CN116312012A - Vehicle-road coordination method, device, system and storage medium - Google Patents

Abstract

Embodiments of the present application provide a vehicle-road coordination method, device, system, and storage medium. In the embodiment of the present application, during the navigation process of the navigated target object, the vehicle-road environment information around the target object can be determined; and the vehicle-road cooperative guidance information of the target object can be determined according to the vehicle-road environment information around the target object. The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

Description

Vehicle-road coordination method, device, system and storage medium

technical field

The present application relates to the technical field of wireless communication, and in particular to a vehicle-road coordination method, device, system and storage medium.

Background technique

Vehicle-road coordination is the use of advanced wireless communication and new-generation Internet technologies to comprehensively implement vehicle-vehicle and vehicle-road dynamic real-time information interaction, and to carry out vehicle active safety control and road traffic control on the basis of full-time and spatial dynamic traffic information collection and integration. Collaborative management fully realizes the effective coordination of people, vehicles and roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environmentally friendly road traffic system. Therefore, in the vehicle-road coordination scenario, how to improve traffic safety is a technical issue that needs continuous research by those skilled in the art.

Contents of the invention

Various aspects of the present application provide a vehicle-road coordination method, device, system, and storage medium to improve traffic safety.

An embodiment of the present application provides a vehicle-road coordination method, including:

Obtain the real-time information of the navigated target object provided by the vehicle terminal;

According to the real-time information of the target object, determine the vehicle-road environment information associated with the real-time information;

Determine the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information; the vehicle-road cooperative guidance information is used to guide the target object to perceive the vehicle-road environment information;

The vehicle-road coordinated guidance information is provided to the vehicle-mounted terminal for the vehicle-mounted terminal to output the vehicle-road coordinated guidance information.

The embodiment of the present application also provides a vehicle-road coordination system, including: a vehicle-mounted terminal and a server mounted on the target object to be navigated;

The vehicle-mounted terminal is configured to provide the server with real-time information of the target object;

The server is configured to determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; and determine the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information; The vehicle-road coordination guidance information is used to guide the target object to perceive the vehicle-road environment information; and, providing the vehicle-road coordination guidance information to the vehicle-mounted terminal;

The vehicle-mounted terminal is configured to output the vehicle-road coordination guidance information.

An embodiment of the present application also provides a computing device, including: a memory, a processor, and a communication component; wherein, the memory is used to store a computer program;

The processor is coupled to the memory and the communication component, and is used to execute the computer program to execute the steps in the above vehicle-road coordination method.

The embodiment of the present application also provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed by one or more processors, the one or more processors are caused to execute the above-mentioned vehicle-road coordination method. A step of.

In the embodiment of the present application, during the navigation process of the navigated target object, the vehicle-road environment information around the target object can be determined; and the vehicle-road cooperative guidance information of the target object can be determined according to the vehicle-road environment information around the target object. The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is a schematic structural diagram of a vehicle-road coordination system provided by an embodiment of the present application;

Figure 2 and Figure 3 are schematic workflow diagrams of the vehicle-road coordination system provided by the embodiment of the present application;

FIG. 4 and FIG. 5 are schematic diagrams of the NIO architecture provided by the embodiment of the present application;

Figure 6 and Figure 7 are schematic diagrams of the display effect of the vehicle-road coordination guidance information provided by the embodiment of the present application;

FIG. 8 is a schematic flowchart of a vehicle-road coordination method provided in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a computing device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the existing navigation technology, the navigation terminal can plan a navigation route from the origin to the destination according to the origin and destination provided by the user, and guide the user through voice guidance and/or graphic guidance based on the navigation route. Follow the navigation route from the origin to the destination. However, the existing navigation technology only pays attention to the real-time positioning information of the guided vehicle, and provides route guidance to the guided vehicle. The guided vehicle and/or the driver of the guided vehicle can only perceive its own real-time positioning and navigation route, but cannot perceive other surrounding vehicles and road environment information. Therefore, the navigation information provided by the existing navigation technology is relatively single, and the driving safety is relatively low.

In some embodiments of the present application, in order to improve traffic safety, the vehicle road environment information around the target object can be determined during the navigation process of the target object being navigated; and the target object can be determined according to the vehicle road environment information around the target object The vehicle-road coordination guidance information. The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

It should be noted that the same reference numerals represent the same object in the following drawings and embodiments, therefore, once a certain object is defined in one drawing or embodiment, it does not need to be defined in subsequent drawings and embodiments It is discussed further.

FIG. 1 is a schematic structural diagram of a vehicle-road coordination system provided by an embodiment of the present application. As shown in FIG. 1 , the system includes: a vehicle-mounted terminal 20 and a server 30 mounted on a target object 10 to be navigated.

In this embodiment, the target object 10 can be any movable object. For example, the object to be navigated can be a motor vehicle, such as a car, truck, motorcycle, electric vehicle, etc., or an autonomous mobile device, such as a robot, an unmanned vehicle, etc.

The vehicle-mounted terminal 20 is an electronic device mounted on a target object. The vehicle-mounted terminal 20 can be fixed on the target object, or can be an electronic device installed on the target object later. For example, the vehicle-mounted terminal 20 may be a smart phone, a tablet computer, a personal computer, a smart wearable device, etc., or may be a dedicated vehicle-mounted device. For example, car navigation equipment, etc. In this embodiment, the vehicle-mounted terminal 20 has navigation and vehicle-road coordination functions. Optionally, the vehicle-mounted terminal 20 can be installed with software related to vehicle-road coordination (Application, APP) (such as the vehicle-road coordination application in Figure 2 and Figure 3), which can provide users with electronic maps and information based on electronic maps. navigation guidance information and vehicle-road coordination information. In some embodiments, the vehicle-road coordination application and the application for improving navigation route planning may be the same application or different applications. As shown in FIG. 2 , the vehicle-mounted terminal 20 is deployed with a vehicle-road coordination application and a navigation unit. Among them, the navigation unit improves navigation route planning; the vehicle-road coordination application provides vehicle-road coordination services.

In this embodiment, the server 30 refers to a computer device that can respond to the service request of the vehicle-mounted terminal 20 and provide users with services related to vehicle-road coordination, and generally has the ability to undertake and guarantee services. The server 30 may be a single server device, or a cloud-based server array, or a virtual machine (Virtual Machine, VM) running in a cloud-based server array. In addition, the server 30 may also refer to other computing devices with corresponding service capabilities, such as terminal devices such as computers (running service programs), and the like.

Wherein, the vehicle-mounted terminal 20 and the server 30 may be wirelessly or wiredly connected. Optionally, the vehicle-mounted terminal 20 can be connected through a mobile network and communication. (LTE), 4G+ (LTE+), 5G, WiMax, etc. Optionally, the vehicle-mounted terminal 20 may also communicate with the server 30 through Bluetooth, WiFi, infrared and other means.

