CN115331471A

CN115331471A - Intelligent navigation scheduling method, device, equipment and storage medium based on V2X

Info

Publication number: CN115331471A
Application number: CN202210960691.4A
Authority: CN
Inventors: 胡泊洋; 杨玉庆; 王慧; 司丽颖; 赵晋
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou 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: 2022-11-11

Abstract

The present disclosure provides a V2X-based intelligent navigation scheduling method, apparatus, device and storage medium, which relate to the technical field of artificial intelligence, specifically to the technical fields of V2X communication, vehicle-road coordination, intelligent navigation, and the like, and can be applied in the scenes of automatic driving, intelligent transportation, vehicle navigation, and the like. The specific implementation scheme comprises the following steps: determining a first target intersection which the target vehicle is about to encounter and the running state of the target vehicle according to the running information of the target vehicle; determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection; when the countdown that the signal lamp of the first target crossing is switched from the red lamp to the green lamp is less than a first time threshold value, sending first scheduling information to a target vehicle; the first scheduling information is used to indicate that the first target intersection is going to green. The method and the system can more intelligently schedule vehicles and improve traffic efficiency and safety.

Description

Intelligent navigation scheduling method, device, equipment and storage medium based on V2X

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of V2X communication, vehicle-road coordination, intelligent navigation, and the like, and may be applied to scenarios such as automatic driving, intelligent transportation, and vehicle navigation, and in particular, to a V2X-based intelligent navigation scheduling method, apparatus, device, and storage medium.

Background

The current navigation system is generally composed of a centralized server and a navigation device (such as a terminal device carrying a GPS or beidou positioning system) of a user, wherein the server provides data such as map data, navigation path planning, road congestion information and the like to the terminal device. The terminal equipment is responsible for providing services such as navigation broadcasting and the like for common users.

At present, traffic data in a navigation system mainly depend on traffic management data, vehicle scheduling is carried out after pavement information is collected and summarized by means of monitoring type information control equipment, and the scheduling mode is not intelligent enough.

Disclosure of Invention

The disclosure provides an intelligent navigation scheduling method, device, equipment and storage medium based on V2X, which can more intelligently schedule vehicles.

According to a first aspect of the present disclosure, there is provided a V2X-based intelligent navigation scheduling method, the method including: determining a first target intersection to be met by the target vehicle and the running state of the target vehicle according to the running information of the target vehicle; determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection; when the countdown that the signal lamp of the first target crossing is switched from the red lamp to the green lamp is less than a first time threshold value, sending first scheduling information to a target vehicle; the first scheduling information is used to indicate that the first target intersection is going to green.

According to a second aspect of the present disclosure, there is provided a V2X-based intelligent navigation scheduling apparatus, the apparatus comprising: the data processing unit is used for determining a first target intersection which is about to be met by the target vehicle and the running state of the target vehicle according to the running information of the target vehicle; the data processing unit is also used for determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection; the navigation scheduling unit is used for sending first scheduling information to the target vehicle when the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold; the first scheduling information is used to indicate that the first target intersection is going to green.

According to a third aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method according to the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

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 flowchart of a V2X-based intelligent navigation scheduling method according to an embodiment of the present disclosure;

fig. 2 is a schematic view of an implementation flow of green light starting reminding provided by the embodiment of the disclosure;

fig. 3 is another schematic flow chart of a V2X-based intelligent navigation scheduling method according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart illustrating implementation of a green wave vehicle speed recommendation provided by an embodiment of the present disclosure;

fig. 5 is a schematic flowchart of a V2X-based intelligent navigation scheduling method according to an embodiment of the present disclosure;

fig. 6 is a schematic implementation flow diagram of a recommended lane suggestion provided by the embodiment of the disclosure;

FIG. 7 is an architecture diagram of a V2X-based intelligent navigation scheduling system provided by an embodiment of the present disclosure;

fig. 8 is a schematic composition diagram of a V2X-based intelligent navigation scheduling device according to an embodiment of the present disclosure;

FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure.

Detailed Description

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

It should be understood that in the embodiments of the present disclosure, the character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

As society develops, the number of vehicles in a city increases. Although measures such as number limit and license plate limit are started in some cities, the problem of traffic jam is still increasingly prominent. At the same time, the growth of vehicles has also driven the growth in the demand for vehicle navigation. Increasingly congested traffic and increasingly more vehicle navigation requirements have the contradiction of difficult reconciliation under the condition of priority of urban road construction resources. In the life of people, an application capable of improving the existing navigation system is urgently needed so as to improve the road operation efficiency and improve the vehicle navigation experience.

Currently, a navigation system in the market is generally composed of a centralized server and a navigation device (such as a terminal device carrying a GPS or beidou positioning system) of a user, wherein the server provides data such as map data, navigation path planning, road congestion information and the like to the terminal device. The terminal equipment is responsible for providing services such as navigation broadcasting and the like for common users.

The present disclosure provides an intelligent navigation scheduling method based on a vehicle networking (V2X), which can more intelligently schedule vehicles and improve traffic efficiency and safety.

The execution subject of the method may be a V2X platform. Such as: may be a computer or server deployed in a V2X platform, or may also be other data processing capable devices. The subject matter of the method is not limited in this respect.

In some embodiments, the server may be a single server, or may be a server cluster composed of a plurality of servers. In some embodiments, the server cluster may also be a distributed cluster. The present disclosure is also not limited to a specific implementation of the server.

The following is an exemplary description of the V2X-based intelligent navigation scheduling method.

Fig. 1 is a schematic flow chart of a V2X-based intelligent navigation scheduling method according to an embodiment of the present disclosure. As shown in fig. 1, the method may include:

s101, determining a first target intersection to be met by the target vehicle and the running state of the target vehicle according to the running information of the target vehicle.

Illustratively, the target vehicle may communicate with the V2X platform, such as via a long link. The target vehicle may send the travel information to the V2X platform. The driving information may include a navigation driving path and position information (e.g., GPS coordinates of the target vehicle) of the target vehicle, and the V2X platform may determine a next target intersection to be encountered by the target vehicle according to the driving information (e.g., the driving path and the position information), which is the first target intersection.

The driving information of the target vehicle may further include a driving speed, and the V2X platform may determine a driving state of the target vehicle according to the driving speed. Such as: when the running speed is 0, the running state of the target vehicle can be determined as a parking state; when the travel speed is not 0, the travel state of the target vehicle may be determined to be traveling.

