CN115534954A

CN115534954A - Vehicle control method, electronic device, apparatus, and storage medium

Info

Publication number: CN115534954A
Application number: CN202110720126.6A
Authority: CN
Inventors: 张承政; 李文; 张岩; 田亮
Original assignee: Datang Mobile Communications Equipment Co Ltd
Current assignee: Datang Mobile Communications Equipment Co Ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2022-12-30

Abstract

The embodiment of the application provides a vehicle control method, electronic equipment, a device and a storage medium, wherein the method comprises the following steps: acquiring a first road condition meteorological index acquired by a road side unit of a target road section; and sending a first instruction to the first type of vehicle under the condition that the first road condition meteorological index is greater than a preset threshold, wherein the first instruction is used for controlling the first type of vehicle to drive into the first type of lane. According to the vehicle control method, the road condition meteorological indexes of the road are obtained through the road side unit, when the meteorological conditions of the road reach the control condition, the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function are guided to run in different lanes, early warning of each road vehicle is achieved, safety of road traveling in severe weather is improved, and the traffic rate of the road is guaranteed.

Description

Vehicle control method, electronic device, apparatus, and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a vehicle control method, an electronic device, an apparatus, and a storage medium.

Background

Poor weather such as haze, sleet, sand and dust storm can lead to the vehicle to go out the in-process driving visibility decline and the road surface coefficient of adhesion decline, and driving safety hidden danger is big.

In the prior art, acousto-optic warning auxiliary equipment is deployed on inner and outer lanes of a road to broadcast road condition information, speed limit early warning and the like to road vehicles or shut down partial sections.

However, the warning mode cannot ensure that each road vehicle receives the warning information, and the direct shutdown of a part of road sections is a great waste of road resources.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, electronic equipment, a device and a storage medium, which are used for solving the defect of high potential safety hazard in travel under severe weather conditions in the prior art and realizing safe travel of vehicles and high traffic rate of roads under severe weather.

In a first aspect, an embodiment of the present application provides a vehicle control method, including:

acquiring a first road condition meteorological index acquired by a road side unit of a target road section;

and sending a first instruction to the first type of vehicle under the condition that the first road condition meteorological index is greater than a preset threshold, wherein the first instruction is used for controlling the first type of vehicle to drive into the first type of lane.

Optionally, a vehicle control method according to an embodiment of the present application further includes:

and sending a second instruction to a target display screen, wherein the second instruction is used for controlling the target display screen to display a first lane division identifier, and the first lane division identifier is used for indicating a driver of a second type of vehicle to drive the vehicle into the second type of lane.

Optionally, according to a vehicle control method according to an embodiment of the present application, the obtaining a first road condition meteorological index collected by a roadside unit of a target road segment includes:

acquiring the number of targets and a meteorological index of target road conditions; the target number is the number of road side units of the target road section; the target road condition meteorological index is a second road condition meteorological index corresponding to each road side unit in the target road section;

and determining the first road condition meteorological index according to the target number and the target road condition meteorological index.

Optionally, according to a vehicle control method of an embodiment of the present application, the target link is a link including at least one of: atomizing; haze; rain; snow; hail; and (4) dust.

Optionally, according to the vehicle control method in one embodiment of the present application, the first type vehicle is an intelligent vehicle that travels on the target road segment and does not travel on the first type lane.

Optionally, according to the vehicle control method in an embodiment of the present application, the first type of vehicle is an intelligent vehicle that does not travel on the first type of lane and will enter the target road segment after a first preset distance.

Optionally, according to the vehicle control method in one embodiment of the present application, the second type vehicle is a non-intelligent vehicle that travels on the target road segment and does not travel on the second type lane.

Optionally, according to the vehicle control method of one embodiment of the present application, the second type vehicle is a non-intelligent vehicle that travels on the first type lane.

Optionally, according to the vehicle control method in an embodiment of the present application, the second type of vehicle is a non-intelligent vehicle that does not travel on the second type of lane and will enter the target road segment after a second preset distance.

Optionally, according to the vehicle control method of one embodiment of the present application, the target display screen is an intelligent display screen in the target road segment.

Optionally, according to the vehicle control method in an embodiment of the present application, the target display screen is an intelligent display screen in a road segment corresponding to the second preset distance.

Optionally, according to the vehicle control method in an embodiment of the present application, after the sending the first instruction to the first type of vehicle, the method further includes:

and sending a third instruction to the first type of vehicle when the first road condition meteorological index is reduced to be smaller than the preset threshold value, wherein the third instruction is used for indicating that the first type of vehicle does not need to keep running in the first type of lane.

Optionally, according to the vehicle control method in an embodiment of the present application, after sending the second instruction to the target display screen, the method further includes:

and sending a fourth instruction to the target display screen under the condition that the first road condition meteorological index is reduced to be smaller than the preset threshold value, wherein the fourth instruction is used for controlling the target display screen to display a second lane division mark, and the second lane division mark is used for indicating that a driver of a second type of vehicle does not need to keep on driving in the second type of lane.

acquiring a first message; the first message is sent by the first type of vehicle under the condition that an obstacle exists in a preset range, and the first message comprises position information and a motion state of the obstacle.

In a second aspect, an embodiment of the present application further provides a vehicle control method, including:

receiving a first instruction under the condition that a first road condition meteorological index acquired by a road side unit of a target road section is larger than a preset threshold;

and controlling the vehicle to enter the first type of lane in response to the first instruction.

Optionally, according to the vehicle control method in an embodiment of the present application, after controlling the vehicle to enter the first type lane, the method further includes:

receiving a third instruction when the weather index of the first road condition is reduced to be smaller than the preset threshold value; the third instructions are for indicating that the vehicle does not need to remain in the first type of lane.

identifying whether an obstacle exists in a preset range;

sending a first message under the condition that an obstacle exists in the preset range; the first message includes position information and a motion state of the obstacle.

In a third aspect, an embodiment of the present application further provides a vehicle control method, including:

receiving a second instruction under the condition that the first road condition meteorological index acquired by the road side unit of the target road section is larger than a preset threshold;

and responding to the second instruction, displaying a first lane dividing identifier, wherein the first lane dividing identifier is used for indicating a driver of the second type of vehicle to drive the vehicle into the second type of lane.

Optionally, according to the vehicle control method in an embodiment of the present application, after displaying the first lane dividing identifier, the method further includes:

receiving a fourth instruction when the weather index of the first road condition is reduced to be smaller than the preset threshold value;

and displaying a second lane division mark in response to the fourth instruction, wherein the second lane division mark is used for indicating that a driver of the second type of vehicle does not need to keep the vehicle running in the second type of lane.

In a fourth aspect, an embodiment of the present application further provides an electronic device, including a memory, a transceiver, and a processor:

a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and implementing the steps of the vehicle control method according to the first, second and third aspects described above.

In a fifth aspect, an embodiment of the present application further provides a vehicle control apparatus, including:

the acquisition unit is used for acquiring a first road condition meteorological index acquired by a road side unit of a target road section;

the sending unit is used for sending a first instruction to a first type of vehicle under the condition that the first road condition meteorological index is larger than a preset threshold, and the first instruction is used for controlling the first type of vehicle to drive into a first type of lane.

In a sixth aspect, an embodiment of the present application further provides a vehicle control apparatus, including:

the receiving unit is used for receiving a first instruction under the condition that the first road condition meteorological index acquired by the road side unit of the target road section is larger than a preset threshold value;

and the control unit is used for responding to the first instruction and controlling the vehicle to drive into the first type lane.

In a seventh aspect, an embodiment of the present application further provides a vehicle control apparatus, including:

the receiving unit is used for receiving a second instruction under the condition that the first road condition meteorological index acquired by the road side unit of the target road section is larger than a preset threshold value;

and the display unit is used for responding to the second instruction and displaying a first lane dividing identifier, and the first lane dividing identifier is used for indicating a driver of a second type of vehicle to drive the vehicle into a second type of lane.

In an eighth aspect, the present embodiments also provide a processor-readable storage medium, which stores a computer program for causing a processor to execute the steps of the vehicle control method according to the first, second and third aspects.

According to the vehicle control method, the electronic equipment, the device and the storage medium, the road condition meteorological index of the road is obtained through the road side unit, when the meteorological condition of the road reaches the control condition, the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function are guided to run in different lanes, early warning of each road vehicle is achieved, safety of road traveling in severe weather is improved, and meanwhile the traffic rate of the road is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application;

FIG. 2 is a road diagram illustrating a vehicle control method according to an embodiment of the present application;

FIG. 3 is a second road schematic diagram of a vehicle control method according to an embodiment of the present application;

FIG. 4 is a third schematic road diagram of a vehicle control method according to an embodiment of the present application;

FIG. 5 is a fourth road schematic diagram illustrating a vehicle control method according to an embodiment of the present application;

FIG. 6 is a fifth schematic road diagram illustrating a vehicle control method according to an embodiment of the present application;

fig. 7 is a second schematic flowchart of a vehicle control method according to an embodiment of the present application;

FIG. 8 is a third schematic flowchart of a vehicle control method according to an embodiment of the present application;

FIG. 9 is a functional block diagram of a vehicle control method according to an embodiment of the present application;

FIG. 10 is a fourth flowchart illustrating a vehicle control method according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

FIG. 12 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 13 is a second schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 14 is a third schematic structural diagram of a vehicle control device according to an embodiment of the present application.