In this embodiment, the vehicle-mounted terminal 20 can obtain real-time information of the target object 10 . The real-time information of the target object 10 refers to information that can reflect the real-time state of the target object 10 , including but not limited to: real-time positioning information and/or real-time driving state information, and the like. The real-time driving state information of the target object 10 refers to information that can reflect the real-time driving state of the target object 10, including at least one of the following: real-time speed data, real-time direction angle, and real-time inertial measurement unit (IMU) data. Wherein, the IMU data includes: the attitude angle (or angular rate) and acceleration of the target object 10 .

The real-time information of the target object 10 acquired by the vehicle-mounted terminal 20 can be collected by the vehicle-mounted terminal 20 in real time, and of course, can also be collected by other sensors on the target object 10 . For example, the real-time positioning information of the target object 10 can be obtained by the vehicle-mounted terminal 20 through autonomous positioning. In this embodiment of the present application, the specific implementation manner in which the vehicle-mounted terminal 20 acquires the real-time positioning information of the navigated object is not limited. Optionally, the vehicle-mounted terminal 20 may obtain real-time positioning information of the target object 10 through satellite positioning technology, base station positioning technology, or WiFi positioning technology.

Considering that the positioning accuracy of GPS positioning technology, base station positioning technology or WiFi positioning technology is low. In some embodiments, in order to improve the accuracy of real-time positioning, the vehicle-mounted terminal 20 can communicate with high-precision positioning equipment. A high-precision positioning device may also be mounted on the target object 10 . As shown in FIG. 2 , an On-Board Unit (OBU) is mounted on the target object 10 . The positioning accuracy of high-precision positioning equipment can be on the order of centimeters. For example, a high-precision positioning device may implement centimeter-level positioning based on a real-time differential (Real-time kinematic, RTK) positioning technology. The vehicle-mounted terminal 20 can obtain real-time positioning information of the target object 10 by the high-precision positioning equipment in real time.

In some other embodiments, the target object 10 may also carry an image acquisition device (not shown in the drawings). The image acquisition device can acquire real-time environmental images of the environment where the target object 10 is currently located during the moving process of the target object 10 . In this embodiment, the number and implementation forms of image acquisition devices are not limited. For example, when the user is driving a motor vehicle or in an automatic driving scene, the image acquisition device may be a vehicle camera (such as a driving recorder), or may be a camera on the vehicle terminal 20 . Wherein, the number of cameras may be one or more. A plurality means two or more. For example, the target object 10 is a motor vehicle, and the camera is one or more cameras mounted on the motor vehicle. Multiple cameras can be deployed at different positions of the motor vehicle, for example, at the front, rear, left and right sides of the motor vehicle, and so on.

Further, the image acquisition device can provide the acquired environment image to the vehicle terminal 20 . For the communication method between the image acquisition device and the vehicle-mounted terminal 20 , refer to the above-mentioned communication method between the vehicle-mounted terminal 20 and the server 30 , which will not be repeated here. Further, the vehicle-mounted terminal 20 can determine the real-time positioning information of the target object according to the real-time environment image and electronic map data. Optionally, the vehicle-mounted terminal 20 obtains the feature descriptors of the pixels in the real-time environment image; and determines the target object 10 according to the feature descriptors of the pixels in the real-time environment image and the feature descriptors of each location point recorded in the electronic map data. real-time location information.

Optionally, when the vehicle-mounted terminal 20 determines the position coordinates of the pixels in the real-time environment image in the real-time environment map, it can calculate the difference between the feature descriptor of the pixel point in the real-time environment image and the feature descriptor of each position point in the electronic map data. similarity, and use the position point whose similarity is greater than or equal to the set similarity threshold as the corresponding position point of the pixel point in the real-time environment image in the electronic map data, that is, the position point whose similarity is greater than or equal to the set similarity threshold The position coordinates of the position point in the electronic map data are used as the position coordinates of the pixel points in the corresponding real-time environment image in the electronic map data. Afterwards, the vehicle-mounted terminal 20 can calculate the location information of the target object 10 in the electronic map according to the location coordinates of the pixels in the real-time environment image in the electronic map data, that is, the real-time location information of the target object.

The implementations in which the vehicle-mounted terminal 20 acquires the real-time positioning information of the target object shown in the above-mentioned embodiments are only illustrative and not limiting.

The real-time driving status information of the target object 10 may be collected by the vehicle-mounted terminal 20 or may be collected by other sensors on the vehicle-mounted terminal 20 . For example, the real-time driving speed of the target object 10 may be collected by the vehicle-mounted terminal 20 or by a speed sensor on the target object 10 .

In this embodiment, as shown in FIG. 2 , the vehicle-mounted terminal 20 can provide navigation guidance for the target object 10 . In this embodiment, the vehicle-mounted terminal 20 can acquire the current positioning location information of the target object, and the user provides its destination address (corresponding to steps 1-3 in FIG. 2 ). Optionally, the user may select or enter a destination address. In this way, the vehicle-mounted terminal 20 can plan a navigation route according to the current location information of the target object 10 and the destination address (corresponding to steps 4 and 5 in FIG. 2 ). In Figure 2, the vehicle-road coordination application and the navigation unit are different functional modules. Among them, the navigation unit provides navigation route planning; the vehicle-road coordination application provides vehicle-road coordination services.

Optionally, the vehicle-mounted terminal 20 can also plan a navigation route for the user according to the current location information, destination address, and current road condition information of the object to be navigated. In this way, the target object can reach the destination address along the navigation path. There may be one or more navigation routes planned by the navigation unit in the vehicle-mounted terminal 20 . A plurality of lines means 2 or more lines. The navigation unit can provide the navigation route list at the planning location to the vehicle-road coordination application (corresponding to step 5 in FIG. 2 ). Further, the user may select a navigation route from the road route list (corresponding to step 6 in FIG. 2 ). The target object 10 can reach the destination along the selected navigation path.

Alternatively, the vehicle-mounted terminal 20 may provide the server 30 with the current location information of the target object 10 and the destination address provided by the user. The server 30 receives the current location information of the object being navigated and the destination address provided by the user, and plans a navigation route according to the current location information and the destination address of the target object 10 , and provides the navigation route to the vehicle-mounted terminal 20 . Correspondingly, the vehicle-mounted terminal 20 receives the navigation route, and renders the navigation route on the navigation interface. Alternatively, the server 30 can also plan a navigation route for the user and provide the navigation route to the vehicle-mounted terminal 20 according to the current location information of the object being navigated, the destination address, and the current road condition information. Correspondingly, the vehicle-mounted terminal 20 receives the navigation route, and renders the navigation route on the navigation interface. In this way, the target object can reach the destination address along the navigation path.

