane condition auxiliary information of each lane, and the lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

The second acquisition module is configured to acquire vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane;

a sending module, configured to send the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass through flooded road sections.

In a fourth aspect, the present invention also provides a vehicle driving guidance device, which is applied to a vehicle-mounted system, including:

The receiving module is used to receive vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, and the vehicle driving guidance information is the roadside system based on the lane water depth information and lane conditions of each lane As determined by the auxiliary information, the lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

A determination module, configured to determine one or more target guidance information based on the vehicle driving guidance information.

In the fifth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, any one of the above-mentioned The vehicle driving guidance method is described.

In a sixth aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle driving guidance method described in any one of the above-mentioned methods is realized.

The vehicle driving guidance method, device, electronic equipment and storage medium provided by the present invention, by acquiring the lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can know other lanes except the lane water depth information The status information, and then the obtained vehicle driving guidance information can be used to eliminate the safety hazards caused by the depth of water in the lane, and can also be used to eliminate the safety hazards brought by other lane conditions to the vehicle, and then the vehicle can be guided The information is sent to the vehicle so that the vehicle can safely pass through the flooded road section or avoid the flooded road section, which can effectively eliminate the safety hazards caused by the flooded road to vehicle traffic.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is one of the schematic flow charts of the vehicle driving guidance method provided by the present invention;

Fig. 2 is the second schematic flow diagram of the vehicle driving guidance method provided by the present invention;

Fig. 3 is one of the structural schematic diagrams of the vehicle driving guidance device provided by the present invention;

Fig. 4 is the second structural schematic diagram of the vehicle driving guidance device provided by the present invention;

Fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is one of the schematic flow charts of the vehicle driving guidance method provided by the present invention. As shown in Fig. 1, the execution subject of the vehicle driving guidance method may be a roadside system, and the method includes:

Step 101, acquiring lane water depth information and lane condition auxiliary information of each lane, the lane condition auxiliary information including lane condition information other than lane water depth information among various lane condition information;

Specifically, in order to guide the vehicle to avoid or safely pass through the flooded road section, the lane water depth information and lane condition auxiliary information corresponding to each lane may be obtained.

Alternatively, the lanes may be lanes of the same road.

For example, for road A, road A may include lane R1 , lane R2 and lane R3 , and each lane may include: lane R1 , lane R2 and lane R3 .

Optionally, each lane may be a lane of two or more roads.

For example, for road A and road B, road A may include lane R1 and lane R2, road B may include lane R3 and lane R4, and the above lanes may include: lane R1, lane R2, lane R3 and lane R4.

Optionally, a lane may include multiple lane segments, and obtaining lane water depth information and lane condition assistance information corresponding to a lane may be to obtain lane water depth information and lane condition assistance information corresponding to multiple lane segments information.

For example, a certain lane may include lane segment C1, lane segment C2, and lane segment C3, and obtaining lane water depth information and lane condition auxiliary information corresponding to the lane may be to obtain lane segment C1, lane segment C2 Lane ponding depth information and lane condition auxiliary information respectively corresponding to lane segment C3.

Optionally, the roadside system may include: a perception sensor, a water level sensor, a processor module, and a communication module for vehicle-to-external information exchange (Vehicle to X, V2X); wherein: the perception sensor may be used to perceive road conditions in real time , including deep pits or ponding status, etc.; water level sensors can be used to test the depth of ponding; processor modules can be used to process data; V2X communication modules can be used to communicate with vehicles or the cloud.

Optionally, the roadside system can receive information such as lane water depth information, lane condition auxiliary information or control information sent by the cloud through the V2X communication module; the roadside system can also receive lane water depth information sent by the vehicle through the V2X communication module Or information such as lane condition assistance information.

For example, the roadside system can receive the control information sent by the cloud through the V2X communication module, and receive the lane condition assistance information sent by the vehicle (the vehicle can detect the lane based on its own perception sensor to obtain the lane condition assistance information), and then the roadside system can Based on the above information, a comprehensive analysis and judgment is carried out in order to obtain more accurate vehicle driving guidance information.

It can be understood that, since the auxiliary lane condition information can be obtained, the auxiliary lane condition information can be used to represent other lane condition information in the various lane condition information of the lane except the lane water depth information, therefore, by obtaining the lane water Depth information and lane condition auxiliary information, compared to only acquiring lane water depth information, embodiments of the present invention can acquire various lane condition information, that is, more comprehensive lane condition information can be acquired.