S102, according to the signal lamp data of the first target crossing, determining the countdown of switching the signal lamp of the first target crossing from the red lamp to the green lamp.

It can be understood that before determining the countdown of switching the signal light of the first target intersection from the red light to the green light according to the signal light data of the first target intersection, the signal light data of the first target intersection needs to be acquired.

In some implementations, the V2X platform can be connected to a signal light of the first target intersection, and the signal light of the first target intersection can send signal light data to the V2X platform. For example, the signal light data may include: the current signal lamp color, countdown and other information. The V2X platform may determine, according to the signal light data of the first target intersection, a countdown to switch the signal light of the first target intersection from the red light to the green light, such as: 3 seconds, 5 seconds, etc.

Optionally, the countdown of the signal light of the first target intersection switching from the red light to the green light may be specifically the countdown of the signal light corresponding to the lane where the target vehicle is located switching from the red light to the green light.

In other implementation manners, the V2X platform may also be connected to the road side device of the first target intersection, and the road side device of the first target intersection may monitor the signal light data of the first target intersection and send the signal light data to the V2X platform. The manner in which the V2X platform acquires the beacon data is not limited herein.

Illustratively, the roadside apparatus may include: a signal control device, a high-speed camera, a Road Side Unit (RSU), a Road Side Computing Unit (RSCU), and the like, and the type of the road side device is not limited herein.

S103, when the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold, sending first scheduling information to the target vehicle; the first scheduling information is used to indicate that the first target intersection is going to green.

As described above, the V2X platform can determine the driving status of the target vehicle and the countdown to switch the signal light of the first target intersection from red to green according to the driving speed.

In some implementations, S103 can include when the driving state of the target vehicle is a parking state and a countdown of the signal light of the first target intersection switching from red light to green light is less than a first time threshold, the V2X platform can send the first scheduling information to the target vehicle; the first scheduling information is used to indicate that the first target intersection is going to green.

In other implementations, the condition that the driving state of the target vehicle is a parking state may be replaced by "the speed of the target vehicle is less than a preset threshold or is moving slowly, such as the speed is less than 5km/h", or "the speed of the target vehicle is less than a preset threshold and is driving to the target intersection", and the like, which is not limited herein.

Alternatively, the first time threshold may be 4 seconds, 5 seconds, 8 seconds, etc., and the size of the first time threshold is not limited herein.

Illustratively, the first scheduling information may include: and the countdown of switching the signal lamp of the first target crossing from the red lamp to the green lamp. After the target vehicle receives the first scheduling information, a countdown that the signal lamp of the first target intersection is switched from the red lamp to the green lamp can be displayed (for example, displayed through vehicle-mounted equipment) to prompt a driver that the signal lamp of the first target intersection is to be the green lamp to prepare for starting.

Optionally, after the target vehicle receives the first scheduling information, the driver may be reminded that the signal lamp of the first target intersection is to be a green lamp in other ways to prepare for starting. Such as: and (6) voice playing. In this disclosure, after the target vehicle receives the first scheduling information, the information sent out to prompt the driver that the signal lamp of the first target intersection is to be a green lamp may be referred to as first prompt information.

From the above, according to the embodiment of the present disclosure, the first target intersection which the target vehicle is about to encounter and the driving state of the target vehicle are determined according to the driving information of the target vehicle, the countdown that the signal lamp of the first target intersection is switched from the red lamp to the green lamp is determined according to the signal lamp data of the first target intersection, and when the driving state of the target vehicle is the parking state and the countdown that the signal lamp of the first target intersection is switched from the red lamp to the green lamp is smaller than the first time threshold, the first scheduling information is sent to the target vehicle, so that the target vehicle can be reminded that the first target intersection is about to turn green and is ready to start. By reminding the first target intersection of the target vehicles of being about to turn green and preparing for starting, the vehicle passing efficiency can be improved, the vehicle running safety can be improved (for example, rear-end collision of the rear vehicle is avoided), the traffic jam is further slowed down, and the navigation driving safety is improved.

Optionally, the target vehicle described in the embodiment of the present disclosure may also be understood (or replaced) as a navigation system of the target vehicle, or an on-board device, or a terminal device (such as a mobile phone, a tablet, and the like) connected to the target vehicle, and here is not limited to the scenario in which the target vehicle interacts with the V2X platform.

In some embodiments, S103 may include: and when the running state of the target vehicle is a parking state and the countdown of the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold and greater than a second time threshold, transmitting first scheduling information to the target vehicle.

Illustratively, the second time threshold may be 1 second, 2 seconds, 3 seconds, etc., and the size of the second time threshold is not limited herein. It should be understood that the second time threshold is less than the first time threshold.

In this embodiment, by setting the second time threshold, when the countdown that the signal light of the first target intersection is switched from the red light to the green light by the V2X platform is greater than the second time threshold, the first scheduling information is sent to the target vehicle, so that the communication delay between the V2X platform and the target vehicle can be considered, and the situation that the target vehicle starts when receiving the first scheduling information is avoided (or reduced).

In some other embodiments, S103 may further include: and when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from the red lamp to the green lamp is less than a first time threshold value, and the distance between the target vehicle and the first target intersection is less than a first distance threshold value, transmitting first scheduling information to the target vehicle.

Illustratively, the first distance threshold may be 100 meters, 150 meters, 200 meters, etc., without limitation to the size of the first distance threshold.

Alternatively, the traveling information of the target vehicle may include position information of the target vehicle, and the V2X platform may calculate a distance between the target vehicle and the first target intersection according to the position information of the target vehicle.

In this embodiment, by setting the first distance threshold, the V2X platform sends the first scheduling information to the target vehicle when the distance between the target vehicle and the first target intersection is smaller than the first distance threshold, so that the actual distance between the target vehicle and the first target intersection can be considered, the first scheduling information is prevented from being sent to the target vehicle when the distance between the target vehicle and the first target intersection is too far, and the navigation experience of the driver of the target vehicle is improved.

In some embodiments, S103 may further include: when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from the red lamp to the green lamp is less than a first time threshold value, and the target vehicle has a familiar road mode at the first target intersection, transmitting first scheduling information to the target vehicle; or when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection is switched from red to green and is smaller than a first time threshold, the target vehicle has no ripe road mode at the first target intersection, and the lamp color and the countdown of the signal lamp of the first target intersection are completely consistent, the first scheduling information is sent to the target vehicle.