For the vehicle-road coordination application in the vehicle-mounted terminal 20, the real-time positioning information of the target object can be obtained from the vehicle-mounted unit (corresponding to step 7 in FIG. 2 ); and the real-time positioning information is transmitted to the navigation unit (corresponding to step 8 in FIG. 2 ). Further, the navigation unit can display information of points of interest around the target object according to the real-time positioning information (corresponding to step 9 in FIG. 2 ), so as to obtain a navigation interface.

In the actual driving process, the road conditions and vehicles around the vehicle will also affect the driving efficiency and traffic safety of the vehicle. Based on this, in this embodiment, in order to improve traffic safety, in addition to providing navigation guidance for the target object 10, vehicle-road coordination guidance may also be provided. Correspondingly, in conjunction with Fig. 1-Fig. 3, the vehicle-mounted terminal 20 can obtain the real-time information of the target object 10 during the process of the target object along the navigation path; 10 and step 3) in Figure 3). As shown in FIG. 3 , the server 30 can receive the real-time information of the target object 10 through the communication service communication between the vehicle-mounted unit and the roadside facility (Vehicle to Infrastructure, V2I).

It should be noted that, in order to ensure information security, in some embodiments of the present application, as shown in FIG. 3 , the vehicle-road coordination application in the vehicle-mounted terminal 20 can also register the vehicle-mounted terminal 20 with the server (corresponding to step 1 in FIG. 3 ). ; If the registration is successful, the registration login module in the server 30 can return a successful registration result (corresponding to step 2 in Figure 3). For the real-time information uploaded by the vehicle-mounted terminal 20, the server 30 may also perform device verification on the vehicle-mounted terminal 20 (corresponding to step 4 in FIG. 3 ). If the verification fails, a verification failure prompt message is returned (corresponding to step 5 in Figure 3). Further, if the verification is successful, the real-time information of the target object 10 is responded to or processed. For example, as shown in step 11 in FIG. 2 , the real-time information of the target object 10 is uploaded to a message queue or the like. Optionally, as shown in step 11 of FIG. 2 , the server 30 may transmit the target object 10 of the target object 10 to a message queue or the like through the V2I service. Other processes of responding to or processing the real-time information of the target object 10 will be described in detail in the following embodiments, and will not be repeated here.

In this embodiment of the present application, the specific implementation manner in which the vehicle-mounted terminal 20 provides the real-time information of the target object 10 to the server 30 is not limited. In some embodiments, the vehicle-mounted terminal 20 can provide the real-time information of the target object 10 to the server 30 in an asynchronous manner. In this way, the vehicle-mounted terminal 20 can perform other operations without waiting for the server 30 to return the result, which is beneficial to reduce computing resources. waste.

Since the real-time performance of vehicle-road coordinated guidance affects traffic safety, the higher the real-time performance of vehicle-road coordinated guidance, the higher the traffic safety. This is mainly because the higher the real-time performance of the vehicle-road cooperative guidance, the higher the timeliness for the target object 10 to know the potential danger, and the more time there is to avoid the danger. Therefore, in order to improve the real-time performance of the vehicle-road coordinated guidance, in some embodiments, the real-time performance of the vehicle-road coordinated guidance is realized by improving the data transmission efficiency between the vehicle-mounted terminal 20 and the server 30 . Optionally, the vehicle-mounted terminal 20 can compress the real-time information of the target object according to the data compression method of the communication protocol supporting data compression, so as to obtain the compressed real-time information; further, according to the data format supported by the communication protocol, the compressed The final real-time information is provided to the server 30, which can reduce the amount of data transmitted between the vehicle-mounted terminal 20 and the server 30, improve data transmission efficiency, and help to improve the efficiency of subsequent vehicle-road collaborative guidance.

In this embodiment of the present application, the specific implementation manner of the communication protocol supporting data compression is not limited. In some embodiments, the communication protocol supporting data compression may be the Protobuf protocol. The protocol can provide an efficient protocol data exchange format tool library, which can realize high-efficiency data compression, help save disk and transmission bandwidth, and then help reduce the amount of data transmitted between the vehicle terminal 20 and the server 30, The efficiency of data transmission between the vehicle terminal 20 and the server 30 is improved.

Correspondingly, the server 30 can receive the compressed real-time information, and decompress the compressed real-time information to obtain the real-time information of the target object 10 . Optionally, the server 30 may decompress the compressed real-time information according to the decompression method of the above-mentioned communication protocol supporting data compression, to obtain the real-time information of the target object 10 .

Referring to FIGS. 1-3 , after acquiring the real-time information of the target object 10 , the server 30 can determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object 10 . This process corresponds to step 12 in FIG. 2 and step 7 in FIG. 3 .

Wherein, the above-mentioned vehicle road environment information associated with the real-time information refers to vehicle information and/or road information that affect the driving environment of the target object 10 . For example, the vehicle road environment information associated with the real-time information may include: vehicle information around the target object 10, and/or information about the road section and/or lane where the target object 10 is currently located, and/or traffic events around the target object 10, etc. . Wherein, the traffic event may include: a traffic accident event and/or a road traffic event (such as a road closure event, a road repair event, etc.). In the embodiment of the present application, the surroundings of the target object 10 mainly refer to being within a set distance range of the target object 10 . For example, within 5 meters, 10 meters or other distances from the target object.

Since the vehicle road environment information associated with the real-time information of the target object 10 affects the driving environment and driving safety of the target object 10, the server 30 can determine that the target is guided by the navigation according to the vehicle road environment information associated with the real-time information of the target object 10. Vehicle-road coordination guidance information of object 10. The vehicle-road coordination guidance information is used to guide the target object to perceive the vehicle-road environment information, and can guide the driving state of the target object 10 to adapt to its surrounding vehicle-road environment, which helps to improve the driving safety of the target object 10 .

Further, the server 30 can provide the vehicle-road coordination guidance information to the vehicle-mounted terminal 20 (corresponding to step 14 in FIG. 2 and step 8 in FIG. 3 ). Correspondingly, the vehicle-mounted terminal 20 can output vehicle-road coordination guidance information (corresponding to step 16 in FIG. 2 ), so as to guide the target object 10 to pay attention to the surrounding vehicle-road environment.

In some embodiments, in order to improve the real-time performance of the vehicle-road cooperative guidance, the server 30 can compress the real-time positioning information of other navigated objects according to the data compression method of the communication protocol supporting data compression, so as to obtain the compressed Vehicle-road coordination guidance information; further, according to the data format supported by the communication protocol, the compressed vehicle-road coordination guidance information is provided to the server 30, which can reduce the amount of data transmitted between the vehicle-mounted terminal 20 and the server 30, and improve data transmission. Efficiency, which in turn helps to improve the efficiency of subsequent vehicle-road cooperative guidance.