Step 102, based on the lane water depth information and lane condition auxiliary information of each lane, obtain vehicle driving guidance information;

Specifically, after acquiring the lane water depth information and lane condition auxiliary information respectively corresponding to each lane, the lane water depth information and the lane condition auxiliary information may be analyzed to obtain vehicle driving guidance information.

Optionally, each lane may be a lane of two or more roads, and the water accumulation status of two or more roads may be known by obtaining lane water depth information and lane condition auxiliary information corresponding to each lane, If there is no water on a certain road and there is a flooded section in front of the road where the vehicle is located, before the vehicle enters the flooded section, the vehicle can be guided to leave the current road and enter a road without water, that is, the obtained vehicle travels Guidance information can be used to guide vehicles to avoid flooded road sections.

Optionally, by obtaining the lane water depth information and lane condition auxiliary information corresponding to each lane, a variety of lane condition information including the lane water depth information can be obtained, and the various lane condition information can reflect that the vehicle is driving in the lane The existing safety hazards, and then based on the various lane condition information, vehicle driving guidance information can be obtained, which can be used to guide vehicles through the flooded road section, and can eliminate the safety hazards of vehicles driving in the lane.

Step 103, sending the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass through flooded road sections.

Specifically, after the vehicle driving guidance information is acquired, the vehicle driving guidance information can be sent to the vehicle, so that the vehicle can avoid the flooded road section or pass through the flooded road section safely.

In the vehicle driving guidance method provided by the present invention, by acquiring the lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can know other lane condition information except the lane water depth information, and then the obtained vehicle driving The guidance information can be used to eliminate the potential safety hazards caused by the depth of water in the lane, and it can also be used to eliminate the safety hazards caused by other lane conditions to the vehicle, and then the vehicle driving guidance information can be sent to the vehicle to make the vehicle Passing through flooded roads safely or avoiding flooded roads can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Optionally, the acquiring lane water depth information and lane condition auxiliary information of each lane includes:

Obtain the lane water depth information of each lane through the water level sensor or other sensing sensors installed at each lane;

The lane condition assistance information of each lane is acquired through the perception sensors arranged at each lane.

Specifically, the roadside system may include a water level sensor and a perception sensor. Through the water level sensor corresponding to the lane, the lane water depth information corresponding to the lane can be obtained, and through the perception sensor corresponding to the lane, the lane condition auxiliary information corresponding to the lane can be acquired.

Therefore, the roadside system can obtain the lane water depth information and lane condition auxiliary information of each lane through a variety of sensors, and then the vehicle driving guidance information obtained can be used to eliminate the safety hazards brought by the lane water depth to the vehicle, and also It can be used to eliminate potential safety hazards brought by other lane conditions to vehicle driving. Vehicle driving guidance information can guide vehicles to safely pass through flooded roads and improve vehicle driving safety under harsh road conditions.

Optionally, the lane condition assistance information includes at least one of the following lane condition information:

manhole cover status information;

Pothole condition information;

accident vehicle information;

Information about the scattered objects;

Additional lane information.

Specifically, the lane condition assistance information may include one or more types of lane condition information.

Optionally, the manhole cover status information may indicate the number of manhole covers configured in the lane, and may also indicate the manhole cover position and state of the manhole cover (for example, whether the manhole cover is missing, whether the manhole cover is damaged, etc.).

Optionally, the pothole condition information may represent the number of potholes in the lane, and may also represent the position of the pothole, the size of the pothole, and the depth of the pothole.

Optionally, the accident vehicle information may indicate whether there is an accident vehicle in the lane, and may also indicate the location of the accident vehicle.

Optionally, the information on the scattered objects may indicate whether there are scattered objects in the lane, and may also indicate the location of the scattered objects.

Optionally, other lane information may indicate other abnormal information on the lane besides the above information, which will not be listed here.

Therefore, the roadside system can automatically perceive a variety of lane condition information on flooded roads, and then combine vehicle information to guide vehicles safely through flooded roads and improve vehicle driving safety under severe road conditions.

Optionally, the vehicle driving guidance information includes: first guidance information and/or second guidance information;

The acquisition of vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane includes:

Acquiring the first guidance information, the first guidance information includes lane water depth information and lane condition assistance information of each lane, the first guidance information is used to guide vehicles in the coverage area to avoid or through flooded roads;

And/or, based on the structural information of the target vehicle, the lane water depth information of each lane, and the lane condition auxiliary information of each lane, obtain the second guidance information corresponding to the target vehicle, and the second guidance information is used to guide the The target vehicle avoids or passes through the flooded road section;

The target vehicle is a vehicle to pass through the flooded road section in the coverage area.