Detailed Description

With the rapid increase of traffic volume, there is a tendency of an increase in the rate of traffic accidents, wherein the incidence rate of traffic accidents on expressways is several times that on ordinary roads in each hundred miles. Particularly, under severe weather conditions such as rainstorm, heavy fog, heavy snow, sand storm and haze, great potential safety hazards exist when a vehicle travels, and traffic accidents are very easy to happen.

Under severe weather conditions, drivers have reduced visibility when driving, and cannot clearly see the road conditions ahead and around, so that traffic signs and road surface facilities cannot be effectively identified, and the distance between the front vehicle and the rear vehicle and the driving speed are difficult to judge. The adhesion coefficient between the tire and the road surface is also reduced by accumulated water, accumulated snow, and the like, and the friction force between the tire and the road surface is reduced, so that rear-end accidents are easy to happen.

Taking a foggy day as an example, for a vehicle running on a highway:

visibility is within 200 meters, and the maximum speed per hour is 60 km/h.

When the visibility is less than 100 meters, the fog light, the dipped headlight, the clearance light, the front and rear position lights and the danger alarm flash light are turned on, the vehicle speed is not more than 40 kilometers per hour, and the distance between the vehicle and the front vehicle in the same lane is kept more than 50 meters.

When the visibility is less than 50 meters, the fog light, the dipped headlight, the clearance light, the front and rear position lights and the danger alarm flash light are turned on, the speed of the vehicle is not more than 20 kilometers per hour, and the vehicle can drive away from the expressway as soon as possible from the nearest exit.

Due to the uncontrollable nature of fog concentration change and duration, fog detection devices are mostly installed on two sides of a road to monitor fog change in the prior art, and drivers are reminded and notified of speed limit early warning through acousto-optic warning auxiliary equipment.

In actual operation, in order to ensure the safety of travel and reduce the occurrence rate of traffic accidents, after a weather forecast notice is issued by a meteorological department, a related traffic management department, an expressway management unit and the like may close an expressway toll gate according to a forecast time period, so that the expressway on an affected road section cannot be used, and the utilization rate of the expressway is greatly reduced.

The acousto-optic warning auxiliary equipment can only be deployed at the edge of a road, and the construction specification of the expressway is bidirectional with at least four lanes. The farther away from the location of the deployed acousto-optic warning assistance device, the more limited the driver's visible light conditions for the acousto-optic warning assistance device. In order to ensure that drivers in all lanes can obtain ideal acousto-optic alarm auxiliary information in severe weather conditions, acousto-optic alarm auxiliary equipment needs to be additionally arranged on two sides of one-way inner lane and one-way outer lane, the arrangement interval is reduced, and the quantity and the cost of acousto-optic alarm auxiliary equipment needing to be arranged are greatly increased.

In addition, rain, fog and haze weather often occurs in the early morning of the autumn and winter, sand storm weather often occurs in the late summer season, and heavy snow weather often occurs in the late winter season, for example, a large amount of acousto-optic alarm auxiliary equipment is arranged along the road, and the equipment is in an idle state in the severe weather and the season, which causes the waste of construction resources and the rise of maintenance cost.

The acousto-optic warning auxiliary equipment in the prior art can only inform traffic meteorological information, speed limit warning and the like to running vehicles on a road in an electronic display screen and broadcasting mode, and cannot provide accurate driving environment warning for target vehicles point to point. For example, when a certain vehicle needs to change lanes in a foggy day and exits from a high-speed service area, whether a nearby lane is a vehicle close to the vehicle cannot be known in real time through a rearview mirror under the condition of poor sight, whether collision is possible cannot be known through an acousto-optic warning auxiliary device, blind lane changing is easy to cause accidents, and speed reduction waiting affects the passing of the vehicle behind the current lane and easily causes collision.

Furthermore, the prior art solutions do not provide an accurate driving strategy or even take over driving behaviour under highway conditions. The psychological state of the driver is very susceptible under severe weather conditions, thereby reducing driving stability. Under the condition of a curve, an accurate driving path cannot be judged, and the collision is very easy to occur in the curve.

Because the weather change and the traffic information of the front road beyond the visual range can not be provided for the driver under the prior art, the driver can not prejudge the road condition information of the front road beyond the visual range, and can only select to drive away from the road or enter a service area to wait when the weather environment is more severe, even a traffic department can possibly shut down part of the road, thereby greatly reducing the traffic rate of the road.

In view of the foregoing problems in the prior art, embodiments of the present application provide a vehicle control method, apparatus, electronic device, and storage medium.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic flowchart of a vehicle control method provided in an embodiment of the present application, and as shown in fig. 1, an execution subject of the vehicle control method provided in the present application may be a network side device, a base station, a core network, a roadside unit, a road management and control center, a terminal, and the like, where the method includes:

step 101, acquiring a first road condition meteorological index acquired by a road side unit of a target road section.

Specifically, before a vehicle is controlled, a Road section needing to be controlled or limited in speed needs to be determined according to a Road condition meteorological index acquired by a Road Side Unit (RSU), and the Road condition meteorological index of the Road section is acquired.

The road condition meteorological index is an evaluation index made on the condition of a road surface according to the change of weather, and is used for determining whether the road surface is wet and slippery, moist, has accumulated snow or ice, has good visibility, is convenient for going out and the like.

The weather-related index may be a value such as a haze value, a precipitation amount, a snow amount, a haze value, visibility, etc. Because the road traffic meteorological conditions are complex, the road condition meteorological index can also be a grade which is given after comprehensive evaluation according to a fog detection value, precipitation amount, snow precipitation amount, haze value, visibility and the like.

Taking a foggy day as an example, fig. 2 is one of road schematic diagrams of the vehicle control method provided in the embodiment of the present application, and as shown in fig. 2, each small triangle in the diagram represents one roadside unit, a circular area represents a road segment covered by fog, and an arrow represents a vehicle traveling direction.

The road side unit collects fog detection values of positions in real time, the average value of the fog detection values collected by a plurality of continuously arranged road side units can be calculated, when the average value of the fog detection values collected by the plurality of road side units of a certain road section reaches the concentration specified by the fog control of the road, the road section is taken as a target road section, namely a circular area in the figure 2, and the fog detection value of the road section is the first road condition meteorological index.

Generally, due to the uncontrollable nature of weather changes, when the fog detection value of a certain road section exceeds a preset threshold value for a certain time, for example, 5 minutes, the target road section is controlled.

Taking a sand storm day as an example, the road side units acquire the visibility of the air at the positions in real time, calculate the average value of the visibility of the air acquired by the plurality of continuously arranged road side units, and when the average value of the visibility of the air acquired by the plurality of road side units of a certain road section reaches the specified visibility of the speed limit of the road, take the road section as a target road section, wherein the average visibility of the air of the road section is the first road condition meteorological index.

It is easy to think that calculating the average value is only one way to determine the road condition meteorological index of a certain road section, and the final road condition meteorological index can also be determined by removing abnormal data, then calculating the average value, calculating the weighted average value and the like.

And 102, sending a first instruction to a first type of vehicle under the condition that the first road condition meteorological index is larger than a preset threshold, wherein the first instruction is used for controlling the first type of vehicle to drive into a first type of lane.

Specifically, when the road condition meteorological index of the target road section exceeds a preset threshold value, a first instruction is sent to the first type of vehicle, and the first type of vehicle is controlled to drive into the first type of lane.

The influence of weather on road trip is not absolute, and the driving visibility of a driver and the adhesion coefficient between tires and the road surface are influenced only when the weather is severe to a certain degree. In the case that the preset threshold value is not exceeded, the driver can still drive on the road at the normal driving speed and the visible distance. Taking a foggy day as an example, the speed-limiting early warning is carried out on the driver when the visibility is lower than 1000m, and the driving speed of the driver does not need to be controlled under the condition that the visibility is higher than 1000 m.

The first type of vehicle refers to an intelligent vehicle supporting an intelligent networking function and an automatic driving function, and the intelligent vehicle refers to a vehicle supporting the intelligent networking function in the application, for example, an automatic driving vehicle with an L3 level or more and an L3 level or more, and can exchange information with the outside through a vehicle networking. Under the automatic driving mode, the internet of vehicles can analyze real-time traffic information through a global positioning system navigation technology, a vehicle-to-vehicle communication technology, a wireless communication technology and a remote sensing technology. Meanwhile, the vehicle-mounted sensor and the camera system can sense the surrounding environment, adjust the driving strategy and avoid collision.

And under the condition that the first road condition meteorological index is larger than a preset threshold value, dividing the road lane into a first type lane and a second type lane, wherein the first type lane is used for the first type vehicle supporting the automatic driving function to run, and the second type vehicle not supporting the automatic driving function to run in lanes other than the first type lane.

After the first type vehicles receive the first instruction, the first type vehicles which are already running in the first type lane continue to keep running in the first type lane, and the first type vehicles which are not running in the first type lane change the lane to enter the first type lane.