As for the specific implementation manner of the data compression of the vehicle-road coordination guidance information by the server 30, please refer to the relevant content of the data compression of the real-time information of the target object 10 by the vehicle-mounted terminal 20 above, and details will not be repeated here.

Further, the vehicle-mounted terminal 20 can receive vehicle-road coordinated guidance information. Optionally, the vehicle-mounted terminal 20 may receive the compressed vehicle-road coordinated guidance information, and decompress the compressed vehicle-road coordinated guidance information to obtain the vehicle-road coordinated guidance information. Optionally, the vehicle-mounted terminal 20 may decompress the compressed vehicle-road coordinated guidance information according to the decompression method of the above-mentioned communication protocol that supports data compression, to obtain the vehicle-road coordinated guidance information.

Further, the vehicle-mounted terminal 20 can output vehicle-road coordination guidance information, so as to guide the user of the target object 10 to pay attention to the surrounding vehicle-road environment through the vehicle-road coordination guidance information.

The vehicle-road coordination system provided in this embodiment can determine the vehicle-road environment information around the target object during the navigation process of the target object; and determine the vehicle-road coordination guidance information of the target object according to the vehicle-road environment information around the target object. The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

In the embodiment of the present application, the architectural form of the server 30 is not limited. In some embodiments, in order to improve the processing performance of the server 30, the server 30 may be deployed in a non-blocking input/output (NIO) architecture. As shown in FIG. 4, the NIO architecture may include reactor threads (Reactor Threads) 30a and worker threads (WorkerThreads) 30b. In this embodiment, the NIO architecture is deployed on the server 30 . Correspondingly, both the reactor thread 30a and the worker thread 30b are threads started in the server 30 . Wherein, the reactor thread 30 a may include a reactor (Reactor) 301 and a processing component (Handler) 302 . In this embodiment, the reactor 301 is registered with a connection channel (Channel) between the vehicle terminal 20 and the server 30 .

The reactor 301 can use a multiplexer (Selector) 303 to monitor the processing events on the connecting channels. Specifically, as shown in Figure 4, specifically, the multiplexer can monitor the processing events on the connection channel through the query (Select) function (corresponding to "query" in Figure 4); When the character changes, it is determined that a processing event occurs on the connection channel. Further, the type of the monitored processing event can also be determined according to the change of the file descriptor. The types of processing events can be divided into: connection events and read and write events.

Further, when the multiplexer 303 detects that the processing event of providing the real-time information of the target object to the server 30 occurs in the connection channel, it notifies the processing component 302 to receive the real-time information of the target object, that is, to receive the real-time information of the target object The processing event is distributed to the processing component 302 (corresponding to "distribution" in FIG. 4).

Correspondingly, the processing component 302 can read the real-time information of the target object (corresponding to "read" in FIG. 4 ), and distribute it to the worker thread 30b for processing. The working thread 30b can determine the vehicle-road environment information associated with the real-time information of the target object according to the real-time information of the target object; and determine the vehicle-road cooperative guidance information of the navigated object according to the vehicle-road environment information.

Further, the processing component 302 can obtain the vehicle-road cooperative guidance information, and provide the vehicle-road cooperative guidance information to the vehicle-mounted terminal 20 through the connection channel between the vehicle-mounted terminal 20 and the server 30, so that the vehicle-mounted terminal 20 can output the vehicle-road coordinated guidance information . Wherein, the processing component 302 provides the vehicle-road coordination guidance information to the vehicle-mounted terminal 20, that is, “send” in the processing component 302 in FIG.

In this embodiment, the server 30 adopts a multiplexed communication method, is designed and implemented according to the Reactor mode, and aggregates a multiplexer (Selector), so that the server 30 can concurrently process different navigations. The real-time information of the object, and the read and write operations are all non-blocking, which can improve the operating efficiency of the I/O thread, avoid thread suspension caused by frequent I/O thread blocking, and help improve the processing performance of the server 30.

In some embodiments, in order to improve the real-time performance of the vehicle-road coordinated guidance, an asynchronous monitoring (Future-Listener) mechanism may be introduced in the processing component 302 . Correspondingly, the processing component 302 can adopt an asynchronous monitoring mechanism to monitor the completion status of the real-time information processing of the target object by the working thread 30b; Collaborative guide information.

Optionally, the processing component 302 can create an asynchronous (Future) object in response to the start of the vehicle-road coordination service of the server 30; and use the asynchronous (Future) object to set a listening function (Listener). The monitoring function is used to monitor the completion status of the real-time information processing of the target object by the worker thread 30b. Further, when the processing component 302 detects that the real-time information processing of the target object is completed by using the monitoring function, it reads the vehicle-road coordination guidance information; and passes the vehicle-road coordination guidance information through the connection between the vehicle terminal 20 and the server 30 The channel is provided to the vehicle terminal 20 . Wherein, the specific implementation manner of the processing component 302 providing the vehicle-road coordination guidance information to the vehicle-mounted terminal 20 can refer to the relevant content of the above-mentioned server 30 providing the vehicle-road coordination guidance information to the vehicle-mounted terminal 20 , which will not be repeated here.

In this embodiment, the processing component 302 can send the vehicle-road coordination guidance information to the vehicle-mounted terminal 20 in real time through the asynchronous monitoring mechanism, and the vehicle-mounted terminal 20 can actively acquire or obtain the vehicle-road coordination guidance information through a notification mechanism, which is helpful for further Improve the real-time performance of vehicle-road cooperative guidance.

In some embodiments, as shown in FIG. 5 , the reactor threads 30a may include: a main reactor (Main Reactor) thread 30a1 and a secondary reactor (Sub Reactor) thread 30a2. Wherein, the main reactor thread 30a1 is used to process connection events, and the read and write events are handed over to the slave reactor thread 30a for processing.

Correspondingly, as shown in FIG. 5 , the main reactor thread 30a1 includes: a main reactor 30a11 and a receiver 30a12 . The slave reactor thread 30a2 includes: the slave reactor 30a21 as the above-mentioned reactor 301 in FIG. 4 and the processing component 302 . The main reactor 30a11 is registered with a communication channel. The number of communication channels is 1 or more. A plurality means two or more. The communication channel registered by the main reactor 30a11 is not in communication with the vehicle-mounted terminal 20 in the current situation, but a connection channel with the vehicle-mounted terminal 20 is established in response to the connection request of the vehicle-mounted terminal 20 .