Specifically, after acquiring lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can acquire first guidance information, which can be used to guide vehicles to avoid or pass flooded road sections, The roadside system can obtain second guidance information in combination with the information of the target vehicle, and the second guidance information can be used to guide the target vehicle to avoid or pass through the flooded road section.

Optionally, the roadside system can receive V2X data broadcast by vehicles in the coverage area in real time, and according to the V2X data broadcast by vehicles, it can screen out vehicles that are about to enter the flooded road, and use the vehicle that is about to enter the flooded road as the target vehicle.

Optionally, the roadside system can obtain the information of the target vehicle, and the information of the target vehicle can include one or more of the following information: body length, body width, body height, chassis height, wheelbase, tire width or vehicle running status etc.

Optionally, the roadside system can select a target lane suitable for the target vehicle in each lane based on the information of the target vehicle, the lane water depth information corresponding to each lane, and the lane condition auxiliary information corresponding to each lane, and then can Second guidance information for guiding the target vehicle to avoid or pass through the target lane is generated.

For example, each lane can include a lane R1 and a lane R2, and the lane condition auxiliary information can include pothole condition information, through which the position of the pothole, the size of the pothole and the depth of the pothole in the lane R1 can be determined. Determine the position, size and depth of the potholes in the lane R2; and then judge whether the vehicle can pass through the potholes corresponding to the lane R1 based on the width of the vehicle body and the size of the potholes corresponding to the lane R1, or based on the vehicle body Width and the size of the pothole corresponding to the lane R2, judge whether the vehicle can pass through the pothole corresponding to the lane R2; If the pothole corresponding to the lane R2 cannot be passed, second guidance information for guiding the vehicle to pass the lane R1 may be generated.

For example, each lane may include lane R1 and lane R2, and the lane condition auxiliary information may include manhole cover condition information, through which the manhole cover quantity, manhole cover position and manhole cover state of lane R1 may be determined, and the manhole cover quantity, manhole cover position and state of manhole cover; then it can be judged whether the manhole cover of lane R1 is missing, and whether the manhole cover of lane R2 is missing. If the manhole cover of the lane R2 is missing, and the well position of the missing manhole cover is in front of the driving direction of the vehicle, then the second guidance information for guiding the vehicle to pass the lane R1 may be generated.

For example, each lane can include a lane R1 and a lane R2, and the lane condition assistance information can include accident vehicle information. Through the accident vehicle information, it can be determined whether there is an accident vehicle in the lane R1 and the position of the accident vehicle. It can also be determined whether there is an accident vehicle in the lane R2 and The position of the accident vehicle, if it is determined that the chassis height of the vehicle is greater than the water depth of the lane R1, and there is no accident vehicle in the lane R1 in front of the vehicle’s driving direction, and there is an accident vehicle in the lane R2 ahead of the vehicle’s driving direction, then it can be generated with The second guidance information for guiding the vehicle to pass through the lane R1.

For example, each lane can include a lane R1 and a lane R2, and the lane condition auxiliary information can include information on scattered objects, through which information on the scattered objects can be used to determine whether there are any scattered objects and the position of the scattered objects in the lane R1, and whether there are scattered objects and the location of the scattered objects in the lane R2 can also be determined. For the location of the scattered objects, if it is determined that the chassis height of the vehicle is greater than the water depth of the lane R1, and there are no scattered objects in the lane R1 in front of the vehicle’s driving direction, and there are scattered objects in the lane R2 ahead of the vehicle’s driving direction, then it can be generated. The second guidance information for guiding the vehicle to pass through the lane R1.

Optionally, the second guidance information may include vehicle state guidance information and lane guidance information, the vehicle state guidance information may be used to indicate the vehicle state information of the vehicle passing through the flooded section, and the lane guidance information may be used to indicate the vehicle's passing through the flooded section. Lane-level navigation information.

Optionally, the second guidance information may include lane water depth information of each lane, lane condition auxiliary information, vehicle state guidance information and lane guidance information, wherein the lane water depth information and lane condition auxiliary information of each lane may be used To guide vehicles to avoid flooded roads, vehicle status guidance information and lane guidance information can be used to guide vehicles through flooded roads.