The familiar road mode may refer to that the passing frequency of the target vehicle at the first target intersection is relatively high, such as higher than the first frequency, or may refer to that the first target intersection is an intersection in a driving path autonomously selected or planned by a driver of the target vehicle. That is, the familiar road mode indicates that the target vehicle is relatively familiar with the first target intersection. Illustratively, the first frequency may be 2 times/day, 20 times/month, etc., and the magnitude of the first frequency is not limited herein.

In this embodiment, the condition for sending the first scheduling information to the target vehicle may be set in a differentiated manner in consideration of whether the target vehicle has an acquaintance road mode at the first target intersection, so as to improve the accuracy of scheduling the target vehicle.

Optionally, in the above embodiment, the sending the first scheduling information to the target vehicle may specifically be understood as: and carrying out green light starting reminding on the target vehicle. With reference to fig. 2, a specific example will be described below, where the first distance threshold is 100 meters, the first time threshold is 8 seconds, and the second time threshold is 4 seconds. In the following examples, the terminal device may refer to a vehicle-mounted device or a terminal device connected to a target vehicle, and may be used to represent the target vehicle described in the above embodiments.

Fig. 2 is a schematic view of an implementation flow of green light starting reminding provided by the embodiment of the disclosure. As shown in fig. 2, in the embodiment of the present disclosure, the implementation process of green light start reminding may include:

s201, the V2X platform receives the driving information reported by the terminal equipment.

For example, the V2X platform may receive travel information of a target vehicle.

S202, the V2X platform inquires the current traffic light countdown situation.

For example, the V2X platform may determine, according to the traveling information of the target vehicle, a first target intersection that the target vehicle is about to encounter and a traveling state of the target vehicle; and determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection. The first target crossing is the current crossing, and the current traffic light is the signal light of the first target crossing.

S203, the V2X platform judges whether the distance from the intersection is within 100 meters.

The V2X platform can determine whether the target vehicle is within 100 meters of the first target intersection.

If yes, executing S204; if not, go to S205.

And S204, judging whether the platform is in a parking state or not by the V2X platform.

If yes, go to S206; if not, go to S205.

And S205, the V2X platform does not push a green light starting event.

Alternatively, the current flow may be ended in S205 or return to S201.

S206, the V2X platform judges whether a road maturity mode exists at the intersection.

If yes, executing S207; if not, go to step S208.

And S207, judging whether the red light remains for 4-8 seconds by the V2X platform.

If yes, go to S209; if not, the method may wait (e.g., wait for the remaining time of the red light to be less than 8 seconds), or return to S201.

And S208, the V2X platform judges whether the intersection light color and the countdown are completely consistent.

If yes, executing S207; if not, go to S205.

S209, pushing a green light starting event by the V2X platform.

Illustratively, the first scheduling information may be transmitted to the target vehicle. The first scheduling information is a green light take-off event.

And S210, when the terminal equipment receives a green light starting event, judging whether the remaining time of the red light is less than 1 second.

If yes, executing S211; if not, go to step S212.

Optionally, the 1 second stated in S210 may be referred to as a third time threshold, in some other examples, the third time threshold may also be 2 seconds, 3 seconds, and the like, where the size of the third time threshold is not limited.

And S211, the terminal equipment reminds the green light to start.

And S212, the terminal equipment does not remind the green light to start.

For example, the terminal device may wait until the remaining time of the red light is less than 1 second, and start to remind the green light to start. Such as: and sending the first prompt message.

Fig. 3 is another schematic flow chart of the V2X-based intelligent navigation scheduling method according to the embodiment of the present disclosure. As shown in fig. 3, the method may further include:

s301, determining whether the target vehicle reaches the first target intersection at the current running speed and needs to wait for the red light according to the running information and the signal light data of the first target intersection.

For example, the travel information may include position information of the target vehicle and a current travel speed. The V2X platform can calculate whether the target vehicle needs to wait for the red light when reaching the first target intersection at the current running speed or not according to the position information of the target vehicle and the current running speed. For example, if the remaining time period of the red light is 30 seconds and the time period required for the target vehicle to reach the first target intersection at the current driving speed is 28 seconds, the red light needs to be waited.

S302, when the target vehicle reaches the first target intersection at the current running speed and needs to wait for the red light, determining the target vehicle speed which is needed when the target vehicle reaches the first target intersection and does not need to wait for the red light according to the running information.

For example, if the remaining time of the red light is t and the distance between the target vehicle and the first target intersection is S, the V2X platform can calculate the value of S divided by t. When the target vehicle speed is greater than the value of S divided by t, the target vehicle does not need to wait for the red light when reaching the first target intersection.

Alternatively, the specific magnitude of the target vehicle speed is not limited.

S303, sending second scheduling information to the target vehicle according to the target vehicle speed; the second schedule information is used to instruct the target vehicle to travel at the target vehicle speed.

Exemplarily, S303 may include: and sending second scheduling information to the target vehicle, wherein the second scheduling information comprises the target vehicle speed. For example, the target vehicle speed may be 45 km/h, 50 km/h, or the like.

In this embodiment, the target vehicle speed may be understood as a recommended speed recommended by the V2X platform to the target vehicle, and when the target vehicle runs at the target vehicle speed, it is not necessary to wait for the red light when reaching the first target intersection.

The method and the device for prompting the target vehicle to pass through the first target intersection at the more proper target speed can be realized by determining whether the target vehicle needs to wait for the red light when reaching the first target intersection at the current running speed or not according to the running information and signal lamp data of the first target intersection, determining the target vehicle speed which is required by the target vehicle without waiting for the red light when reaching the first target intersection at the current running speed according to the running information, and sending the second scheduling information to the target vehicle according to the target vehicle speed. By reminding the target vehicle to pass through the first target intersection at a more proper target speed without waiting for a red light at the first target intersection, the vehicle passing efficiency can be further improved, and the vehicle running safety can be improved.

In some embodiments, S303 may include: and when the target vehicle speed is less than the limit speed of the first target intersection and greater than the first speed threshold value, sending second scheduling information to the target vehicle.

Illustratively, the first speed threshold may be 30 km/h, 35 km/h, etc., where the size of the first speed threshold is not limited. It should be appreciated that the first speed threshold is less than the limit speed of the first target intersection. The restricted speed of the first target intersection refers to the maximum speed through the first target intersection restricted in the traffic regulations.