Specifically, the main reactor 30a11 may employ a multiplexer to monitor connection events on the communication channel. For the description of monitoring the connection event on the communication channel and the "query" function, please refer to the relevant content on monitoring the processing event on the communication channel in the above-mentioned FIG. And when a connection event occurs on the communication channel is detected, the receiver 30a12 is notified to process the connection event. That is, the multi-channel server in the main reactor 30a11 distributes the connection event to the receiver 30a12 (corresponding to "distribution" in the main reactor 30a11 in FIG. 5 ). Correspondingly, the receiver 30a12 can receive a connection event (corresponding to "receive" in the receiver 30a12 in FIG. 5 ), and can establish a connection channel between the vehicle terminal 20 and the server 30 in response to the connection event. In this embodiment, the main reactor implements I/O multiplexing based on a multiplexer (Selector), and a thread of the multiplexer can monitor connection events on multiple communication channels.

Further, the master reactor 30a11 may assign the connection channel between the vehicle terminal 20 and the server 30 to the slave reactor 30a21. Correspondingly, the connection channel between the vehicle-mounted terminal 20 and the server 30 is registered from the reactor 30a21. In this way, for the slave reactor 30a21, the multiplexer 303 can be used to monitor the processing events on the connection channel; when it is detected that the processing event of the 3 connection channel provides real-time information of the target object to the server 30, the processing event is notified. Component 302 receives real-time information of a target object. For the description of "query", "distribute" from the reactor 30a21 and "read" and "send" in the processing component 302, please refer to the relevant content in the above-mentioned FIG. 4, which will not be repeated here.

Further, the processing component 302 can read the real-time information of the target object (corresponding to "read" in the processing component 302 in FIG. 5), and distribute it to the worker thread 30b for processing (corresponding to the "send" in the processing component 302 in FIG. 5). The working thread 30b may determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; and determine the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information. The "trajectory recovery" and "traffic event" in the working thread 30b in FIG. 5 will be described in the following embodiments, and will not be repeated here.

In this embodiment, when the processing component 302 monitors the completion of the real-time information processing of the target object through the monitoring function, it reads the vehicle-road coordination guidance information; and passes the vehicle-road coordination guidance information through the vehicle-mounted terminal 20 and the server The connection channel between 30 is provided to the vehicle terminal 20. Correspondingly, the vehicle-mounted terminal 20 can output vehicle-road coordination guidance information.

In the embodiment of the present application, the specific implementation form of outputting the vehicle-road coordination guidance information by the vehicle-mounted terminal 20 is not limited. In some embodiments, as shown in FIG. 1 , the vehicle-mounted terminal 20 can render vehicle-road coordination guidance information on the navigation interface, so that the user of the target object 10 can adjust the target object by viewing the vehicle-road coordination guidance information on the navigation interface. 10 driving status, etc. In some other embodiments, the vehicle-mounted terminal 20 can play the vehicle-road coordination guidance information by voice, and the target object 10 can also adjust the driving state of the target object 10 through voice reminders.

The above vehicle-road cooperative guidance information is determined to a certain extent by the vehicle-road environment information associated with the real-time information of the target object, and the vehicle-road environment information is determined based on the real-time information. In the following, specific implementation forms of the vehicle-road cooperative guidance information will be described as examples for several types of real-time information.

Embodiment 1: In some embodiments, the real-time information of the target object 10 includes: real-time location information of the target object. Regarding the implementation manner of obtaining the real-time positioning information of the target object 10 by the vehicle-mounted terminal 20 , reference may be made to the relevant content of the above-mentioned embodiments, which will not be repeated here. Correspondingly, the server 30 can process the real-time positioning information. Specifically, the real-time positioning information can be processed by the worker thread 30b in the server 30 shown in FIG. 5 , that is, “positioning processing” in FIG. 5 .

2 and 3, based on the real-time positioning information of the target object 10, the server 30 can determine other navigated objects whose distance to the target object 10 is less than or equal to the set distance threshold according to the real-time positioning information of the target object 10 The real-time positioning information of the target object 10 is used as the vehicle road environment information associated with the real-time positioning information of the target object 10 . Specifically, the working thread 30b in the server 30 can determine the real-time positioning information of other navigated objects whose distance between the target objects 10 is less than or equal to the set distance threshold (corresponding to the track restoration in the working thread 30b in FIG. 5 ).

In some embodiments, as shown in FIG. 3 , the server 30 can also fuse real-time location information from multiple sources of the target object 10 to obtain fused real-time location information (that is, location information fusion in step 6 in FIG. 3 ). Further, the server 30 can determine the real-time positioning information of other navigated objects whose distance to the target object 10 is less than or equal to the set distance threshold according to the real-time positioning information of the target object 10, as the real-time positioning information association of the target object 10 road environment information.

Wherein, the real-time positioning information of other objects to be navigated is provided to the server 30 by the vehicle-mounted terminals of other objects to be navigated. Other navigated objects refer to other navigated objects except the target object. Regarding the implementation of other vehicle-mounted terminals carried by navigation objects to obtain real-time positioning information of other navigation objects, please refer to the relevant content of the above-mentioned vehicle-mounted terminal 20 of the target object 10 acquiring the real-time positioning information of the target object 10, which will not be repeated here. .

Correspondingly, when the server 30 determines the vehicle-road cooperative guidance information of the target object 10 according to the vehicle-road environment information, it can use the real-time positioning information of other navigated objects as the vehicle-road cooperative guidance information; The real-time positioning information is provided to the vehicle terminal 20 .

Optionally, as shown in Figure 2, the server 30 can use the message queue to store real-time positioning information (corresponding to step 11 in Figure 2), and perform trajectory fusion on real-time positioning information from multiple sources of other navigated objects to obtain fusion Trajectory information (corresponding to step 12 in Figure 2). Further, the fused trajectory information can be provided to the vehicle-mounted terminal 20 as vehicle-road cooperative guidance information (corresponding to step 14 in FIG. 2 ).

In order to improve the real-time performance of vehicle-road cooperative guidance, the server 30 can compress the real-time positioning information of other navigated objects according to the data compression method of the communication protocol that supports data compression, so as to obtain the compressed real-time location information of other navigated objects. positioning information; further, according to the data format supported by the communication protocol, the compressed real-time positioning information of other navigated objects is provided to the server 30, which can reduce the amount of data transmitted between the vehicle-mounted terminal 20 and the server 30, and improve data transmission. Efficiency, which in turn helps to improve the efficiency of subsequent vehicle-road cooperative guidance.

For the specific implementation manner of data compression of real-time positioning information of other objects to be navigated by the server 30, please refer to the relevant content of data compression of real-time information of the target object 10 by the vehicle-mounted terminal 20, and details are not repeated here.

Further, the vehicle-mounted terminal 20 can receive real-time positioning information of other objects to be navigated. Optionally, the vehicle-mounted terminal 20 can receive the compressed real-time positioning information of other navigated objects, and decompress the compressed real-time positioning information of other navigated objects to obtain the real-time positioning information of other navigated objects . Optionally, the vehicle-mounted terminal 20 may decompress the compressed real-time information according to the decompression method of the above-mentioned communication protocol supporting data compression, to obtain real-time positioning information of other navigated objects.