Therefore, the acquired vehicle driving guidance information may include the first guidance information and/or the second guidance information corresponding to the target vehicle, the first guidance information may be used to guide the vehicle to avoid or pass through flooded roads, and the second guidance information may be used to guide The target vehicle avoids or passes through the flooded road section, and then the vehicle driving guidance information can be sent to the vehicle, so that the vehicle can safely pass through the flooded road section or avoid the flooded road section, which can effectively eliminate the safety hazards caused by the flooded road to vehicle traffic .

Optionally, the sending the vehicle driving guidance information to the vehicles in the coverage area of the roadside system includes:

When the vehicle driving guidance information includes the first guidance information, sending the first guidance information to the vehicle-mounted system corresponding to the vehicle in the coverage area;

And/or, in a case where the vehicle driving guidance information includes the second guidance information, sending the second guidance information to an in-vehicle system corresponding to the target vehicle.

Specifically, after obtaining the vehicle driving guidance information, if it is determined that the vehicle driving guidance information includes the first guidance information, the first guidance information can be sent to the vehicle-mounted system in the coverage area, so that the vehicle can avoid the vehicle based on the first guidance information. drive or pass through the flooded road section; if it is determined that the vehicle driving guidance information includes the second guidance information, the second guidance information can be sent to the vehicle-mounted system corresponding to the target vehicle, so that the target vehicle can avoid or pass through the flooded road based on the second guidance information road section.

Optionally, the roadside system can process the perception sensor data and the water level sensor data through the processor module, and can obtain lane water depth information and lane condition auxiliary information corresponding to each lane, and then can acquire the first guidance information, and then The V2X communication module can broadcast the first guidance information and send it to the vehicles in the coverage area.

Optionally, after acquiring the second guidance information corresponding to the target vehicle, the roadside system may send the second guidance information to the target vehicle through the V2X communication module.

Therefore, the roadside system can send the first guidance information and/or the second guidance information corresponding to the target vehicle, and can guide the vehicle to avoid the flooded road section, or guide the target vehicle to pass through the flooded road section safely.

In the vehicle driving guidance method provided by the present invention, by acquiring the lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can know other lane condition information except the lane water depth information, and then the obtained vehicle driving The guidance information can be used to eliminate the potential safety hazards caused by the depth of water in the lane, and it can also be used to eliminate the safety hazards caused by other lane conditions to the vehicle, and then the vehicle driving guidance information can be sent to the vehicle to make the vehicle Passing through flooded roads safely or avoiding flooded roads can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Fig. 2 is the second schematic flow diagram of the vehicle driving guidance method provided by the present invention. As shown in Fig. 2, the execution subject of the vehicle driving guidance method may be a vehicle-mounted system, and the method includes:

Step 201, receiving vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, the vehicle driving guidance information is based on the lane water depth information and lane condition auxiliary information of each lane by the roadside system If determined, the lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

Specifically, in order to eliminate the potential safety hazards caused by flooded roads to vehicles, the vehicle-mounted system can receive vehicle driving guidance information, which can be used to guide vehicles to avoid flooded road sections. The vehicle driving guidance information can also be used to To guide vehicles through flooded roads.

Optionally, the on-vehicle system may include a V2X communication module and a processor module; wherein: the V2X communication module may be used for real-time communication with other vehicles and roadside systems; the processor module may be used for processing sent and received V2X data.

Optionally, the vehicle-mounted system may receive vehicle driving guidance information through the V2X communication module.

Step 202, based on the vehicle driving guidance information, determine one or more target guidance information.

Specifically, after receiving the vehicle driving guidance information, the target guidance information for guiding the vehicle to avoid the flooded section can be determined based on the vehicle driving guidance information; Target guidance information for road segments.

The vehicle driving guidance method provided by the present invention can determine one or more target guidance information by receiving the vehicle driving guidance information. The information is determined by the roadside system based on the lane water depth information and lane condition auxiliary information corresponding to each lane, that is, the vehicle driving guidance information is determined based on more comprehensive lane condition information, based on one or more target guidance information, It can guide vehicles to safely pass through flooded roads or avoid flooded roads, and can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Optionally, the vehicle driving guidance information includes: first guidance information and/or second guidance information, the first guidance information includes lane water depth information and lane condition auxiliary information of each lane, and the second guidance information includes: 2. Guidance information is used to guide the vehicle where the on-board system is located to avoid or pass through flooded road sections;