Under the condition that only the first type of vehicles exist on the first type of lanes, the first type of vehicles can avoid the influence of visibility reduction on the running speed of the vehicles to a certain degree, and meanwhile, the probability of collision can be reduced, so that the first type of vehicles can keep running on the first type of lanes at a relatively high speed under the severe weather condition, and the traffic rate of roads is greatly improved.

According to the vehicle control method, the road condition meteorological indexes of the road are obtained through the road side unit, when the meteorological conditions of the road reach the control condition, the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function are guided to run in different lanes, early warning of each road vehicle is achieved, safety of road traveling in severe weather is improved, and meanwhile the traffic rate of the road is guaranteed.

Optionally, the method further comprises:

and sending a second instruction to a target display screen, wherein the second instruction is used for controlling the target display screen to display a first lane dividing identifier, and the first lane dividing identifier is used for indicating a driver of a second type of vehicle to drive the vehicle into the second type of lane.

Specifically, a second instruction is sent to the target display screen, and a first lane division mark is displayed according to the second instruction target display screen, and the first lane division mark divides the lane into a first lane and a second lane and is used for indicating a driver of the second vehicle to drive the vehicle into the second lane.

The first type of vehicles can receive first instructions from network side equipment, a road management and control center, a core network and the like through the Internet of vehicles, and the vehicles are automatically controlled to drive into the first type of lanes.

For a vehicle that does not support an automatic driving function, the driving behavior, the driving speed, the vehicle distance, and the like of surrounding vehicles cannot be determined through the internet of vehicles. The driving strategy cannot be executed autonomously, and the driver can only capture and judge the surrounding driving environment.

The target display screen is an intelligent display screen which is located at a target road section or closest to the target road section and is used for carrying out lane guidance on a road driver. And under the condition that the meteorological index of the first road condition of the target road section reaches a preset threshold value, the target display screen displays a first road division identifier.

The first lane dividing identifier divides the lanes into a first type lane, a second type lane, and other lanes. The first type of lane is used for driving first type vehicles, and is generally a lane for supporting high-speed driving on the left side of a road. The second type of lane is used for the second type of vehicles to run, and is generally a lane near the right side of the road. The other lanes are typically the rightmost emergency lanes of the road.

Taking four lanes of the highway as an example, the two leftmost lanes can be divided into a first type of lane, the third lane is divided into a second type of lane, and the rightmost emergency lane is another lane.

Taking six lanes of the highway as an example, the three leftmost lanes may be divided into a first type of lane, the fourth and fifth lanes are divided into a second type of lane, and the sixth right-most lane is the other lane.

The second type of vehicles run on a second type of lane close to the emergency lane on the right side, and the vehicles are driven on the right side when the vehicles need to leave the high-speed access server or enter the toll station at a lower high speed without lane crossing and lane changing, so that the probability of collision of the second type of vehicles when the vehicles change lanes on the right side due to visibility reduction in foggy days is reduced.

The first type of vehicle travels in a left first type lane and the speed limit requirement for the left side lane of the highway is typically lower than for the right side lane so that the first type of vehicle can maintain a relatively high speed traffic on the first type lane.

And the target display screen is positioned on the target road section and used for indicating the driver driving on the target road section to travel according to the division of the first type of lane and the second type of lane. The intelligent display screen which is not located on the target road section but is adjacent to the target road section can remind a driver about to drive into the target road section, so that the target display screen can also be an intelligent display screen located on a road section within a preset distance of the target road section.

According to the vehicle control method provided by the embodiment of the application, the target display screen is used for indicating the driver of the second vehicle, under the condition that the weather index of the first road condition reaches the preset threshold value, the first vehicle runs at a high speed on the first lane, and the second vehicle runs at a low speed on the second lane according to the regulation of speed limit early warning, so that the probability of collision caused by mixed running is greatly reduced, the first vehicle is guaranteed to run at a higher speed on the first lane, and the traffic rate of the road and the safety of the trip are improved.

Optionally, the obtaining a first road condition meteorological index collected by a road side unit of a target road segment includes:

acquiring the number of targets and a target road condition meteorological index; the target number is the number of road side units of the target road section; the target road condition meteorological index is a second road condition meteorological index corresponding to each road side unit in the target road section;

Specifically, the first road condition meteorological index is not data collected by a specific road side unit, but is a result obtained by processing data collected by a plurality of road side units which are continuously arranged.

The processing method may be averaging, weighted averaging, and averaging after screening abnormal data, for example, averaging the remaining data after removing data significantly larger or smaller than other data.

For example, for n roadside units, n second road condition meteorological indexes P are collected at a certain time ₁ ，P ₂ ，…，P _n . The first road condition meteorological index P may be:

at P ₁ ，P ₂ ，…，P _n In which there is significantly more P than other data ₃ And P is significantly smaller than other data _n-1 Then P will be ₃ And P _n-1 The average of the other data is removed to reduce the error, where P is:

and the road side unit acquires the meteorological data of the position in real time and processes the data. One processing method is to process data collected by a fixed number of road side units, for example, taking 100 road side units arranged continuously as a section, and calculating the road and weather indexes of the section. The target road segment is composed of one or more road segments in which consecutive intervals are located.

The other processing mode is to process data collected by an unfixed number of road side units, and once the data collected by n road side units which are continuously arranged reaches a preset threshold value after being processed, the road section where the n road side units are located is taken as a target road section. The latter processing mode has obviously increased calculation amount compared with the former processing mode, but the target road section can be more accurately determined.

According to the vehicle control method provided by the embodiment of the application, the first road condition meteorological indexes of the target road section are determined through the second road condition meteorological indexes acquired by the road side units and the number of the corresponding road side units, so that the road condition meteorological measurement of the target road section by the first road condition meteorological indexes is more accurate, and the management and control strategy formulated when the road is managed and controlled according to the first road condition meteorological indexes is more reasonable.

Optionally, the target road segment is a road segment comprising at least one of: atomizing; haze; rain; snow; hail; and (4) dust.

Specifically, the target road segment referred to in the embodiments of the present application refers to a road segment that needs to be managed and controlled for an outgoing vehicle due to bad weather conditions.

Weather conditions that affect road vehicle visibility and tire to ground adhesion coefficient include fog, haze, rain, snow, hail, sand and dust, and the like. In actual environments, weather conditions which limit traveling are complex and variable, such as haze, rain and snow, hail accompanied by rainstorm, heavy snow turning into rain and snow, and the like.

Accordingly, the weather-related index may be a numerical value such as haze value in foggy days, haze value in haze days, precipitation amount in rainy days, snow thickness in snowy days, or the like.

The road condition meteorological index can also be a grade value, and the grade value obtained by integrating a plurality of numerical values for evaluation is determined, for example, in rainy and snowy days, after the comprehensive evaluation of rainfall, surface water, ice accumulation and the like, a grade value is determined.

For example, in a weather with heavy fog due to heavy rain, a level value is determined by comprehensively evaluating a fog value, a precipitation amount, surface water, and the like. In the prior art, a scheme for determining the grade after comprehensively evaluating the traffic meteorological conditions is provided.

According to the vehicle control method provided by the embodiment of the application, the traffic weather conditions of the road are evaluated, and the lanes are distinguished according to the road condition weather indexes, so that the vehicles supporting the automatic driving function and the vehicles not supporting the automatic driving function run in different lanes, and the safety of vehicle traveling and the traffic rate of the road in severe weather environments are improved.

Optionally, the first type of vehicle is an intelligent vehicle that travels on the target road segment and does not travel on the first type of lane.

Specifically, if the first type vehicle has traveled on the target link but has not traveled on the first type lane, the first type vehicle needs to enter the first type lane.

Fig. 3 is a second road schematic diagram of the vehicle control method according to the embodiment of the present application, as shown in fig. 3, a circular area is a target road section where the road condition weather index reaches a preset threshold, an arrow represents a vehicle traveling direction, and a first type vehicle a travels on the target road section.

The target road section is divided into a first type lane on which the first type vehicle a does not travel, a second type lane and an emergency lane. At the moment, the first type vehicle needs to enter the first type lane according to the first instruction. The intelligent vehicle refers to a vehicle supporting an automatic driving function in the application, and can exchange information with the outside through the internet of vehicles.

If the first type of vehicle A needs to drive away from the road or into an emergency lane, the automatic driving mode needs to be switched to the manual driving mode, or the driver changes the instruction to drive the vehicle away from the road or into the emergency lane.

According to the vehicle control method provided by the embodiment of the application, under the condition that the first type of vehicle drives on the target road section, the first type of vehicle which does not drive on the first type of lane is controlled to drive into the first type of lane, so that collision caused by mixed driving of lanes is reduced, meanwhile, the first type of vehicle can drive on the first type of lane at a high speed, and the traffic rate of a road is improved.

Optionally, the first type of vehicle is an intelligent vehicle that does not travel on the first type of lane and will travel into the target road segment after a first preset distance.

Specifically, for a first type of vehicle that does not enter the target link but will enter the target link after a first preset distance, the first type of vehicle may be entered into the first type of lane in advance.

Fig. 4 is a third schematic road view of the vehicle control method according to the embodiment of the present disclosure, as shown in fig. 4, a circular area is a target road segment where a road-condition meteorological index reaches a preset threshold, an arrow represents a vehicle traveling direction, and a first vehicle B does not travel on the target road segment but will travel into the target road segment after a first preset distance. The length of the first preset distance can be set as required.