Further, the vehicle-mounted terminal 20 can output real-time positioning information of other objects to be navigated. Specifically, the vehicle-mounted terminal 20 may render icons of other navigated objects at corresponding positions on the navigation interface according to real-time positioning information of other navigated objects. Optionally, as shown in Figure 2, the vehicle-mounted terminal 20 receives real-time positioning information of other navigated objects; Coordinate conversion of the information to obtain the corresponding positions of the real-time positioning information of other navigated objects on the navigation interface (corresponding to step 15 "coordinate conversion" in Figure 2); further, the icons of other navigated objects can be rendered at the corresponding positions of the navigation interface.

Since the real-time positioning information of other objects to be navigated changes dynamically, the icons of other objects to be navigated displayed by the vehicle-mounted terminal 20 also change dynamically, which can realize the restoration of real-time trajectory of accompanying vehicles around the target object 10 . In this way, the target object 10 or the user of the target object 10 can know the real-time trajectory information of the periodic accompanying vehicle in real time during the navigation process, which provides more detailed and granular navigation, helps to improve more refined guidance perception, and enhances The user's driving judgment improves traffic safety.

For the communication and data transmission methods between the vehicle-mounted terminals of other objects to be navigated and the server 30 , please refer to the relevant contents of communication and data transmission between the vehicle-mounted terminals of the target object and the server, and will not be repeated here. The processing flow of the real-time positioning information of the target object by the server 30 may be the same as the processing process of the real-time information of the target object by the server 30 in FIG. 3 and FIG. 4 , and will not be repeated here.

Based on the NIO architecture of the server 30 shown in FIG. 4 and FIG. 5 above, it is designed according to the reactor mode, and multiplexers are aggregated, and the worker thread 30b in the server 30 can concurrently process the target object and other objects to be navigated. The real-time information restores the real-time track of the object being navigated around the target object (corresponding to "track recovery" in the working thread 30b in FIG. 5).

Embodiment 2: In some embodiments, based on the real-time location information of other objects to be navigated in Embodiment 1 above, the server 30 can also determine the real-time location information of other objects to be navigated according to the real-time location information of the target object and the real-time location information of other objects to be navigated. The relative positional relationship between the navigation object and the target object; and according to the relative positional relationship, the navigation guidance warning information of the target object is determined as the vehicle-road cooperative guidance information.

In the embodiment of the present application, the relative positional relationship between other objects to be navigated and the target object may be a vector positional relationship, including: distances and relative directions between other objects to be navigated and the target object. For example, the relative positional relationship between other objects to be navigated and the target object is: other objects to be navigated are 1 meter away from the left side of the target object, and so on.

In this embodiment, the real-time positioning information of the target object and the real-time positioning information of other objects to be navigated may be high-precision positioning information, such as positioning information with a positioning accuracy on the order of centimeters. Based on high-precision positioning information, lane-level positioning of the navigated object can be realized.

In this embodiment, the server 30 can determine the navigation guidance warning information of the target object according to the relative positional relationship between other objects to be navigated and the target object. Wherein, the navigation guidance warning information is used to provide navigation guidance for the target object 10 to avoid risk events, to provide early warning of potential risk events, and to prevent potential risk events from occurring in the target object 10 . For example, the server 30 can select an adapted navigation guidance warning template from the preset navigation guidance warning information according to the relative distance between other navigated objects and the target object being less than or equal to the set distance threshold; The relative direction between the object and the target object is filled into the navigation guidance warning template to obtain the navigation guidance warning information of the target object. For example, as shown in Figure 1, assuming that the relative distance between other objects to be navigated and the target object is less than or equal to the set distance threshold, then it is determined that the navigation guidance warning template is the navigation guidance template "XX direction collision warning" corresponding to the collision warning, etc. ; Further, since other objects to be navigated are located on the left side of the target object, fill the left side into the navigation guidance template "XX direction collision warning" to obtain navigation guidance warning information, such as "left collision warning" and so on.

In this way, the target object 10 or the user of the target object 10 can perceive the surrounding traffic dangers in real time during the navigation process, enhance the user's driving judgment, and improve traffic safety.

Embodiment 3: In some embodiments, the real-time information of the target object 10 may include: real-time positioning information and real-time driving status information of the target object. For the description of the real-time driving state information of the target object 10 , refer to the relevant content of the above-mentioned embodiment, and details are not repeated here.

In actual traffic driving, roads or lanes have driving condition restrictions. For example, different road sections support different maximum driving speeds. For another example, the types of vehicles supported by different lanes are different. For another example, some lanes only support vehicles for specific events, such as emergency lanes.

Based on this, when the server 30 determines the vehicle road environment information associated with the real-time information of the target object 10 according to the real-time information of the target object 10, it is specifically used to: determine the road section supported by the target object according to the real-time positioning information of the target object. Driving conditions, as part of vehicle road environment information. The driving conditions supported by the road section where the target object is currently located may include: one or more of speed limit conditions, vehicle state conditions, and vehicle type conditions. A plurality of kinds means two or more kinds.

Correspondingly, when the server 30 determines the vehicle-road cooperative guidance information of the target object 10 according to the vehicle-road environment information, it can determine the Whether the driving state of the target object 10 satisfies the requirements of the driving conditions of the current section of the target object 10; Driving warning information; the driving warning information is used as vehicle-road coordination guidance information. Wherein, it is used to warn that the driving state of the target object does not meet the requirements of the driving conditions of the target road section. Wherein, the driving condition of the target road section is used to limit the driving state condition that the vehicle needs to meet when passing the target road section. Optionally, the driving conditions of the target road section may include: speed limit (ie, maximum driving speed) conditions, vehicle type conditions, license plate traffic restriction conditions, and the like.

For example, the reason why the driving state of the target object does not meet the requirements of the driving conditions supported by the road section where the target object 10 is currently located may be determined as driving warning information. For example, as shown in FIG. 6 , if the driving speed of the target object exceeds the speed limit condition of the current road section, the speeding reminder information may be determined as vehicle-road coordination guidance information and the like. In Fig. 6, only the speeding reminder information is "you have exceeded the speed limit of this lane by 90". 90 means 90 kilometers per hour (90km/h).

In this way, the target object 10 or the user of the target object 10 can perceive in real time whether the driving state of the target object is compatible with the driving conditions of the road during the navigation process, and whether there is a risk of violating traffic regulations, thereby enhancing the user's driving judgment and improving traffic safety. sex.