In the embodiment, when the target vehicle speed is lower than the speed limit of the first target intersection, the second scheduling information is sent to the target vehicle, so that the target vehicle speed recommended to the target vehicle can be ensured to be a safe vehicle speed lower than the speed limit of the first target intersection, and the driving safety of the target vehicle can be improved; by limiting the target vehicle speed to be greater than the first speed threshold value and sending the second scheduling information to the target vehicle, the target vehicle speed can be prevented from being recommended to the target vehicle when the target vehicle speed is too low, and the passing efficiency of the first target intersection can be improved.

In some other embodiments, S303 may also include: and when the distance between the target vehicle and the first target intersection is smaller than the second distance threshold and larger than the third distance threshold, sending second scheduling information to the target vehicle according to the target vehicle speed.

Illustratively, the second distance threshold may be 700 meters, 750 meters, 800 meters, 850 meters, etc., and the third distance threshold may be 100 meters, 120 meters, 150 meters, etc., without limitation to the size of the second distance threshold and the third distance threshold. It should be understood that the second distance threshold is greater than the third distance threshold.

In this embodiment, when the distance between the target vehicle and the first target intersection is smaller than the second distance threshold, the second scheduling information is sent to the target vehicle according to the target vehicle speed, and the actual distance between the target vehicle and the first target intersection can be considered, so that the second scheduling information is prevented from being sent to the target vehicle when the distance between the target vehicle and the first target intersection is too long, and the navigation experience of a driver of the target vehicle is improved. By further limiting the transmission of the second dispatch information to the target vehicle based on the target vehicle speed when the distance between the target vehicle and the first target intersection is greater than the third distance threshold, the communication delay between the V2X platform and the target vehicle can be taken into account, avoiding (or reducing) the occurrence of the target vehicle having reached the first target intersection upon receiving the second dispatch information.

In some embodiments, the method further comprises: and acquiring the road queuing length information of the first target intersection. In S302, determining a target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the driving information may include: and determining the target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the driving information and the road queuing length information.

Illustratively, the road queue length information described herein may refer to a road queue length of the first target intersection. The road queuing length information may be sent by the roadside device at the first target intersection to the V2X platform. When the V2X platform can calculate the target speed, the road queuing length information can be considered, and the target speed required by the target vehicle to reach the first target intersection without waiting for the red light is calculated and estimated by combining the running information.

In the embodiment, the road queuing length information is introduced as a parameter for calculating the target vehicle speed, so that the accuracy of the target vehicle speed can be improved, and the target vehicle speed can be recommended more accurately for the target vehicle.

In some embodiments, the method further comprises: and determining a second target intersection met by the target vehicle after passing through the first target intersection according to the driving information. In S302, determining a target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the driving information may include: and determining the target vehicle speed required by the target vehicle to reach the first target intersection and the second target intersection without waiting for the red light according to the driving information.

In some implementations, the second target intersection can refer to the next target intersection encountered by the target vehicle after passing through the first target intersection during travel.

In some other implementations, the second target intersection may also include: the target vehicle, while traveling, passes a plurality of target intersections encountered after the first target intersection. The number of second target intersections is not limited herein.

In this embodiment, the target vehicle speed is a speed required by the target vehicle to reach both the first target intersection and the second target intersection without waiting for the red light. The passing efficiency of the target vehicle can be further improved by determining the target vehicle speed required by the red light when the target vehicle reaches the first target intersection and the second target intersection without waiting for the red light.

Optionally, in the above embodiment related to fig. 3, the sending of the second scheduling information to the target vehicle may specifically be understood as: and recommending the target vehicle speed to the target vehicle, and reminding the target vehicle to run according to the target vehicle speed. When the target vehicle travels through the first target intersection at the target vehicle speed, there is no need to wait for a red light. The target vehicle speed may also be referred to as a green wave vehicle speed in the present disclosure. That is, the green wave vehicle speed suggestion or recommendation may be made for the target vehicle in the above embodiment associated with FIG. 3.

The following describes a process of green wave vehicle speed recommendation with a specific example, taking the first speed threshold value as 30 km/h, the second distance threshold value as 800 m, and the third distance threshold value as 120 m, in conjunction with fig. 4. In the following examples, the terminal device may refer to a vehicle-mounted device or a terminal device connected to a target vehicle, and may be used to represent the target vehicle described in the above embodiments.

FIG. 4 is a schematic diagram illustrating a flow chart of implementation of a green wave vehicle speed recommendation provided by an embodiment of the present disclosure. As shown in fig. 4, in the embodiment of the present disclosure, the implementation process of the green wave vehicle speed suggestion may include:

s401, the V2X platform receives the running information reported by the terminal equipment.

S402, the V2X platform inquires the current traffic light countdown situation.

For example, the V2X platform may determine, according to the driving information of the target vehicle, a first target intersection to be encountered by the target vehicle and a driving state of the target vehicle; and determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection. The first target crossing is the current crossing, and the current traffic light is the signal light of the first target crossing.

And S403, judging whether the distance to the intersection is 120-800 meters by the V2X platform.

Illustratively, the V2X platform may determine whether the target vehicle is between 120-800 meters from the first target intersection.

If yes, executing S404; if not, go to S405.

S404, the V2X platform judges whether the vehicle is to be in a red light at an intersection or the like when the vehicle runs at the current speed.

For example, the V2X platform may determine whether the target vehicle is to wait at a first target intersection for a red light while traveling at the current travel speed.

If yes, go to step S406; if not, go to S405.

S405, the V2X platform does not push green wave vehicle speed events.

Alternatively, the current flow may be ended in S405 or return to S401.

And S406, the V2X platform judges whether the green wave vehicle speed is greater than 30 km/h and less than the speed limit.

If yes, executing S407; if not, go to S405.

S407, the V2X platform pushes a green wave vehicle speed event.

Illustratively, the second scheduling information may be transmitted to the target vehicle. The second schedule information is a green wave vehicle speed event.

And S408, the terminal equipment receives the green wave vehicle speed event.

And S409, the terminal equipment judges whether the current real-time speed is more than 20 kilometers per hour.

For example, the terminal device may determine whether the current travel speed of the target vehicle is greater than 20 km/h.

If yes, go to S410; if not, go to S411.

Optionally, the 20 km/h described in S409 may be referred to as a third speed threshold, in other examples, the third speed threshold may also be 10 km/h, 15 km/h, and the like, where the size of the third speed threshold is not limited herein.

And S410, broadcasting the green wave vehicle speed by the terminal equipment.

And S411, the terminal equipment does not broadcast the green wave vehicle speed.