The target road section is divided into a first type lane, a second type lane and an emergency lane, and the first type vehicle B drives into the second type lane after driving at a first preset distance according to the current lane. At the moment, the first type vehicle B needs to change the lane according to the first instruction so as to ensure that the vehicle runs on the first type lane after driving into the target road section.

At the moment, if the first type of vehicles need to be driven out of the road or into the emergency lane, the automatic driving mode needs to be switched to the manual driving mode, or the instructions are changed by the driver, and the vehicles are driven out of the road or into the emergency lane.

According to the vehicle control method provided by the embodiment of the application, under the condition that the first type of vehicle does not drive into the target road section yet but drives into the target road section after the first preset distance, the vehicle is driven into the first type of lane in the unmanaged road section in advance, the probability of collision caused by lane change and the like of the vehicle is further reduced, and the driving safety is improved.

Optionally, the second type of vehicle is a non-intelligent vehicle that travels on the target road segment and does not travel on the second type of lane.

Specifically, the second type vehicle has traveled on the target link but has not traveled on the second type lane, requiring entry into the second type lane.

Fig. 5 is a fourth schematic road view of the vehicle control method according to the embodiment of the present disclosure, as shown in fig. 5, a circular area is a target road section where a road-condition meteorological index reaches a preset threshold, an arrow represents a vehicle traveling direction, and a second vehicle C travels on the target road section.

At the moment, the intelligent display screen of the target road section already displays the first lane division mark, the lanes are divided into a first type of lane, a second type of lane and an emergency lane, and the second type of vehicle C does not run on the second type of lane.

At the moment, the driver of the second type vehicle C needs to drive the vehicle into the second type lane according to the lane division information indicated by the intelligent display screen. A non-smart vehicle is a vehicle that does not support an autonomous driving function, as opposed to a smart vehicle. Even can obtain external information through the car networking, formulate driving strategy according to external information, also can only remind the driver and can't independently carry out driving strategy, carry out driving strategy by the driver is manual, can't realize automatic driving.

If the second type of vehicle C needs to drive off the road or into an emergency lane at the moment, the driver needs to manually operate the vehicle.

According to the vehicle control method provided by the embodiment of the application, under the condition that the second type of vehicle runs on the target road section, the driver is instructed to drive the vehicle into the second type of lane according to the first lane division mark displayed on the target display screen, and the vehicle and the first type of vehicle run in different lanes, so that the traffic rate of the first type of vehicle is ensured.

Optionally, the second type of vehicle is a non-intelligent vehicle traveling on the first type of lane.

Specifically, the second type of vehicle is already on the target road segment and is traveling on the first type of lane, and needs to enter the second type of lane.

For a second type of vehicle, it is currently possible to travel in the first type of lane, the second type of lane, or the emergency lane. In order to improve the traffic rate of the first type of vehicles by driving the first type of vehicles and the second type of vehicles separately, it is necessary to ensure that the second type of vehicles do not need to drive on the first type of lanes.

For a second type of vehicle running on the first type of lane, the running speed of the first type of vehicle behind the lane is reduced, so that a driver needs to drive the vehicle into the second type of lane according to the first lane dividing mark displayed on the target display screen.

For the second type of vehicles running on the emergency lane, the driver can decide whether to drive into the second type of lane or keep driving on the emergency lane or drive out of the road through own subjective intention.

According to the vehicle control method provided by the embodiment of the application, when the second type of vehicle runs on the target road section and runs on the first type of lane, the first lane division mark displayed by the target display screen indicates the driver to drive the vehicle away from the first type of lane, and the traffic rate of the first type of vehicle on the first type of lane is ensured.

Optionally, the second type of vehicle is a non-intelligent vehicle that does not travel on the second type of lane and will travel into the target road segment after a second preset distance.

Specifically, for a second type of vehicle that has not yet entered the target link but will enter the target link after a second preset distance, the second type of vehicle may enter the second type of lane in advance.

Fig. 6 is a fifth schematic road diagram of the vehicle control method according to the embodiment of the present application, as shown in fig. 6, a circular area is a target road segment where the road condition weather index reaches a preset threshold, an arrow represents a vehicle traveling direction, and the second type of vehicle D does not travel on the target road segment, but will travel into the target road segment after a second preset distance.

The length of the second preset distance is determined according to the positions of the intelligent display screens on the two sides of the road, the second preset distance is the distance between the target road section and the intelligent display screens, and the intelligent display screens are the intelligent display screens closest to the target road section.

The intelligent display screen of the target road section displays a first lane division mark, and the lane is divided into a first lane, a second lane and an emergency lane. And the second type of vehicle D does not run on the second type of lane after continuously running for a second preset distance according to the current lane, so that a driver of the second type of vehicle D needs to change lanes in advance to drive the vehicle into the second type of lane.

If the second type of vehicle D needs to move off the road or into an emergency lane at this time, it needs to be manually operated by the driver.

According to the vehicle control method provided by the embodiment of the application, the driver of the second type of vehicle is indicated through the intelligent display screen adjacent to the target road section, so that the driver of the second type of vehicle changes the vehicle to the second type of lane before driving into the target road section, the possibility of collision caused by the fact that the second type of vehicle changes the lane in the target road section is reduced, and meanwhile, the traffic rate of the first type of vehicle on the first type of lane is guaranteed.

Optionally, the target display screen is an intelligent display screen in the target road segment.

In particular, the target display screen may be a smart display screen within the target road segment.

The intelligent display screen plays a role in reminding and indicating road drivers mainly through characters, icons and the like on the screen, and in the application, the intelligent display screen mainly indicates the drivers to select lanes according to lane division marks on the screen.

For a target road section of which the weather index of the first road condition reaches a preset threshold value, the intelligent display screen on the target road section performs lane division indication for a driver driving on the target road section, and particularly for a driver of a second type of vehicle, the driver needs to judge a lane according to the content on the intelligent display screen so as to control the vehicle to change lanes.

According to the vehicle control method, the situation of the current lane division is indicated for the driver through the intelligent display screen on the target road section, the driver judges whether lane changing is needed or not according to the content displayed on the interface of the target display screen, and under the severe weather environment, the driver of the second type of vehicle controls the vehicle to run in the lane with the first type of vehicle, so that the traffic rate of the first type of vehicle is guaranteed.

Optionally, the target display screen is an intelligent display screen in a road section corresponding to the second preset distance.

Specifically, the target display screen may be an intelligent display screen in a road segment corresponding to the second preset distance.

Taking fig. 6 as an example, the second type vehicle D in fig. 6 does not travel on the target link, but will travel into the target link after the second preset distance. And the target display screen is the intelligent display screen positioned on the road section corresponding to the second preset distance. In practical application, the current position of the second type of vehicle is a position in which the intelligent display screen is arranged in the sight range of the driver.

The intelligent display screen located on the road section corresponding to the second preset distance can indicate the vehicle to change the lane according to the division of the first type of lane and the second type of lane in advance before the vehicle enters the target road section, so that a driver of the second type of vehicle can change the lane under the condition that the visibility and the tire friction are normal, and the probability of collision caused by the reduction of the visibility and the friction on the target road section is reduced.

According to the vehicle control method provided by the embodiment of the application, the intelligent display screen on the road section corresponding to the second preset distance indicates the driver of the second vehicle, so that the driver of the second vehicle can change lanes in advance under the condition that the visibility and the tire friction are normal, and the traveling safety is further improved.

Optionally, after the sending the first instruction to the first type of vehicle, the method further includes:

and sending a third instruction to the first type of vehicles when the first road condition meteorological index is reduced to be smaller than the preset threshold, wherein the third instruction is used for indicating that the first type of vehicles do not need to keep running in the first type of lanes.

Specifically, in the case where the weather index of the first road condition gradually decreases to be smaller than the preset threshold value, the first type vehicle will receive the third instruction, so that the state of traveling in the first type lane does not need to be maintained.

The road meteorological conditions may change at any time for the first type of vehicles running on the target road section, and when the meteorological conditions gradually return to normal, such as fog gradually dispersed, heavy rain gradually reduced and the like, the vehicles on the target road section can return to the normal mixed running state without keeping the first type of vehicles running on the first type of lanes and the second type of vehicles running on the second type of lanes.

In this case, the first type vehicle may continue to travel in the first type lane, may change lanes to the second type lane, the emergency lane, or the like, or may select to travel off the road.

According to the vehicle control method provided by the embodiment of the application, under the condition that the road condition meteorological index gradually decreases to be smaller than the preset threshold value, the road vehicles do not need to be controlled, the road vehicles do not need to travel on the first type of lane according to the first type of vehicles, the second type of vehicles travel on the second type of lane, and the road vehicles recover the mixed-traveling state, so that the second type of vehicles can travel into the high-speed lane on the left side of the road, and the traffic rate of the second type of vehicles is improved.

Optionally, after sending the second instruction to the target display screen, the method further includes:

Specifically, under the condition that the weather index of the first road condition gradually decreases to be smaller than the preset threshold value, the target display screen receives a fourth instruction, and switches the screen to display a second lane division mark for indicating that the driver of the second type of vehicle does not need to keep driving in the second type of lane.