Embodiment 4: In actual traffic driving, traffic events will also affect vehicle driving safety to a certain extent. Therefore, in the embodiment of the present application, the server 30 can also determine traffic events within a set distance from the target object 10 according to the real-time positioning information of the target object 10 as part of the vehicle road environment information. Wherein, the traffic event may include: an accident traffic event, a road traffic event, and the like.

Further, the server 30 may generate traffic event reminder information as vehicle-road coordination guidance information according to traffic events within a set distance range from the target object 10 . Further, the server 30 can provide the vehicle terminal 20 with traffic event reminder information.

Specifically, the working thread 30b in the server 30 can determine traffic events within a set distance from the target object 10 as vehicle road environment information (corresponding to the traffic events in the working thread 30b in FIG. 5 ).

As shown in FIG. 7 , the vehicle-mounted terminal 20 can output traffic event prompt information. In FIG. 7 , the prompt information of the traffic event is only taken as an example, which is "a broken-down vehicle 100 meters ahead occupies the left lane 1", but it does not constitute a limitation. In this way, the target object 10 or the user of the target object 10 can perceive periodic traffic events in time during the navigation process, enhance the user's driving judgment, and improve traffic safety.

In the embodiment of the present application, the specific implementation manner in which the server 30 senses the traffic event is not limited. In some embodiments, the vehicle-road coordination system further includes: roadside equipment. Roadside equipment refers to the facilities set on the roadside, which have data collection and communication capabilities. In some embodiments, the roadside equipment may also have certain computing and data processing capabilities. The roadside equipment may be a traffic light, a street lamp, a roadside camera, etc., but is not limited thereto. Correspondingly, the traffic event can be collected by the roadside device 40 and reported to the server. Wherein, the communication method between the roadside device and the server 30 can refer to the above-mentioned communication method between the vehicle terminal 20 and the server 30 , which will not be repeated here.

Certainly, in some other embodiments, the traffic event may also be reported by the object to be navigated, or reported to the server 30 by the traffic management department and so on.

The determination manner and implementation form of the vehicle-road coordination guidance information provided in the above embodiments are only illustrative and not limiting. It should also be noted that the server 30 can determine one or more types of vehicle cooperative guidance information to provide to the vehicle terminal 20, specifically determined by the vehicle-road environment information associated with the real-time information of the target object.

FIG. 8 is a schematic flowchart of a vehicle-road coordination method provided in an embodiment of the present application. As shown in Figure 8, the method mainly includes the following steps:

801. Acquire real-time information of a navigated target object provided by a vehicle-mounted terminal.

802. According to the real-time information of the target object, determine vehicle-road environment information associated with the real-time information.

803. Determine the vehicle-road coordination guidance information of the target object according to the vehicle-road environment information; the vehicle-road coordination guidance information is used to guide the target object to perceive the vehicle-road environment information.

804. Provide the vehicle-road coordination guidance information to the vehicle-mounted terminal, so that the vehicle-road coordination guidance information is output by the vehicle-mounted terminal.

Regarding the relationship between the vehicle-mounted terminal and the target object, reference may be made to the relevant content of the above-mentioned system embodiments, which will not be repeated here.

In this embodiment, the vehicle-mounted terminal can acquire real-time information of the target object. For the description of the real-time information and the specific implementation of the real-time positioning information of the target object acquired by the vehicle-mounted terminal, please refer to the related content of the above-mentioned system embodiment, and details will not be repeated here.

In the actual driving process, the road conditions and vehicles around the vehicle will also affect the driving efficiency and traffic safety of the vehicle. Based on this, in this embodiment, in order to improve traffic safety, in addition to providing navigation guidance for the target object, vehicle-road coordination guidance may also be provided. Correspondingly, the vehicle-mounted terminal can obtain real-time information of the target object during the process of the target object along the navigation route; and provide the real-time information of the target object to the server.

For the server, in step 801, the real-time information of the target object can be obtained and provided to the server.

In this embodiment of the present application, the specific implementation manner in which the vehicle-mounted terminal provides the real-time information of the target object to the server is not limited. In some embodiments, the vehicle-mounted terminal can provide the real-time information of the target object to the server in an asynchronous manner. In this way, the vehicle-mounted terminal can perform other operations without waiting for the server to return the result, which is beneficial to reduce the waste of computing resources.

Since the real-time performance of vehicle-road coordinated guidance affects traffic safety, the higher the real-time performance of vehicle-road coordinated guidance, the higher the traffic safety. This is mainly because the higher the real-time performance of the vehicle-road cooperative guidance, the higher the timeliness for the target object to know the potential danger, and the more time there is to avoid the danger. Therefore, in order to improve the real-time performance of the vehicle-road coordinated guidance, in some embodiments, the real-time performance of the vehicle-road coordinated guidance is realized by improving the data transmission efficiency between the vehicle-mounted terminal and the server. Optionally, the vehicle-mounted terminal can compress the real-time information of the target object according to the data compression method of the communication protocol that supports data compression, so as to obtain the compressed real-time information; further, according to the data format supported by the communication protocol, the compressed The real-time information provided to the server can reduce the amount of data transmitted between the vehicle terminal and the server, improve the efficiency of data transmission, and help improve the efficiency of subsequent vehicle-road collaborative guidance.

In this embodiment of the present application, the specific implementation manner of the communication protocol supporting data compression is not limited. In some embodiments, the communication protocol supporting data compression may be the Protobuf protocol. The protocol can provide an efficient protocol data exchange format tool library, which can realize high-efficiency data compression, help save disk and transmission bandwidth, and then help reduce the amount of data transmitted between the vehicle terminal and the server, and improve the vehicle. Data transmission efficiency between the terminal and the server.

Correspondingly, an optional implementation manner of step 801 is: receiving the compressed real-time information, and decompressing the compressed real-time information to obtain the real-time information of the target object. Optionally, the compressed real-time information may be decompressed according to the decompression method of the above-mentioned communication protocol supporting data compression to obtain the real-time information of the target object.

After acquiring the real-time information of the target object, in step 802, the vehicle-road environment information associated with the real-time information may be determined according to the real-time information of the target object. For the description of the vehicle-road environment information, please refer to the relevant content of the above-mentioned system embodiments, and details will not be repeated here.

Since the vehicle road environment information associated with the real-time information of the target object affects the driving environment and driving safety of the target object, in step 803, the target object to be navigated can be determined according to the vehicle road environment information associated with the real-time information of the target object The vehicle-road coordination guidance information. The vehicle-road coordination guidance information is used to guide the target object to perceive the vehicle-road environment information, and can guide the driving state of the target object to adapt to the surrounding vehicle-road environment, which helps to improve the driving safety of the target object.

Further, in step 804, the vehicle-road coordination guidance information may be provided to the vehicle-mounted terminal. Correspondingly, the vehicle-mounted terminal can output vehicle-road coordination guidance information to guide the target object to pay attention to the surrounding environment.