In this example, by limiting the current real-time vehicle speed to be greater than the third speed threshold value, the green wave vehicle speed is broadcasted, so that the intention or habit of some users may be a little lower speed for driving the vehicle, and the navigation experience of the users can be improved.

Alternatively, in the disclosed embodiment, the driving direction of the target vehicle at the first target intersection may be a first driving direction, and the first driving direction includes at least two lanes. Fig. 5 is another schematic flow chart of the V2X-based intelligent navigation scheduling method according to the embodiment of the present disclosure. As shown in fig. 5, the method may further include:

s501, acquiring road queuing length information of each lane in the first driving direction.

For example, the first target intersection may include three driving directions of left turn, straight run, and right turn. The first travel direction may be any one of a left-turn, a straight travel, and a right-turn travel direction.

Taking the first traveling direction as a straight traveling direction as an example, the straight traveling direction includes three lanes, i.e., lane 1, lane 2, and lane 3. The V2X platform may acquire road queuing length information of lane 1, lane 2, and lane 3, respectively, in S501.

For example, the roadside apparatus may transmit road queue length information for each lane in the first travel direction to the V2X platform.

S502, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction; the third scheduling information is used for indicating that the target vehicle runs according to the target lane.

For example, the V2X platform may determine a target lane in which the road queue length in the first traveling direction is shortest (smallest) or shorter, based on the road queue length information of each lane in the first traveling direction, and transmit the third schedule information to the target vehicle.

For example, the third scheduling information may include identification information of the target lane, which may be a lane number or a lane picture, without limitation.

In the embodiment, the target lane may be understood as a recommended lane recommended to the target vehicle by the V2X platform, and when the target vehicle travels along the recommended lane, the higher traffic efficiency may be achieved.

According to the embodiment of the disclosure, the third scheduling information is sent to the target vehicle according to the road queuing length information of each lane in the first driving direction by acquiring the road queuing length information of each lane in the first driving direction, so that the target vehicle can be reminded to drive according to the target lane with higher passing efficiency, and the vehicle passing efficiency can be further improved.

In some embodiments, S502 may include: and when the difference value between the maximum road queuing length and the minimum road queuing length in the road queuing length information of all the lanes in the first driving direction is greater than a preset length threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

Illustratively, the preset length threshold may be 15 meters, 18 meters, 20 meters, etc., and the size of the preset length threshold is not limited herein.

In the embodiment, the difference value between the maximum road queuing length and the minimum road queuing length is set to be larger than the preset length threshold value and used as the precondition for sending the third scheduling information to the target vehicle, so that the situation that the third scheduling information is frequently sent to the target vehicle when the difference value between the road queuing lengths of all lanes in the first driving direction is not large can be avoided, and the navigation experience of a user can be improved.

In some other embodiments, S502 may also include: and when the distance between the target vehicle and the first target intersection is smaller than the fourth distance threshold and larger than the fifth distance threshold, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

Illustratively, the fourth distance threshold may be 350 meters, 380 meters, 400 meters, etc., and the fifth distance threshold may be 100 meters, 120 meters, etc., without limitation to the magnitude of the fourth distance threshold and the fifth distance threshold. It should be understood that the fourth distance threshold is greater than the fifth distance threshold.

In this embodiment, when the distance between the target vehicle and the first target intersection is smaller than the fourth distance threshold, the third scheduling information is sent to the target vehicle according to the road queuing length information of each lane in the first driving direction, so that the actual distance between the target vehicle and the first target intersection can be considered, the third scheduling information is prevented from being sent to the target vehicle when the distance between the target vehicle and the first target intersection is too long, and the navigation experience of a driver of the target vehicle is improved. By further limiting the distance between the target vehicle and the first target intersection to be larger than the fifth distance threshold value and sending the third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction, not only can the communication delay between the V2X platform and the target vehicle be considered, the situation that the target vehicle reaches the first target intersection when receiving the third scheduling information be avoided (or reduced), but also the situation that the target vehicle changes lanes to cause violation or scratches with other vehicles when approaching the intersection can be avoided, and therefore the driving safety of the target vehicle is improved.

In some embodiments, S502 may also include: and when the current running speed of the target vehicle is greater than the second speed threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first running direction.

Illustratively, the second speed threshold may be 15 km/h, 20 km/h, etc., and the size of the second speed threshold is not limited herein.

In this embodiment, the precondition for sending the third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction is limited to that the current driving speed of the target vehicle is greater than the second speed threshold, so that the target vehicle can be prevented from changing lanes to the target lane when the driving speed is too low, thereby preventing the influence on the normal driving of the vehicle coming behind the target lane and improving the driving safety of the target vehicle.

In some embodiments, the method further comprises: acquiring road queuing length information of each lane in a second driving direction; the second direction of travel includes at least two lanes. S502 may further include: and sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction and the road queuing length information of each lane in the second driving direction.

The road queuing length information of each lane in the second driving direction may refer to the road queuing length information of each lane in the first driving direction, and is not described in detail.

In some implementations, the second direction of travel can refer to any one of the directions of travel of the first target intersection other than the first direction of travel.

In some further implementations, the second driving direction may also include: at least two traveling directions other than the first traveling direction among the traveling directions at the first target intersection. The number of second driving directions is not limited here.

In this embodiment, the third scheduling information is transmitted to the target vehicle based on the road queue length information for each lane in the first traveling direction and the road queue length information for each lane in the second traveling direction, so that the selection range of the target lane when the target lane is recommended to the target vehicle can be expanded to a plurality of traveling directions such as the first traveling direction and the second traveling direction, and the traffic efficiency of the target vehicle can be further improved.

Optionally, in the above embodiment related to fig. 5, the sending of the third scheduling information to the target vehicle may specifically be understood as: and recommending a target lane to the target vehicle, and reminding the target vehicle to run according to the target lane. When the target vehicle travels through the first target intersection according to the target lane, higher passing efficiency can be achieved. The target lane may also be referred to as a recommended lane in this disclosure. That is, the recommended lane suggestion may be made to the target vehicle in the above embodiment related to fig. 5.

With reference to fig. 6, a process of suggesting a recommended lane is described with a specific example, taking the preset length threshold of 20 meters, the preset fourth distance threshold of 350 meters, the preset fifth distance threshold of 100 meters, and the preset second speed threshold of 20 kilometers per hour as an example. In the following examples, the terminal device may refer to a vehicle-mounted device or a terminal device connected to a target vehicle, and may be used to represent the target vehicle described in the above embodiments.