The determining one or more target guidance information based on the vehicle driving guidance information includes any one or more of the following:

When the vehicle driving guidance information includes the first guidance information, based on the first guidance information and the location information of the vehicle where the vehicle-mounted system is located, determine first target guidance information, and the first target guidance information Used to guide vehicles to avoid flooded roads;

Or, when the vehicle driving guidance information includes the first guidance information, second target guidance information is determined based on the first guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the second target Guidance information is used to guide vehicles through flooded roads;

Or, when the vehicle driving guidance information includes the second guidance information, third target guidance information is determined based on the second guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the third target Guidance information is used to guide vehicles through flooded roads;

Or, in the case that the vehicle driving guidance information includes the second guidance information, based on the second guidance information and the position information of the vehicle where the vehicle-mounted system is located, determine fourth target guidance information, the fourth target Guidance information is used to guide vehicles to avoid flooded road sections.

Specifically, the vehicle-mounted system may receive vehicle driving guidance information, and the vehicle driving guidance information may include first guidance information and/or second guidance information, and based on the first guidance information and/or second guidance information, determine one or more Target guidance information, target guidance information can be used for vehicles to avoid or pass flooded road sections.

Optionally, when the vehicle driving guidance information includes the first guidance information, the vehicle-mounted system can obtain the location information of the flooded road section based on the first guidance information, and then can combine the vehicle's location information to determine whether there is an avoidance of the flooded road section If there is a driving route that avoids flooded roads, the first target guidance information can be determined. The first target guidance information can include driving routes that avoid flooded roads, which can be used to guide vehicles to avoid flooded roads road section.

Optionally, in the case where the vehicle driving guidance information includes the first guidance information, the vehicle-mounted system may, based on vehicle information, lane water depth information corresponding to each lane, and lane condition auxiliary information corresponding to each lane, Select a target lane suitable for vehicles to pass through, and then generate second target guidance information for guiding the vehicle to pass through the target lane.

Optionally, when the vehicle driving guidance information includes the second guidance information, the vehicle-mounted system can determine third target guidance information based on the second guidance information and the driving state of the own vehicle, and the third target guidance information can be used for automatic driving guidance The target guidance information can also inform the driver through human-computer interaction, and then guide the driver to drive the vehicle safely through the flooded road section.

Optionally, when the vehicle driving guidance information includes the second guidance information, if the second guidance information includes lane water depth information and lane condition auxiliary information of each lane, the on-board system can obtain the flooded road section based on the second guidance information The location information of the vehicle can be combined with the location information of the vehicle to determine whether there is a driving route that avoids the flooded road section. If there is a driving route that avoids the flooded road section, the fourth target guidance information can be determined. The fourth target guidance information It can include driving directions avoiding flooded roads, which can be used to guide vehicles to avoid flooded roads.

It can be understood that the second guidance information may include vehicle state guidance information and lane guidance information, the vehicle state guidance information may be used to represent the vehicle state information of the vehicle passing through the flooded road section, and the lane guidance information may be used to indicate that the vehicle passes through the flooded road section The lane-level navigation information, combined with the driving state of the self-vehicle, can correct the vehicle state guidance information and the lane guidance information, and obtain the third target guidance information. Compared with the second guidance information, the third target guidance information is more suitable for the self-vehicle driving state .

Optionally, the vehicle-mounted system may receive the first guidance information through the V2X communication module.

Optionally, after receiving the first guidance information, the vehicle-mounted system may forward the first guidance information to the vehicle-mounted systems of other vehicles through the V2X communication module.

Optionally, the vehicle-mounted system may receive the first guidance information sent by the roadside system, or may receive the first guidance information sent by the vehicle-mounted systems of other vehicles.

Optionally, when the vehicle where the vehicle-mounted system is located is the target vehicle, the second guidance information corresponding to the target vehicle may be received through the V2X communication module.

Therefore, based on the first guidance information and/or the second guidance information, one or more target guidance information is determined, and the target guidance information can be used for vehicles to avoid or pass through flooded road sections, which can effectively eliminate the impact of flooded roads on vehicle traffic. security risks.

The vehicle driving guidance method provided by the present invention can determine one or more target guidance information by receiving the vehicle driving guidance information. The information is determined by the roadside system based on the lane water depth information and lane condition auxiliary information corresponding to each lane, that is, the vehicle driving guidance information is determined based on more comprehensive lane condition information, based on one or more target guidance information, It can guide vehicles to safely pass through flooded roads or avoid flooded roads, and can effectively eliminate the safety hazards caused by flooded roads to vehicles.