When the number of the weather words of the first road condition of the target road section is reduced to be smaller than the preset threshold value, the road does not need to be managed and controlled. The first type of vehicle can obtain this information through the exchange of information between the vehicle and the outside world, thereby controlling the vehicle.

However, for the second type of vehicle, the driver can only obtain this information through an intelligent display screen or a broadcast, and then the driver can make a driving strategy through subjective judgment.

When the intelligent display screen on the target road section is switched to display the second lane division mark, the driver of the second type of vehicle captures the switched interface of the intelligent display screen in the sight line range, and judges that the lane is recovered to the mixed running state without continuously keeping running on the second type of lane.

At this time, the driver of the second type vehicle can choose to continue driving on the second type lane, change the lane to the left express lane, enter the right emergency lane or leave the road.

According to the vehicle control method provided by the embodiment of the application, under the condition that the road condition meteorological index gradually decreases to be smaller than the preset threshold value, the road does not need to be controlled, the driver of the second vehicle judges that the vehicle does not need to continuously run in the second lane through the information on the intelligent display screen, the vehicle on the road recovers a mixed running state, the driver of the second vehicle can run into the left express way according to the requirement, and the traffic rate of the road is improved.

Optionally, the method further comprises:

acquiring a first message; the first message is sent by the first type of vehicle under the condition that an obstacle exists in a preset range, and the first message comprises the position information and the motion state of the obstacle.

Specifically, for a first type of vehicle running on a road, it is necessary to identify and judge a running environment around the vehicle, and identify position information and a motion state of an obstacle within a preset range, thereby formulating a running strategy.

For the first type of vehicle, the obstacle is an object capable of retarding or preventing the vehicle from running, and may be a stationary object such as a road block, a falling rock, an anchored vehicle, etc., or may be a running second type of vehicle, especially a second type of vehicle running in the same lane or an adjacent lane as the first type of vehicle. The preset range refers to a range which can be identified by the first vehicle camera.

In the case where the obstacle is the second vehicle, the first vehicle cannot acquire the driving behavior of the driver of the second vehicle because communication cannot be performed between the first vehicle and the second vehicle.

The first type of vehicle can obtain the positioning of a second type of vehicle at a lane level through a high-precision positioning technology, the distance between the first type of vehicle and the second type of vehicle is obtained through a vehicle-mounted camera and the like, and the vehicle is judged to be a non-intelligent vehicle and the like from a database of a road traffic department through a recognized license plate.

Under the condition that the first type of vehicles keep running in the same lane, obstacles in the range which can be identified by a camera in the current lane need to be identified, the lane changing condition of the vehicles in the adjacent lanes is judged, and a running strategy is formulated according to the information.

When the first type of vehicle needs to change lanes, the first type of vehicle needs to identify obstacles in the range which can be identified by the camera, and determine whether other vehicles change lanes in the current lane and the lane after the lane change.

The first type of vehicles can share respective running speed and driving behaviors through the internet of vehicles, and the positions and motion states of captured obstacles can be shared in a certain range.

According to the vehicle control method provided by the embodiment of the application, the first-class vehicle can judge the running environment within the preset range, so that the running strategy is formulated by identifying surrounding obstacles to prevent collision, and meanwhile, the acquired position and motion state of the obstacle are shared by other first-class vehicles, so that the traveling safety is further improved.

Fig. 7 is a second flowchart of a vehicle control method provided in an embodiment of the present application, and as shown in fig. 7, the present application provides a vehicle control method, which is executed by a vehicle of a first type, that is, a vehicle supporting an automatic driving function, and the method includes:

step 701, receiving a first instruction under the condition that a first road condition meteorological index acquired by a road side unit of a target road section is larger than a preset threshold.

Specifically, under the condition that a first road condition meteorological index acquired by a road side unit of a target road section is larger than a preset threshold, speed limit control needs to be performed on the road, and a first type of vehicle receives a first instruction.

Before road vehicles are controlled, road sections needing to be controlled or limited in speed need to be determined according to road condition meteorological indexes acquired by RSUs. The first type of vehicles can acquire road condition meteorological indexes in real time through the Internet of vehicles and a control strategy formulated according to the road condition meteorological indexes.

The road condition meteorological index is an evaluation index made on the condition of a road according to the change of weather, and is used for determining whether the road is wet and slippery, wet, has accumulated snow or ice, whether the visibility is good, whether the road is convenient for going out and the like.

The weather-to-weather index may be a value such as a haze value, a precipitation amount, a snowfall amount, a haze value, visibility, or the like. The road condition meteorological index can also be a grade which is given by comprehensively evaluating the fog detection value, the precipitation amount, the snow precipitation amount, the haze value, the visibility and the like because the road traffic meteorological conditions are complex.

When the first road condition meteorological index of the target road section reaches a preset threshold value, namely the target road section needs to be subjected to road management and control, the first type of vehicles receive a first instruction.

The content of the instruction can be a speed limit early warning for the driving speed and can be an indication for a driving lane. In the present application, the first command is used to control the first type of vehicle to enter the first type of lane.

And step 702, responding to the first instruction, and controlling the vehicle to enter the first type of lane.

Specifically, the vehicle is controlled to enter a first-class lane in response to a first instruction.

In the autonomous driving mode, the first type vehicle will automatically enter the first type lane or remain traveling in the first type lane.

In the manual driving mode, the driver receives the prompt message of the lane division state change, drives the vehicle into the first type of lane according to the prompt message, and can also select the automatic driving mode to take over the manual driving mode.

And under the condition that the meteorological index of the first road condition of the target road section reaches a preset threshold value, the lane division state changes, the lane is divided into a first type lane and a second type lane, the first type vehicle drives into the first type lane, and the second type vehicle drives into the second type lane.

According to the vehicle control method, the road condition meteorological indexes of the road are obtained through the road side unit, when the meteorological conditions of the road reach the control conditions, the vehicles supporting the automatic driving function are guided to drive into the first type of lanes, early warning of the vehicles on the road is achieved, safety of road traveling in severe weather is improved, and meanwhile the traffic rate of the road is guaranteed.

Optionally, after the controlling the vehicle to enter the first type lane, the method further includes:

Specifically, when the first road condition meteorological index of the target road section falls below a preset threshold, the first type vehicles do not need to keep running in the first type lanes.

When the first type of vehicle running on the target road section obtains that the weather index of the first road condition is reduced to the preset threshold value, the vehicle on the target road section does not need to continue speed limit control, the lane recovers a mixed running state, and the first type of vehicle does not need to keep running on the first type of lane.

Optionally, the method further comprises:

identifying whether an obstacle exists in a preset range;

For the first type of vehicle, the obstacle refers to an object capable of retarding or preventing the vehicle from running, and may be a stationary object such as a road block, a falling rock, an anchored vehicle, etc., or may be a running second type of vehicle, especially a second type of vehicle running in the same lane or an adjacent lane as the first type of vehicle. The preset range refers to a range which can be identified by the first vehicle camera.

In the case where the obstacle is the second vehicle, since communication cannot be performed between the first vehicle and the second vehicle, the first vehicle cannot acquire the driving behavior of the second vehicle.

Under the condition that the first type of vehicles keep running in the same lane, obstacles in the range which can be identified by a camera in the current lane need to be identified, the lane changing condition of vehicles in the adjacent lane is judged, and a running strategy is formulated according to the information.

When the first type of vehicle needs to change lanes, the first type of vehicle needs to identify obstacles in a range which can be identified by a camera, and judge whether other vehicles change lanes in the current lane and the lane after lane changing.

Fig. 8 is a third schematic flowchart of a vehicle control method according to an embodiment of the present application, and as shown in fig. 8, the present application provides a vehicle control method, an execution main body of which is an intelligent display screen, that is, an electronic display screen capable of being updated in real time according to an instruction, and the method includes:

step 801, receiving a second instruction under the condition that the first road condition meteorological index acquired by the road side unit of the target road section is larger than a preset threshold.

The intelligent display screen has the functions of indicating the lane division state of the current road of the driver of the road vehicle and guiding the driver to drive the vehicle into the corresponding lane.

For the first type of vehicles, the external information can be acquired through the internet of vehicles, and the information of the lane division state change received by the first type of vehicles and the information of the lane division state change received by the intelligent display screen can be synchronous. In the manual driving mode, the driver can still make a driving strategy according to the content displayed by the intelligent display screen.

For the second type of vehicles, even though external information can be acquired through the internet of vehicles, driving strategies formulated according to the information can only remind drivers, and the vehicles cannot be controlled to run. For the second type of vehicles which cannot acquire external information through the internet of vehicles, the information indicated by the intelligent display screen can be acquired only by the driver through two eyes, so that whether the driving strategy needs to be changed or not is judged, and how to change the driving strategy is judged.

The second instruction is used for controlling the intelligent display screen to display a first lane dividing mark, and the first lane dividing mark divides the lane into a first type lane and a second type lane and is used for indicating a driver of the second type vehicle to drive the vehicle into the second type lane.

And the driver of the second vehicle controls the vehicle to drive into the second lane according to the indication of the intelligent display screen.