Fig. 6 is a schematic implementation flow diagram of a recommended lane suggestion provided in the embodiment of the present disclosure. As shown in fig. 6, in the embodiment of the present disclosure, the implementation process of recommending lane suggestions may include:

s601, the V2X platform receives the running information reported by the terminal equipment.

S602, the V2X platform inquires the current traffic light countdown situation.

S603, the V2X platform judges whether the distance to the intersection is between 100 and 350 meters.

Illustratively, the V2X platform can determine whether the target vehicle is between 100-350 meters from the first target intersection.

If yes, go to S604; if not, go to S605.

And S604, the V2X platform judges whether the current speed is greater than 20 km/h and the number of lanes in the current driving direction is greater than 2.

The current driving direction is the first driving direction.

For example, the V2X platform may determine whether the current vehicle speed of the target vehicle is greater than 20 km/h and the number of lanes in the current driving direction is greater than 2.

If yes, go to S606; if not, go to S605.

And S605, the V2X platform does not push the recommended lane.

Alternatively, the current flow may be ended in S605 or return to S601.

S606, the V2X platform judges whether the difference between the minimum value and the maximum value of the queuing lengths of the lanes at the intersection is more than 20 meters.

For example, the V2X platform may determine whether a difference between the maximum road queuing length and the minimum road queuing length in the road queuing length information of all lanes in the first driving direction is greater than 20 meters.

If yes, go to S607; if not, go to S605.

S607, the V2X platform judges whether the current user has the familiar road mode.

If yes, go to S608; if not, go to S609.

And S608, pushing the recommended lane in the familiar road mode by the V2X platform.

Illustratively, the third scheduling information may be transmitted to the target vehicle. The recommended lane is the target lane.

S609, pushing the recommended lanes in all driving directions by the V2X platform.

Such as: the V2X platform may push recommended lanes in a first direction of travel and a second direction of travel.

S610, the terminal device broadcasts the recommended lane.

In some embodiments, the method further comprises: acquiring a traffic safety event sensed by roadside equipment at a target intersection; and pushing the traffic safety event to the target vehicle through the UU interface.

Exemplary traffic safety events may include: the road surface pedestrian breaks into, non-motor vehicle breaks into the incident that influences traffic safety. The type of traffic safety event is not limited herein.

After receiving the traffic safety incident, the target vehicle can broadcast the traffic safety incident and remind a driver.

In the embodiment, the traffic safety event is pushed to the target vehicle, so that the driver can be reminded to drive carefully, or instructions such as deceleration and braking can be given to the automatic driving vehicle in real time.

In other embodiments, after the road side device senses the traffic safety event, the road side device may also directly push the traffic safety event to the target vehicle through the PC5 interface.

In some embodiments, the method further comprises: and transmitting the running information to the road side equipment.

For example, the V2X platform may transmit the travel information of the target vehicle to the roadside device. The road side equipment can remind pedestrians or non-motor vehicles according to the driving information. For example, a speaker or the like provided in the roadside apparatus may broadcast the message to the pedestrian or the non-motor vehicle to alert the pedestrian or the non-motor vehicle of the coming vehicle. Specifically, the roadside apparatus may determine the direction, speed, distance, lane of the oncoming vehicle (i.e., the target vehicle) from the travel information. And the arrival information of the target vehicle is combined and timely pushed to pedestrians and non-motor vehicles through the loudspeaker equipment at the intersection.

In this embodiment, the driving information is sent to the road side equipment, so that the road side equipment can remind pedestrians and non-motor vehicles to pay attention to vehicles according to the driving information, and traffic accidents can be better avoided. Such as: at a right-turn intersection, the non-motor vehicles, the pedestrians and the motor vehicles may have a road right dispute, and the embodiment can accurately remind the pedestrians, so that traffic accidents can be better avoided.

In some embodiments, when a vehicle with a fault on the road surface or the vehicle runs abnormally, the target vehicle may also send a notification to the roadside device through the on-board unit, so as to notify all vehicles on the road.

Alternatively, the above embodiments related to fig. 1, the above embodiments related to fig. 3, and the above embodiments related to fig. 5 may be implemented as a single embodiment, or may be implemented as a larger and more complete embodiment by combining partially or wholly, and are not limited herein.

Some examples of the V2X-based intelligent navigation scheduling method provided by the embodiment of the present disclosure are introduced above, and an intelligent navigation scheduling system, or referred to as a V2X-based intelligent navigation scheduling system, capable of implementing the method is given below by way of example in conjunction with fig. 7.

Fig. 7 is an architecture diagram of a V2X-based intelligent navigation scheduling system according to an embodiment of the present disclosure. As shown in fig. 7, the V2X-based intelligent navigation scheduling system may include: the vehicle-mounted system comprises a strategy platform, a cloud control platform, roadside sensing equipment, an RSU (the roadside sensing equipment and the RSU are collectively referred to as roadside equipment), traffic lights (or referred to as signal lights, and may be referred to as traffic light patterns in fig. 7), and vehicles (such as target vehicles, and may be referred to as vehicle patterns in fig. 7).

Wherein, the strategy platform can comprise: safety pre-warning, green wave vehicle speed, lane suggestion (recommended lane), map service and the like. The strategy platform is connected with the cloud control platform. The cloud control platform may include services or functions such as service clusters, databases, caches, and the like. The cloud control platform and the policy platform may constitute a V2X platform as described in the embodiments of the present disclosure. The cloud control platform can be connected with the vehicle through the mobile core network and the LTE base station and/or the 5G base station. The LTE base station and the 5G base station can communicate with the vehicle through a PC5 interface. The cloud control platform can be respectively connected with the traffic lights and the road side equipment through a private network or a public network.

In the intelligent navigation scheduling system based on V2X shown in fig. 7, the vehicle may also refer to an in-vehicle terminal (such as an OBU device, an in-vehicle intelligent terminal, etc.). The vehicle can establish long link communication (such as WebSocket or tcp long link) with the V2X platform by using the UU interface.

The cloud control platform can be used for butt joint of road side equipment and vehicles, providing basic intersection matching function and communication channel capacity and distributing data to the strategy platform. After the strategy platform can calculate the scene strategy beneficial to navigation, the scene strategy is pushed to the vehicle through the cloud control platform.

Specifically, the strategy platform may deduce an acquaintance road pattern that the user is most likely to walk for scenes such as commutes in cities through big data analysis of the driving route of the user, and based on conditions of the acquaintance road pattern, push an event for the vehicle through various intelligent navigation strategies described in the foregoing method embodiments according to roadside data and vehicle driving data.