The vehicle driving guidance device provided by the present invention is described below, and the vehicle driving guidance device described below and the vehicle driving guidance method described above can be referred to in correspondence.

Fig. 3 is one of the structural schematic diagrams of the vehicle driving guidance device provided by the present invention. As shown in Fig. 3, the device can be applied to the roadside system, and the device includes: a first acquisition module 301, a second acquisition module 302 and a sending Module 303, in which:

The first acquiring module 301 is used to acquire lane water depth information and lane condition auxiliary information of each lane, and the lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

The second acquisition module 302 is configured to acquire vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane;

A sending module 303, configured to send the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass through flooded road sections.

In the vehicle driving guidance device provided by the present invention, by acquiring the lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can know other lane condition information except the lane water depth information, and then the obtained vehicle driving The guidance information can be used to eliminate the potential safety hazards caused by the depth of water in the lane, and it can also be used to eliminate the safety hazards caused by other lane conditions to the vehicle, and then the vehicle driving guidance information can be sent to the vehicle to make the vehicle Passing through flooded roads safely or avoiding flooded roads can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Optionally, the first acquisition module is specifically configured to:

Obtain the water depth information of each lane through the water level sensor installed at each lane;

The lane condition assistance information of each lane is acquired through the perception sensors arranged at each lane.

Optionally, the lane condition assistance information includes at least one of the following lane condition information:

manhole cover status information;

Pothole condition information;

accident vehicle information;

Lost object information.

Optionally, the vehicle driving guidance information includes: first guidance information and/or second guidance information;

The acquisition of vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane includes:

Acquiring the first guidance information, the first guidance information includes lane water depth information and lane condition assistance information of each lane, the first guidance information is used to guide vehicles in the coverage area to avoid or through flooded roads;

And/or, based on the structural information of the target vehicle, the lane water depth information of each lane, and the lane condition auxiliary information of each lane, obtain the second guidance information corresponding to the target vehicle, and the second guidance information is used to guide the The target vehicle avoids or passes through the flooded road section;

The target vehicle is a vehicle to pass through the flooded road section in the coverage area.

Optionally, the sending module is specifically used for:

When the vehicle driving guidance information includes the first guidance information, sending the first guidance information to the vehicle-mounted system corresponding to the vehicle in the coverage area;

And/or, in a case where the vehicle driving guidance information includes the second guidance information, sending the second guidance information to an in-vehicle system corresponding to the target vehicle.

In the vehicle driving guidance device provided by the present invention, by acquiring the lane water depth information and lane condition auxiliary information corresponding to each lane, the roadside system can know other lane condition information except the lane water depth information, and then the obtained vehicle driving The guidance information can be used to eliminate the potential safety hazards caused by the depth of water in the lane, and it can also be used to eliminate the safety hazards caused by other lane conditions to the vehicle, and then the vehicle driving guidance information can be sent to the vehicle to make the vehicle Passing through flooded roads safely or avoiding flooded roads can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Fig. 4 is the second structural diagram of the vehicle driving guidance device provided by the present invention. As shown in Fig. 4, the device can be applied to a vehicle-mounted system, and the device includes: a receiving module 401 and a determining module 402, wherein:

The receiving module 401 is used to receive vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, and the vehicle driving guidance information is based on the lane water depth information and lane water depth information of each lane in the roadside system. If determined by the auxiliary state information, the auxiliary lane state information includes lane state information other than lane water depth information among various lane state information;

A determination module 402, configured to determine one or more target guidance information based on the vehicle driving guidance information.

The vehicle driving guidance device provided by the present invention can determine one or more target guidance information by receiving the vehicle driving guidance information. The information is determined by the roadside system based on the lane water depth information and lane condition auxiliary information corresponding to each lane, that is, the vehicle driving guidance information is determined based on more comprehensive lane condition information, based on one or more target guidance information, It can guide vehicles to safely pass through flooded roads or avoid flooded roads, and can effectively eliminate the safety hazards caused by flooded roads to vehicles.