And step 802, responding to the second instruction, and displaying a first lane dividing identifier, wherein the first lane dividing identifier is used for indicating a driver of a second type of vehicle to drive the vehicle into the second type of lane.

Specifically, the intelligent display screen displays the first lane division identification according to the second instruction control screen, and instructs drivers of the second type of vehicles to drive the vehicles into the second type of lanes.

And under the condition that the first road condition meteorological index of the target road section exceeds a preset threshold value, speed limit management and control are required to be carried out on the road vehicles. The drivers of the second type of vehicles can acquire the information and can only judge the information through eyes and ears, the intelligent display screen provides the current lane division state for the drivers, and meanwhile, speed limit information and the like can be displayed. Meanwhile, the system can be assisted with broadcasting to remind drivers of the second type of vehicles.

According to the vehicle control method, the intelligent display screen is used for indicating the drivers of the second type of vehicles, the intelligent display screen displays the first lane dividing marks under the condition that the weather index of the first road condition of the target road section exceeds the preset threshold value, the lanes are divided into the first type of lanes and the second type of lanes, and the drivers of the second type of vehicles are indicated to drive the vehicles into the second type of lanes, so that the first type of vehicles can drive on the first type of lanes at high speed, and the traffic rate of roads is improved.

Optionally, after the displaying the first lane dividing identifier, the method further includes:

in response to the fourth instruction, displaying a second lane division indicator indicating that a driver of the second type of vehicle does not need to keep the vehicle traveling in the second type of lane.

Specifically, when the first road condition meteorological index of the target road section is reduced to be smaller than the preset threshold value, the road does not need to be managed and controlled any more, and the road vehicle can be restored to the normal mixed running state. The target display screen switches the interface to display a second lane division mark, indicates that the second type of vehicle does not need to keep driving on the second type of lane,

the intelligent display screen controls the screen to display a second lane division mark according to a fourth instruction, the second lane division mark does not divide the road into a first type lane and a second type lane any longer, but returns to a normal state, and the second lane division mark divides the road into a passing lane, a speedway, a traffic lane and an emergency lane by taking a high-speed four lane as an example.

The second lane division mark is used for dividing lanes, whether the vehicle supports the automatic driving function or not is irrelevant, and the intelligent vehicle and the non-intelligent vehicle are in a mixed state.

According to the second lane division mark displayed by the intelligent display screen, a driver of the second vehicle can drive the vehicle into the first lane, namely a fast lane on the left side of the road, so as to pass on the road at a higher speed.

The method is described in a specific embodiment, taking a foggy expressway as an example, the road vehicles are classified as intelligent vehicles, the intelligent vehicles can be vehicles supporting intelligent internet and L3/L4 automatic driving capability, and the non-intelligent vehicles are ordinary social vehicles without automatic driving capability.

The lane division state can be indicated through an intelligent display screen arranged on a road on a highway, the lane is divided into a first type lane and a second type lane under the condition of displaying a first lane division mark, and an intelligent vehicle and a non-intelligent vehicle are guided and separated through the lanes.

Referring to fig. 2, it can be seen that the non-intelligent vehicle drives in the second lane adjacent to the emergency lane on the right side, and drives on the right when the non-intelligent vehicle needs to leave the high-speed access server or enter the toll station at a lower high speed without lane crossing and lane changing, so that the probability of collision of the non-intelligent vehicle when the non-intelligent vehicle changes the lane on the right side due to visibility reduction in a foggy day is reduced.

The intelligent vehicle runs on the first type lane on the left side, and the speed limit requirement of the lane on the left side of the expressway is usually lower than that of the lane on the right side, so that the intelligent vehicle can keep a relatively high speed for passing on the first type lane.

Fig. 9 is a schematic functional architecture diagram of a Vehicle control method provided in an embodiment of the present application, and as shown in fig. 9, a fog detection sensing unit is disposed on an expressway at a certain distance, and changes in fog concentration of a road segment are measured in real time by the fog detection sensing unit, each device performs dotting through a high-precision positioning device during deployment to obtain accurate longitude and latitude information of each point location, and the accurate longitude and latitude information is uploaded to a roadside cell to Vehicle cooperation (V2X) unit through wired or wireless transmission in combination with a measured value of fog concentration detected in real time, so as to obtain a value of fog concentration of a target road segment exceeding a preset threshold.

The result can be controlled by the road side honeycomb + V2X unit to be influenced by fog, and an intelligent display screen on a portal frame in the road section and the entrance of the road section is controlled to start intelligent lane guidance. The road section fog change information can also be reported to a superior center through the honeycomb + V2X road side unit, for example, the information is reported to a high-speed management and control center to carry out weather broadcasting through a high-speed toll station and a high-speed road information board, and is reported to a weather center to carry out weather detection and broadcasting of the high-speed road section.

The intelligent vehicle is deployed at the vehicle end and supports a Beidou or Global Positioning System (GPS) lane level high-precision Positioning function and a honeycomb + V2X function module. Because the honeycomb + V2X module of the vehicle end and the roadside honeycomb + V2X unit can realize low-delay point-to-point ad hoc network communication through the PC5 interface, and the communication distance exceeds 1 kilometer. Meanwhile, front and rear vehicles provided with the honeycomb + V2X modules can also communicate through a PC5 interface, the intelligent vehicle can acquire fog conditions with beyond-sight distances of several kilometers ahead and lane guiding strategies of an intelligent display screen in the high-speed driving process, and the intelligent vehicle enters a first-class lane in advance and starts an automatic driving mode under the condition of ideal sight conditions.

The vehicle-end cellular + V2X unit can acquire lane-level high-precision positioning information through a built-in Beidou or GPS module, and can realize precise navigation and automatic driving in a lane by matching with a high-precision map under the condition of unsatisfactory sight.

After the Vehicle enters a fog-affected road section, because all vehicles running on the first lane are intelligent vehicles, operations such as relative Vehicle speed, relative position information, driving behaviors and the like can be obtained through direct communication of PC5 interfaces of V2X between front and rear vehicles and adjacent lanes, even if the Vehicle enters a road section with extremely poor sight lines such as foggy things and the like, information of other intelligent vehicles in the front and rear vehicles and adjacent lanes can be sensed through Vehicle-to-Vehicle (V2V) communication, 360-degree dynamic driving information is generated, and the safety of the intelligent vehicles in the first lane is improved by combining a safety anti-collision system deployed by the intelligent vehicles.

Under the condition of poor sight line or even extremely short sight distance, for example, less than or equal to 50 meters, a certain intelligent vehicle needs to execute operations such as acceleration and deceleration, lane change and the like in the first-class lanes, and the intelligent vehicles in the first-class lanes at the front, the rear and the two sides can receive related information at low time delay to perform safe anti-collision behaviors such as deceleration, avoidance and the like.

If the intelligent vehicle needs to enter a second-type lane in a lane changing way towards the right side or leave the high speed, the position information and the motion state of an obstacle of a lane behind the right side, including whether a common vehicle approaches and whether collision is possible, need to be actively detected through a self-safety anti-collision system, and the lane is changed after selecting proper vehicle speed and course angle.

At the moment, for the common vehicles running on the second type of lanes, the vehicles can only pass at a reduced speed under the conditions of different sight distances according to the road regulations, and the lane changing condition of the intelligent vehicle cannot be automatically identified and avoided.

When the fog detection unit of the driving road section detects that the fog concentration is reduced to be smaller than the preset threshold value, namely the weather is recovered to the normal condition, on one hand, the position of the road section with normal weather is broadcasted through the PC5 interface through the honeycomb + V2X road side module, the intelligent display screen on the corresponding road section is updated to display the second lane division mark, and meanwhile, the information of the corresponding road section is returned to the superior center through the honeycomb communication.

After the weather returns to normal, all lanes do not distinguish whether the intelligent vehicle is special, the common vehicle can normally obtain the use right of the corresponding lane according to the law and regulations of the expressway, and the common vehicle and the intelligent vehicle can return to the mixed state on each lane of the expressway, so that the intelligent vehicle can select whether to switch the manual driving mode according to the requirement.

Fig. 10 is a fourth schematic flowchart of a vehicle control method provided in an embodiment of the present application, and as shown in fig. 10, the present application provides a vehicle control method, including:

the fog detection sensing unit collects a fog value f at a certain frequency and transmits the value f and the longitude and latitude position (X, y) of the fog detection sensing unit to the roadside honeycomb + V2X unit in real time in a wired mode, and the roadside honeycomb + V2X unit transmits the value f and the position (X, y) of the associated fog detection unit to the superior center synchronously through cellular communication.

Under the condition that fog gradually becomes thick, after f is always larger than a preset threshold value and the duration time exceeds delta t, delta t can be set according to the actual condition, for example, 5 minutes, and the intelligent display screen X within 1 kilometer before and after the roadside honeycomb + V2X unit is related with the longitude and latitude (X, y) ₁ ，X ₂ ，…，X _n And communicating and acquiring the states of all the intelligent display screens, issuing an instruction for updating if the states show the second lane division mark, updating to show the first lane division mark, starting intelligent lane guidance, and not updating if the states show the first lane division mark.

Meanwhile, road side V2X broadcasts road section position information affected by foggy days and lane division states displayed by an intelligent display screen through a PC5 interface, so that an intelligent vehicle provided with a V2X module can acquire relevant information and enter the execution of a subsequent process.