Optionally, the cloud control platform may be implemented by kafka or other message queues, distributing the data to the policy platform. After the strategy platform is calculated, the calculation result can be transmitted back to the cloud control platform through the http link, and then the calculation result is transmitted to the vehicle through the long-chain connecting channel by the cloud control platform.

In the intelligent navigation scheduling system based on V2X shown in fig. 7, the cloud control platform may only focus on data push of the traffic light device for signal control as much as possible, so as to achieve a real-time and efficient effect. The strategy platform has big data capacity, calculates the scene strategy under the user familiar road mode, and transmits the scene strategy to the vehicle-end equipment through the cloud control platform.

Optionally, in the embodiment of the present disclosure, the terminal device may be an Android operating system-based vehicle-mounted device, and may also be a Linux-based or QNX-based vehicle-mounted device. The terminal device may include a screen, a speaker, a GPS module, a barometric sensor, and the like. When the vehicle travels, the terminal equipment can accurately position the position information and the altitude of the vehicle through the GPS module and the air pressure sensor, and sends data to the cloud control platform. When the scene data is issued to the terminal equipment, the terminal equipment can play the event scene card on the screen, and the reminding information is reported through the loudspeaker voice, so that a driver can conveniently and quickly know the road condition. The event scene card may include the information of the recommended vehicle arrival, the green wave vehicle speed, the green light starting reminding and the like in the foregoing embodiment.

In an exemplary embodiment, an embodiment of the present disclosure further provides a V2X-based intelligent navigation scheduling apparatus, which may be used to implement the V2X-based intelligent navigation scheduling method according to the foregoing embodiment. Fig. 8 is a schematic composition diagram of a V2X-based intelligent navigation scheduling device according to an embodiment of the present disclosure. As shown in fig. 8, the apparatus may include: a data processing unit 801 and a navigation scheduling unit 802.

A data processing unit 801, configured to determine, according to the driving information of the target vehicle, a first target intersection that the target vehicle is about to encounter and a driving state of the target vehicle; the data processing unit 801 is further configured to determine, according to the signal light data of the first target intersection, a countdown that the signal light of the first target intersection is switched from the red light to the green light; the navigation scheduling unit 802 is configured to send first scheduling information to the target vehicle when the driving state of the target vehicle is a parking state and the countdown of switching the red light to the green light at the first target intersection is less than a first time threshold; the first scheduling information is used to indicate that the first target intersection is going to green.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the running state of the target vehicle is a parking state and the countdown of the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold and greater than a second time threshold, transmitting first scheduling information to the target vehicle.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from the red lamp to the green lamp is smaller than a first time threshold, and the distance between the target vehicle and the first target intersection is smaller than a first distance threshold, transmitting first scheduling information to the target vehicle.

Optionally, the navigation scheduling unit 802 is specifically configured to: when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection being switched from the red lamp to the green lamp is smaller than a first time threshold value, and the target vehicle has a familiar road mode at the first target intersection, sending first scheduling information to the target vehicle; or when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection is switched from red to green and is smaller than a first time threshold, the target vehicle has no ripe road mode at the first target intersection, and the lamp color and the countdown of the signal lamp of the first target intersection are completely consistent, the first scheduling information is sent to the target vehicle.

Optionally, the data processing unit 801 is further configured to determine whether the target vehicle needs to wait for a red light when reaching the first target intersection at the current driving speed according to the driving information and signal light data of the first target intersection; and when the target vehicle reaches the first target intersection at the current running speed and needs to wait for the red light, determining the target vehicle speed which is needed when the target vehicle reaches the first target intersection without waiting for the red light according to the running information. The navigation scheduling unit 802 is further configured to send second scheduling information to the target vehicle according to the target vehicle speed; the second schedule information is used to instruct the target vehicle to travel at the target vehicle speed.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the target vehicle speed is less than the speed limit of the first target intersection and greater than a first speed threshold, sending second scheduling information to the target vehicle according to the target vehicle speed.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the distance between the target vehicle and the first target intersection is smaller than a second distance threshold value and larger than a third distance threshold value, sending second scheduling information to the target vehicle according to the target vehicle speed.

Optionally, the data processing unit 801 is further configured to obtain road queuing length information of the first target intersection. The navigation scheduling unit 802 is specifically configured to: and determining the target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the driving information and the road queuing length information.

Optionally, the data processing unit 801 is further configured to determine, according to the driving information, a second target intersection encountered by the target vehicle after passing through the first target intersection. The data processing unit 801 is specifically configured to determine, according to the driving information, a target vehicle speed required for the target vehicle to reach both the first target intersection and the second target intersection without waiting for the red light.

Optionally, the driving direction of the target vehicle at the first target intersection is a first driving direction, and the first driving direction includes at least two lanes; the data processing unit 801 is further configured to acquire road queuing length information of each lane in the first driving direction. The navigation scheduling unit 802 is specifically configured to: according to the road queuing length information of each lane in the first driving direction, third scheduling information is sent to the target vehicle; the third scheduling information is used for indicating that the target vehicle runs according to the target lane.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the difference value between the maximum road queuing length and the minimum road queuing length in the road queuing length information of all the lanes in the first driving direction is greater than a preset length threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the distance between the target vehicle and the first target intersection is smaller than the fourth distance threshold and larger than the fifth distance threshold, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

Optionally, the navigation scheduling unit 802 is specifically configured to: and when the current running speed of the target vehicle is greater than the second speed threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first running direction.

Optionally, the data processing unit 801 is further configured to obtain road queuing length information of each lane in the second driving direction; the second direction of travel includes at least two lanes. The navigation scheduling unit 802 is specifically configured to: and sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction and the road queuing length information of each lane in the second driving direction.

Optionally, the data processing unit 801 is further configured to acquire a traffic safety event sensed by roadside devices at the target intersection. The navigation scheduling unit 802 is further configured to push the traffic safety event to the target vehicle through the UU interface.

Optionally, the data processing unit 801 is further configured to navigate the scheduling unit 802, and further configured to send the driving information to the roadside device.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

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

In an exemplary embodiment, an electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the above embodiments. The electronic device may be the computer or the server described above.

In an exemplary embodiment, the readable storage medium may be a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method according to the above embodiments.

In an exemplary embodiment, the computer program product comprises a computer program which, when being executed by a processor, carries out the method according to the above embodiments.

FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. 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 meant to limit implementations of the disclosure described and/or claimed herein.

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

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

The computing unit 901 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as a V2X-based intelligent navigation scheduling method. For example, in some embodiments, the V2X-based intelligent navigation scheduling method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the above-described V2X-based intelligent navigation scheduling method may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the V2X-based intelligent navigation scheduling method by any other suitable means (e.g., by means of firmware).

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

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

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

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

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

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

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 or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

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

Claims

1. A V2X-based intelligent navigation scheduling method, the method comprising:

determining a first target intersection to be met by a target vehicle and a running state of the target vehicle according to running information of the target vehicle;

determining the countdown of switching the signal lamp of the first target intersection from red lamp to green lamp according to the signal lamp data of the first target intersection;

when the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold, sending first scheduling information to the target vehicle; the first scheduling information is used for indicating that the first target intersection is going to green.

2. The method of claim 1, wherein transmitting first scheduling information to the target vehicle when the driving state of the target vehicle is a parking state and a countdown of a signal light of the first target intersection switching from a red light to a green light is less than a first time threshold comprises:

and when the running state of the target vehicle is a parking state and the countdown of the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold and greater than a second time threshold, sending first scheduling information to the target vehicle.

3. The method according to claim 1 or 2, wherein when the driving state of the target vehicle is a parking state and a countdown that the signal light of the first target intersection is switched from the red light to the green light is less than a first time threshold, transmitting first scheduling information to the target vehicle comprises:

and when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from the red lamp to the green lamp is smaller than a first time threshold, and the distance between the target vehicle and the first target intersection is smaller than a first distance threshold, sending first scheduling information to the target vehicle.

4. The method of any of claims 1-3, wherein transmitting the first scheduling information to the target vehicle when the driving status of the target vehicle is a stopped status and a countdown of the signal light of the first target intersection switching from red to green is less than a first time threshold comprises:

when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from the red lamp to the green lamp is less than a first time threshold value, and the target vehicle has a familiar road mode at the first target intersection, transmitting first scheduling information to the target vehicle;

or when the running state of the target vehicle is a parking state, the countdown of the signal lamp of the first target intersection switched from red light to green light is smaller than a first time threshold, the target vehicle has no familiar road mode at the first target intersection, and the lamp color and the countdown of the signal lamp of the first target intersection are completely consistent, sending first scheduling information to the target vehicle.

5. The method according to any one of claims 1-4, further comprising:

determining whether the target vehicle reaches the first target intersection at the current running speed and needs to wait for a red light or not according to the running information and the signal light data of the first target intersection;

when the target vehicle reaches the first target intersection at the current running speed and needs to wait for the red light, determining the target vehicle speed which is required by the target vehicle to reach the first target intersection without waiting for the red light according to the running information;

according to the target vehicle speed, second scheduling information is sent to the target vehicle; the second scheduling information is used for indicating that the target vehicle runs at the target vehicle speed.

6. The method of claim 5, the sending second scheduling information to the target vehicle according to the target vehicle speed, comprising:

and when the target vehicle speed is less than the speed limit of the first target intersection and greater than a first speed threshold, sending second scheduling information to the target vehicle according to the target vehicle speed.

7. The method of claim 5 or 6, the transmitting second scheduling information to the target vehicle according to the target vehicle speed, comprising:

and when the distance between the target vehicle and the first target intersection is smaller than a second distance threshold and larger than a third distance threshold, sending second scheduling information to the target vehicle according to the target vehicle speed.

8. The method according to any one of claims 5-7, further comprising:

acquiring the road queuing length information of the first target intersection;

the determining the target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the driving information comprises:

and determining the target vehicle speed required by the target vehicle to reach the first target intersection without waiting for the red light according to the running information and the road queuing length information.

9. The method of any of claims 5-8, further comprising:

determining a second target intersection encountered by the target vehicle after passing through the first target intersection according to the driving information;

and determining the target vehicle speed required by the target vehicle to reach the first target intersection and the second target intersection without waiting for the red light according to the running information.

10. The method of any of claims 1-9, wherein the direction of travel of the target vehicle at the first target intersection is a first direction of travel, and the first direction of travel comprises at least two lanes; the method further comprises the following steps:

acquiring road queuing length information of each lane in the first driving direction;

according to the road queuing length information of each lane in the first driving direction, third scheduling information is sent to the target vehicle; the third scheduling information is used for indicating the target vehicle to run according to a target lane.

11. The method of claim 10, the transmitting third scheduling information to the target vehicle according to road queuing length information for each lane in the first direction of travel, comprising:

and when the difference value between the maximum road queuing length and the minimum road queuing length in the road queuing length information of all the lanes in the first driving direction is greater than a preset length threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

12. The method according to claim 10 or 11, said transmitting third scheduling information to the target vehicle according to road queuing length information of each lane in the first direction of travel, comprising:

and when the distance between the target vehicle and the first target intersection is smaller than a fourth distance threshold and larger than a fifth distance threshold, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction.

13. The method according to any one of claims 10-12, said transmitting third scheduling information to the target vehicle based on road queue length information for each lane in the first direction of travel, comprising:

and when the current running speed of the target vehicle is greater than a second speed threshold value, sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first running direction.

14. The method according to any one of claims 10-13, further comprising:

acquiring road queuing length information of each lane in a second driving direction; the second direction of travel comprises at least two lanes;

the sending of third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction includes:

and sending third scheduling information to the target vehicle according to the road queuing length information of each lane in the first driving direction and the road queuing length information of each lane in the second driving direction.

15. The method of any of claims 1-14, further comprising:

acquiring a traffic safety event sensed by roadside equipment of the target intersection;

and pushing the traffic safety event to the target vehicle through a UU interface.

16. The method of claim 15, further comprising:

and transmitting the driving information to the road side equipment.

17. A V2X-based intelligent navigation scheduling apparatus, the apparatus comprising:

the data processing unit is used for determining a first target intersection which is about to be met by the target vehicle and the running state of the target vehicle according to the running information of the target vehicle;

the data processing unit is further used for determining the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp according to the signal lamp data of the first target intersection;

the navigation scheduling unit is used for sending first scheduling information to the target vehicle when the countdown of switching the signal lamp of the first target intersection from the red lamp to the green lamp is less than a first time threshold; the first scheduling information is used for indicating that the first target intersection is going to green.

18. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-16.

19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-16.

20. A computer program product comprising a computer program which, when executed by a processor, carries out the method according to any one of claims 1-16.