Optionally, the vehicle driving guidance information includes: first guidance information and/or second guidance information, the first guidance information includes lane water depth information and lane condition auxiliary information of each lane, and the second guidance information includes: 2. Guidance information is used to guide the vehicle where the on-board system is located to avoid or pass through flooded road sections;

The determining one or more target guidance information based on the vehicle driving guidance information includes any one or more of the following:

When the vehicle driving guidance information includes the first guidance information, based on the first guidance information and the location information of the vehicle where the vehicle-mounted system is located, determine first target guidance information, and the first target guidance information Used to guide vehicles to avoid flooded roads;

Or, when the vehicle driving guidance information includes the first guidance information, second target guidance information is determined based on the first guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the second target Guidance information is used to guide vehicles through flooded roads;

Or, when the vehicle driving guidance information includes the second guidance information, third target guidance information is determined based on the second guidance information and the driving state of the vehicle where the vehicle-mounted system is located, and the third target Guidance information is used to guide vehicles through flooded roads;

Or, in the case that the vehicle driving guidance information includes the second guidance information, based on the second guidance information and the position information of the vehicle where the vehicle-mounted system is located, determine fourth target guidance information, the fourth target Guidance information is used to guide vehicles to avoid flooded road sections.

The vehicle driving guidance device provided by the present invention can determine one or more target guidance information by receiving the vehicle driving guidance information. The information is determined by the roadside system based on the lane water depth information and lane condition auxiliary information corresponding to each lane, that is, the vehicle driving guidance information is determined based on more comprehensive lane condition information, based on one or more target guidance information, It can guide vehicles to safely pass through flooded roads or avoid flooded roads, and can effectively eliminate the safety hazards caused by flooded roads to vehicles.

FIG. 5 is a schematic structural diagram of an electronic device provided by the present invention. As shown in FIG. 5 , the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, Wherein, the processor 510 , the communication interface 520 , and the memory 530 communicate with each other through the communication bus 540 . The processor 510 can invoke logic instructions in the memory 530 to execute a vehicle driving guidance method, for example, the method includes:

Obtain the lane water depth information and lane condition auxiliary information of each lane, the lane condition auxiliary information includes lane condition information other than the lane water depth information among various lane condition information;

Acquiring vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane;

sending the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass flooded road sections;

or for example the method includes:

Receive vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, the vehicle driving guidance information is determined by the roadside system based on the lane water depth information of each lane and lane condition auxiliary information, The lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

Based on the vehicle driving guidance information, one or more target guidance information is determined.

In addition, the above logic instructions in the memory 530 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to execute the vehicle driving guidance method provided by the above-mentioned methods, such as the method include:

Obtain the lane water depth information and lane condition auxiliary information of each lane, the lane condition auxiliary information includes lane condition information other than the lane water depth information among various lane condition information;

Acquiring vehicle driving guidance information based on the lane water depth information and lane condition auxiliary information of each lane;

sending the vehicle driving guidance information to vehicles in the coverage area of the roadside system;

The vehicle driving guidance information is used to guide vehicles in the coverage area to avoid or pass flooded road sections;

or for example the method includes:

Receive vehicle driving guidance information, the vehicle guidance information is used to guide vehicles to avoid or pass flooded road sections, the vehicle driving guidance information is determined by the roadside system based on the lane water depth information of each lane and lane condition auxiliary information, The lane condition auxiliary information includes lane condition information other than lane water depth information among various lane condition information;

Based on the vehicle driving guidance information, one or more target guidance information is determined.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (11)

1. A vehicle running guiding method is applied to a road side system and comprises the following steps:

acquiring lane waterlogging depth information and lane condition auxiliary information of each lane, wherein the lane condition auxiliary information comprises other lane condition information except the lane waterlogging depth information in various lane condition information;

acquiring vehicle running guide information based on the lane ponding depth information and the lane condition auxiliary information of each lane;

transmitting the vehicle travel guidance information to vehicles in a coverage area of the roadside system;

the vehicle travel guidance information is used to guide vehicles in the coverage area to avoid or pass through a road segment.

2. The vehicle travel guidance method according to claim 1, wherein the acquiring of the lane ponding depth information and the lane condition assistance information for each lane includes:

acquiring lane ponding depth information of each lane through a water level sensor arranged at each lane;

the lane condition auxiliary information of each lane is acquired by a perception sensor provided at each lane.

3. The vehicle travel guidance method according to claim 1 or 2, characterized in that the lane condition assistance information includes at least one of the following lane condition information:

well lid condition information;

pothole condition information;

accident vehicle information;

and losing the object information.