The ordinary vehicle driver drives into the second type lane as soon as possible on the premise of ensuring safety according to the display information of the intelligent display screen in the sight line, and the ordinary vehicle can also report other feedback channels behind the superior center through the roadside honeycomb and the V2X unit to obtain conditions, such as a high-speed along-line acousto-optic alarm information board, a high-speed toll station, a meteorological center APP, a mobile phone map APP and the like.

If the superior center closes the second type of lane according to the fog concentration control requirement, the road side honeycomb and the V2X unit can control the fog to influence the display content of the intelligent display screen in the road section to 'no drive in' to guide the common vehicle to drive at a high speed in advance or drive away from the high speed as soon as possible.

Before the intelligent vehicle enters a fog area road section, fog area information and lane division information can be acquired through a PC5 interface in a low-delay and over-the-horizon manner, and a driving strategy is formulated by calculating the time of entering the fog area road section according to the position of the intelligent vehicle; and the intelligent vehicle which runs in the fog area road section drives into the first type of lane as soon as possible by combining the self automatic driving system according to the V2X broadcast message in the area, and the intelligent vehicle enters into the automatic driving mode in the first type of lane.

In the automatic driving mode, the intelligent vehicle can obtain real-time vehicle positioning information and the information of the lane where the intelligent vehicle is located through a Beidou or GPS lane-level high-precision positioning system, and only the intelligent vehicle is allowed to run in the first type of lane in the period of continuous fog.

The intelligent vehicles can sense the lane positions of the intelligent vehicles, the mutual positions of the surrounding vehicles and key operation information of the surrounding vehicles through the V2X and Beidou/GPS lane-level high-precision positioning module, wherein the key operation information comprises front vehicle brake, deceleration, steering lamps and the like, so that corresponding driving strategies are made and the intelligent vehicles can be kept in the first type of lanes to realize blind driving under the safe driving condition.

Meanwhile, the vehicle-mounted honeycomb + V2X unit arranged on the intelligent vehicle is communicated with the roadside honeycomb + V2X unit in front to keep PC5, and the vehicle-mounted honeycomb + V2X unit is used for receiving dynamic information such as time change conditions of fog concentration in a fog region, display states of an intelligent display screen and distance of driving out of the fog region.

And after changing to a second type of lane, the ordinary vehicle drives according to the vision condition and the foggy day speed limited by relevant laws and regulations and observes the information displayed by the intelligent display screen until the foggy gas is dissipated, and the ordinary vehicle recovers the conventional use requirement at a high speed and the like.

The fusion perception road side system based on honeycomb + V2X and fog detection has the broadcast and return communication capabilities of collecting segmented fog changes of a high-speed road section in real time, and being low in time delay and high in reliability. Real-time fog detection results can be transmitted to intelligent vehicles within kilometers away in a low-delay beyond-sight-distance mode through the roadside honeycomb + V2X units, various driving strategies such as lane changing and driving mode switching can be sensed in advance according to the change conditions of the road ahead, and meanwhile, the fog detection results are transmitted back to a superior center in a honeycomb or wired transmission mode.

Because the vision of a driver is limited by uncertainty of weather conditions and changes in a foggy day, the driving safety problem is easily triggered, but the expressway resources cannot be fully utilized by a 'one-time' management method for directly closing the whole section of expressway in the foggy day. Under the condition, the use of the lanes in the foggy days is dynamically divided and guided through the intelligent display screen, most of the right-of-way resources of the expressway are preferentially communicated with the intelligent vehicle with the automatic driving capability, and a small part of the road resources are communicated with the common vehicles in the society, so that the common vehicles have the most basic driving capability and simultaneously give consideration to the high-speed condition under low risk.

Because reliable and stable driving information cannot be provided under the visual conditions of both human eyes and a single vehicle in the foggy day, the Beidou or GPS module provides high-precision positioning information for the intelligent vehicle in the foggy day, and the intelligent vehicle can effectively control the driving track to be kept in the first type of lane without deviation after being matched with a high-precision map of a highway section, and particularly can better ensure the safety of the whole system in the bending and lane changing operations.

Preferably, 1 set of fusion perception roadside system based on honeycomb + V2X and fog detection can be deployed on the roadside at least 500 meters; the intelligent display screen is not less than 1000 meters and is deployed for 1 set.

It is easy to think that arranging a fog detection sensing unit and other devices on the vehicle-mounted system of the intelligent vehicle can further improve the perception of the road weather condition.

Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, and as shown in fig. 11, the present disclosure provides an electronic device including a memory 1120, a transceiver 1100, a processor 1110:

a memory 1120 for storing a computer program; a transceiver 1100 for transceiving data under the control of the processor; a processor 1110 for reading the computer program in the memory and performing the following operations:

And in particular transceiver 1100, for receiving and transmitting data under control of processor 1110.

In fig. 11, among other things, the bus architecture may include any number of interconnected buses and bridges with various circuits being linked together, particularly one or more processors represented by processor 1110 and memory represented by memory 1120. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface.

The transceiver 1100 may be a plurality of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over a transmission medium including wireless channels, wired channels, fiber optic cables, and the like. The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1110 in performing operations.

The processor 1110 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or a Complex Programmable Logic Device (CPLD), and may also have a multi-core architecture.

Optionally, the method further comprises:

Optionally, the obtaining of the first road condition meteorological index collected by the road side unit of the target road segment includes:

Optionally, the first type of vehicle is a smart vehicle that is traveling on the target road segment and is not traveling on the first type of lane.

Optionally, the second type of vehicle is a non-intelligent vehicle driving on the first type of lane.

and sending a fourth instruction to the target display screen when the first road condition meteorological index is reduced to be smaller than the preset threshold, wherein the fourth instruction is used for controlling the target display screen to display a second lane division mark, and the second lane division mark is used for indicating that a driver of a second type of vehicle does not need to keep running in the second type of lane.

Optionally, the method further comprises:

A processor 1110 further for reading the computer program in the memory and performing the following:

receiving a third instruction when the weather index of the first road condition is reduced to be smaller than the preset threshold value; the third instructions are for indicating that the vehicle does not need to remain traveling in the first type of lane.

Optionally, the method further comprises:

identifying whether an obstacle exists in a preset range;

A processor 1110 further for reading the computer program in the memory and performing the following operations:

It should be noted that, the electronic device provided in the embodiment of the present invention can implement all the method steps implemented by the method embodiment and achieve the same technical effect, and detailed descriptions of the same parts and beneficial effects as the method embodiment in this embodiment are omitted here.

Fig. 12 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, and as shown in fig. 12, the present application provides a vehicle control device including:

the first acquisition unit 1201 is used for acquiring a first road condition meteorological index acquired by a road side unit of a target road section;

the first sending unit 1202 is configured to send a first instruction to a first type of vehicle when the first road condition meteorological index is greater than a preset threshold, where the first instruction is used to control the first type of vehicle to enter a first type of lane.

Optionally, the apparatus further comprises a second sending unit;

the second sending unit is used for sending a second instruction to a target display screen, the second instruction is used for controlling the target display screen to display a first lane division mark, and the first lane division mark is used for indicating a driver of a second type of vehicle to drive the vehicle into a second type of lane.

Optionally, the first obtaining unit includes a first obtaining module and a first determining module;

the first acquisition module is used for acquiring the number of targets and the meteorological index of the target road condition; the target number is the number of road side units of the target road section; the target road condition meteorological index is a second road condition meteorological index corresponding to each road side unit in the target road section;

the first determining module is used for determining the first road condition meteorological index according to the target number and the target road condition meteorological index.

Optionally, the target road segment is a road segment comprising at least one of: atomizing; haze; rain; snow; hail; and (5) sand dust.

Optionally, the second type of vehicle is a non-intelligent vehicle that does not travel on the second type of lane and will enter the target road segment after a second preset distance.

Optionally, the apparatus further comprises a third sending unit;

the third sending unit is used for sending a third instruction to the first type of vehicle when the first road condition meteorological index is reduced to be smaller than the preset threshold, and the third instruction is used for indicating that the first type of vehicle does not need to keep running in the first type of lane.

Optionally, the apparatus further comprises a fourth sending unit;

the fourth sending unit is used for sending a fourth instruction to the target display screen when the first road condition meteorological index is reduced to be smaller than the preset threshold, the fourth instruction is used for controlling the target display screen to display a second lane division mark, and the second lane division mark is used for indicating that a driver of a second type of vehicle does not need to keep running in the second type of lane.

Optionally, the apparatus further comprises a second obtaining unit;

the second obtaining unit is used for obtaining a first message; the first message is sent by the first type of vehicle under the condition that an obstacle exists in a preset range, and the first message comprises the position information and the motion state of the obstacle.

It should be noted that, the vehicle control apparatus provided in the embodiment of the present invention can implement all the method steps implemented by the vehicle control method embodiment that uses the network side device, the base station, the core network, the road side unit, the road management and control center, the terminal, and the like as the execution main body, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in this embodiment are omitted here.