4. The vehicle travel guidance method according to claim 3, characterized in that the vehicle travel guidance information includes: first guidance information and/or second guidance information;

based on lane ponding depth information and lane condition auxiliary information of each lane, acquire vehicle guide information that traveles, include:

acquiring first guide information, wherein the first guide information comprises lane water depth information and lane condition auxiliary information of each lane, and the first guide information is used for guiding vehicles in the coverage area to avoid or pass through a road section;

and/or acquiring second guide information corresponding to the target vehicle based on structural information of the target vehicle, lane ponding depth information of each lane and lane condition auxiliary information of each lane, wherein the second guide information is used for guiding the target vehicle to avoid or pass through a road section;

the target vehicle is a vehicle in the coverage area to pass through a road section.

5. The vehicle travel guidance method according to claim 4, wherein the transmitting the vehicle travel guidance information to the vehicle in the coverage area of the roadside system includes:

if the vehicle running guidance information comprises the first guidance information, transmitting the first guidance information to an on-board system corresponding to a vehicle in the coverage area;

and/or sending the second guide information to an on-board system corresponding to the target vehicle when the vehicle running guide information comprises the second guide information.

6. A vehicle running guiding method is applied to a vehicle-mounted system and comprises the following steps:

receiving vehicle running guide information, wherein the vehicle running guide information is used for guiding a vehicle to avoid or pass through a road section, the vehicle running guide information is determined by a road side system based on lane water accumulation depth information and lane condition auxiliary information of each lane, and the lane condition auxiliary information comprises other lane condition information except the lane water accumulation depth information in a plurality of kinds of lane condition information;

one or more target guide information is determined based on the vehicle travel guide information.

7. The vehicle travel guidance method according to claim 6, characterized in that the vehicle travel guidance information includes: the first guide information comprises lane waterlogging depth information and lane condition auxiliary information of each lane, and the second guide information is used for guiding a vehicle where the vehicle-mounted system is located to avoid or pass through a road section;

the step of determining one or more target guide information based on the vehicle running guide information comprises any one or more of the following steps:

under the condition that the vehicle running guide information comprises the first guide information, determining first target guide information based on the first guide information and position information of a vehicle where the vehicle-mounted system is located, wherein the first target guide information is used for guiding the vehicle to avoid a road section;

or, when the vehicle driving guidance information includes the first guidance information, determining second target guidance information based on the first guidance information and the driving state of the vehicle in which the vehicle-mounted system is located, wherein the second target guidance information is used for guiding the vehicle to pass through a road section;

or, when the vehicle driving guidance information includes the second guidance information, determining third target guidance information based on the second guidance information and the driving state of the vehicle in which the vehicle-mounted system is located, wherein the third target guidance information is used for guiding the vehicle to pass through a road section;

or, when the vehicle running guidance information includes the second guidance information, determining fourth target guidance information based on the second guidance information and the position information of the vehicle where the vehicle-mounted system is located, wherein the fourth target guidance information is used for guiding the vehicle to avoid a road section.

8. A vehicle travel guidance device applied to a roadside system, comprising:

the first acquisition module is used for acquiring lane waterlogging depth information and lane condition auxiliary information of each lane, wherein the lane condition auxiliary information comprises other lane condition information except the lane waterlogging depth information in various lane condition information;

the second acquisition module is used for acquiring vehicle running guide information based on the lane ponding depth information and the lane condition auxiliary information of each lane;

a transmission module for transmitting the vehicle travel guidance information to vehicles in a coverage area of the roadside system;

the vehicle travel guidance information is used to guide vehicles in the coverage area to avoid or pass through a road segment.

9. A vehicle running guide device is applied to a vehicle-mounted system and is characterized by comprising the following components:

the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving vehicle running guide information, the vehicle running guide information is used for guiding a vehicle to avoid or pass through a road section, the vehicle running guide information is determined by a road side system based on lane ponding depth information and lane condition auxiliary information of each lane, and the lane condition auxiliary information comprises other lane condition information except the lane ponding depth information in various lane condition information;

the determination module is used for determining one or more target guide information based on the vehicle running guide information.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle travel guidance method according to any one of claims 1 to 5 or implements the vehicle travel guidance method according to claim 6 or 7 when executing the program.

11. A non-transitory computer-readable storage medium on which a computer program is stored, the computer program implementing the vehicle travel guidance method according to any one of claims 1 to 5, or implementing the vehicle travel guidance method according to claim 6 or 7 when executed by a processor.

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