Fig. 13 is a second schematic structural diagram of a vehicle control device according to an embodiment of the present application, and as shown in fig. 13, the present application provides a vehicle control device including:

the first receiving unit 1301 is configured to receive a first instruction when the first road condition meteorological index acquired by the road side unit of the target road segment is greater than a preset threshold;

a control unit 1302, configured to control the vehicle to enter the first type lane in response to the first instruction.

Optionally, the apparatus further comprises a second receiving unit;

the second receiving unit is used for receiving a third instruction under the condition that the first road condition meteorological index is reduced to be smaller than the preset threshold value; the third instructions are for indicating that the vehicle does not need to remain traveling in the first type of lane.

Optionally, the apparatus further comprises an identification unit and a fifth sending unit;

the identification unit is used for identifying whether an obstacle exists in a preset range;

the fifth sending unit is used for sending a first message under the condition that an obstacle exists in the preset range; the first message includes position information and a motion state of the obstacle.

It should be noted that, the vehicle control apparatus provided in the embodiment of the present invention can implement all the method steps implemented by the vehicle control method embodiment that uses the first type of vehicle as the execution subject, and can achieve the same technical effect, and detailed descriptions of the same parts and beneficial effects as the method embodiment in this embodiment are omitted.

Fig. 14 is a third schematic structural diagram of a vehicle control device according to an embodiment of the present application, and as shown in fig. 14, the present application provides a vehicle control device including:

the third receiving unit 1401 is configured to receive a second instruction when the first road condition meteorological index acquired by the road side unit of the target road segment is greater than a preset threshold;

a first display unit 1402, configured to display, in response to the second instruction, a first lane dividing identifier, where the first lane dividing identifier is used to instruct a driver of the second type of vehicle to drive the vehicle into the second type of lane.

Optionally, the apparatus further comprises a fourth receiving unit and a second display unit;

the fourth receiving unit is used for receiving a fourth instruction when the first road condition meteorological index is reduced to be smaller than the preset threshold value;

the second display unit is used for responding to the fourth instruction and displaying a second lane dividing mark, and the second lane dividing mark is used for indicating that a driver of a second type of vehicle does not need to keep the vehicle running in a second type of lane.

It should be noted that, the vehicle control device provided in the embodiment of the present invention can implement all the method steps implemented by the vehicle control method embodiment that uses the smart display screen as an execution main body, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in this embodiment are omitted here.

It should be noted that, in the embodiment of the present application, the division of the unit/module is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional units/modules in the embodiments of the present application may be integrated into one processing unit/module, or each unit/module may exist alone physically, or two or more units/modules are integrated into one unit/module. The integrated units/modules may be implemented in the form of hardware or software functional units.

The integrated units/modules, if implemented in the form of software functional units/modules and sold or used as a stand-alone product, may be stored in a processor readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or contributing to the prior art, or all or part of the technical solutions may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

On the other hand, an embodiment of the present application further provides a processor-readable storage medium, where a computer program is stored, where the computer program is configured to cause a processor to execute a vehicle control method provided in each of the above embodiments, and the method includes:

Alternatively, the method comprises the following steps:

Alternatively, it comprises:

The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid State Disks (SSDs)), etc.

It should be noted that: the processor-readable storage medium may be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid State Disks (SSDs)), etc.

In addition, it should be noted that: in the embodiment of the present application, the term "and/or" describes an association relationship of associated objects, and indicates that three relationships may exist, for example, a and/or B, and may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The terms "first," "second," "target," and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the objects identified as "first," "second," "target," etc. are generally a class of objects and do not limit the number of objects, e.g., a first object may be one or more.

In the embodiments of the present application, the term "plurality" means two or more, and other terms are similar thereto.

The technical scheme provided by the embodiment of the application can be suitable for various systems, especially 5G systems. For example, the applicable system may be a global system for mobile communication (GSM) system, a Code Division Multiple Access (CDMA) system, a Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS) system, a long term evolution (long term evolution, LTE) system, an LTE Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD) system, an LTE-a (long term evolution) system, a universal mobile system (universal mobile telecommunications system, UMTS), a universal internet Access (WiMAX) system, a New Radio Network (NR) system, etc. These various systems include terminal devices and network devices. The System may further include a core network portion, such as an Evolved Packet System (EPS), a 5G System (5 GS), and the like.

The terminal device referred to in the embodiments of the present application may be a device providing voice and/or data connectivity to a user, a handheld device having a wireless connection function, or other processing device connected to a wireless modem. In different systems, the names of the terminal devices may be different, for example, in a 5G system, the terminal device may be called a User Equipment (UE). A wireless terminal device, which may be a mobile terminal device such as a mobile phone (or called a "cellular" phone) and a computer having a mobile terminal device, for example, a portable, pocket, hand-held, computer-included or vehicle-mounted mobile device, may communicate with one or more Core Networks (CNs) via a Radio Access Network (RAN), and may exchange languages and/or data with the RAN. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, session Initiation Protocol (SIP) phones, wireless Local Loop (WLL) stations, personal Digital Assistants (PDAs), and the like. The wireless terminal device may also be referred to as a system, a subscriber unit (subscriber unit), a subscriber station (subscriber station), a mobile station (mobile), a remote station (remote station), an access point (access point), a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in this embodiment of the present application.

The network device according to the embodiment of the present application may be a base station, and the base station may include a plurality of cells for providing services to a terminal. A base station may also be called an access point, or may be a device in an access network that communicates over the air-interface, through one or more sectors, with wireless terminal devices, or by other names, depending on the particular application. The network device may be configured to exchange received air frames with Internet Protocol (IP) packets as a router between the wireless terminal device and the rest of the access network, which may include an Internet Protocol (IP) communication network. The network device may also coordinate attribute management for the air interface. For example, the network device according to the embodiment of the present application may be a Base Transceiver Station (BTS) in a Global System for Mobile communications (GSM) or a Code Division Multiple Access (CDMA), may also be a network device (NodeB) in a Wide-band Code Division Multiple Access (WCDMA), may also be an evolved Node B (eNB or e-NodeB) in a Long Term Evolution (LTE) System, a 5G Base Station (gNB) in a 5G network architecture (next generation System), may also be a Home evolved Node B (HeNB), a relay Node (relay Node), a Home Base Station (femto), a pico Base Station (pico) and the like, and the present application is not limited in this embodiment. In some network architectures, a network device may include a Centralized Unit (CU) node and a Distributed Unit (DU) node, which may also be geographically separated.

The network device and the terminal device may each use one or more antennas to perform Multiple Input Multiple Output (MIMO) transmission, where the MIMO transmission may be Single User MIMO (SU-MIMO) or Multi-User MIMO (MU-MIMO). According to the form and the number of the root antenna combination, the MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, and can also be diversity transmission, precoding transmission, beamforming transmission, etc.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle control method characterized by comprising:

2. The vehicle control method according to claim 1, characterized by further comprising:

3. The vehicle control method according to claim 1, wherein the obtaining of the first road condition meteorological index collected by the road side unit of the target road segment includes:

4. The vehicle control method according to claim 1, characterized in that the target link is a link including at least one of: atomizing; haze; rain; snow; hail; and (5) sand dust.

5. The vehicle control method according to claim 1, characterized in that the first-type vehicle is a smart vehicle that travels on the target section and does not travel on the first-type lane.

6. The vehicle control method according to claim 1, characterized in that the first type of vehicle is a smart vehicle that is not driving on the first type of lane and will enter the target road segment after a first preset distance.

7. The vehicle control method according to claim 2, characterized in that the second-type vehicle is a non-intelligent vehicle that travels on the target road segment and does not travel on the second-type lane.

8. The vehicle control method according to claim 7, characterized in that the second type vehicle is a non-smart vehicle that travels on the first type lane.

9. The vehicle control method according to claim 2, characterized in that the second type of vehicle is a non-intelligent vehicle that does not travel on the second type of lane and will travel into the target road segment after a second preset distance.

10. The vehicle control method according to claim 7, characterized in that the target display screen is an intelligent display screen within the target road segment.

11. The vehicle control method according to claim 9, wherein the target display screen is an intelligent display screen in a road section corresponding to the second preset distance.

12. The vehicle control method according to claim 1, wherein after the sending of the first instruction to the first type of vehicle, further comprising:

13. The vehicle control method according to claim 2, further comprising, after the sending the second instruction to the target display screen:

14. The vehicle control method according to claim 1, characterized by further comprising:

15. A vehicle control method characterized by comprising:

16. The vehicle control method according to claim 15, characterized by, after controlling the vehicle to enter the first-type lane, further comprising:

17. The vehicle control method according to claim 15, characterized by further comprising:

identifying whether an obstacle exists in a preset range;

18. A vehicle control method characterized by comprising:

19. The vehicle control method according to claim 18, characterized in that after displaying the first lane marking, further comprising:

20. An electronic device comprising a memory, a transceiver, a processor:

a memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and performing the method of any of claims 1 to 19.

21. A vehicle control apparatus, characterized by comprising:

22. A vehicle control apparatus, characterized by comprising:

the receiving unit is used for receiving a first instruction under the condition that a first road condition meteorological index acquired by a road side unit of a target road section is larger than a preset threshold;

and the control unit is used for responding to the first instruction and controlling the vehicle to enter the first type of lane.

23. A vehicle control apparatus characterized by comprising:

24. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing a processor to perform the method of any one of claims 1 to 19.