In some embodiments, in order to improve the real-time performance of vehicle-road coordination guidance, the real-time positioning information of other objects to be navigated can be compressed according to the data compression method of the communication protocol that supports data compression, so as to obtain the compressed vehicle-road coordination Guidance information; further, according to the data format supported by the communication protocol, the compressed vehicle-road coordination guidance information is provided to the vehicle-mounted terminal, which can reduce the amount of data transmitted between the vehicle-mounted terminal and the server, improve data transmission efficiency, and contribute to Improve the efficiency of subsequent vehicle-road collaborative guidance.

Regarding the specific implementation manner of data compression of the vehicle-road cooperative guidance information, refer to the relevant content of the above-mentioned data compression of the real-time information of the target object by the vehicle-mounted terminal, which will not be repeated here.

Further, the vehicle-mounted terminal can receive vehicle-road coordination guidance information. Optionally, the vehicle-mounted terminal may receive the compressed vehicle-road coordinated guidance information, and decompress the compressed vehicle-road coordinated guidance information to obtain the vehicle-road coordinated guidance information. Optionally, the vehicle-mounted terminal may decompress the compressed vehicle-road coordinated guidance information according to the decompression method of the above-mentioned communication protocol that supports data compression, to obtain the vehicle-road coordinated guidance information.

Further, the vehicle-mounted terminal can output vehicle-road coordination guidance information, so as to guide the user of the target object to pay attention to the surrounding vehicle-road environment through the vehicle-road coordination guidance information.

In this embodiment, during the navigation process of the target object, the vehicle-road environment information around the target object can be determined; and the vehicle-road cooperative guidance information of the target object can be determined according to the vehicle-road environment information around the target object. The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

In the embodiment of the present application, the architectural form of the server is not limited. In some embodiments, in order to improve the processing performance of the server, the server may adopt the NIO architecture. For the description of the NIO architecture, reference may be made to the relevant content of the above-mentioned system embodiments, which will not be repeated here.

Based on the NIO architecture, the reactor can use a multiplexer (Selector) to monitor the processing events on the connection channel; when it detects that the connection channel has a processing event that provides real-time information of the target object to the server, it notifies the processing component to receive Real-time information on the target audience.

Correspondingly, the processing component can read the real-time information of the target object and distribute it to the worker thread for processing. The working thread can determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; and determine the vehicle-road cooperative guidance information of the navigated object according to the vehicle-road environment information.

Further, the processing component can obtain the vehicle-road coordinated guidance information, and provide the vehicle-road coordinated guidance information to the vehicle-mounted terminal through the connection channel between the vehicle-mounted terminal and the server, so that the vehicle-mounted terminal can output the vehicle-road coordinated guidance information.

In this embodiment, the multiplexing communication method is adopted, designed and implemented according to the Reactor mode, and multiplexers (Selector) are aggregated, so that the server 30 can concurrently process the real-time data of different navigated objects. Information, and read and write operations are non-blocking, which can improve the operating efficiency of I/O threads, avoid thread suspension caused by frequent I/O thread blocking, and help improve the processing performance of the server.

In some embodiments, in order to improve the real-time performance of the vehicle-road coordinated guidance, an asynchronous monitoring (Future-Listener) mechanism may be introduced into the processing component. Correspondingly, the processing component can adopt an asynchronous monitoring mechanism to monitor the completion status of the real-time information processing of the target object by the working thread; .

Optionally, the processing component may create an asynchronous (Future) object in response to the activation of the vehicle-road coordination service at the server; and use the asynchronous (Future) object to set a listening function (Listener). The monitoring function is used to monitor the completion status of the real-time information processing of the target object by the worker thread. Further, when the processing component detects that the real-time information processing of the target object is completed by using the monitoring function, it reads the vehicle-road coordination guidance information; and provides the vehicle-road coordination guidance information to the vehicle terminal. Wherein, the specific implementation manner of the processing component providing the vehicle-road coordination guidance information to the vehicle-mounted terminal can refer to the relevant content of the above-mentioned service end providing the vehicle-road coordination guidance information to the vehicle-mounted terminal, which will not be repeated here.

In this embodiment, the processing component can send the vehicle-road cooperative guidance information to the vehicle-mounted terminal in real time through the asynchronous monitoring mechanism. The real-time nature of collaborative guidance.

In some embodiments, as shown in FIG. 5 , the reactor threads may include: a main reactor (Main Reactor) thread and a slave reactor (Sub Reactor) thread. Among them, the main reactor thread is used to process the connection event, and the read and write events are handed over to the slave reactor thread for processing. For the structure of the master reactor thread and the slave reactor thread, refer to the above-mentioned relevant content in FIG. 5 , and details will not be repeated here.

Based on the NIO architecture shown in Figure 5, the main reactor can use a multiplexer to monitor connection events on the communication channel, and notify the receiver to process the connection event when a connection event occurs on the communication channel is detected. Correspondingly, the receiver can establish a connection channel between the vehicle terminal and the server in response to the connection event. In this embodiment, the main reactor implements I/O multiplexing based on a multiplexer (Selector), and a thread of the multiplexer can monitor connection events on multiple communication channels.

Further, the master reactor can assign the connection channel between the vehicle terminal and the service end to the slave reactors. Correspondingly, register the connection channel between the vehicle terminal and the server from the reactor. In this way, for the slave reactor, the multiplexer can be used to monitor the processing events on the connection channel; in the case of a processing event that provides real-time information of the target object to the server when the connection channel is monitored, the processing component is notified to receive the target object real-time information. Wherein, as for the specific implementation manner of using a multiplexer from the reactor to monitor the processing events on the connection channel, reference may be made to the relevant content of the above-mentioned reactor, which will not be repeated here. For the process of processing the real-time information of the target object by the processing component, reference may be made to the relevant content above, and details will not be repeated here.

In this embodiment, when the processing component monitors the completion of the real-time information processing of the target object by using the monitoring function, it reads the vehicle-road coordination guidance information; The connection channel is provided to the vehicle terminal. Correspondingly, the vehicle-mounted terminal can output vehicle-road coordination guidance information.

The above vehicle-road cooperative guidance information is determined to a certain extent by the vehicle-road environment information associated with the real-time information of the target object, and the vehicle-road environment information is determined based on the real-time information. In the following, specific implementation forms of the vehicle-road cooperative guidance information will be described as examples for several types of real-time information.

Embodiment 1: In some embodiments, the real-time information of the target object includes: real-time location information of the target object. Regarding the implementation manner of obtaining the real-time positioning information of the target object by the vehicle-mounted terminal, reference may be made to relevant content of the foregoing embodiments, and details are not repeated here.

Based on the real-time positioning information of the target object, the real-time positioning information of other navigated objects whose distance to the target object is less than or equal to the set distance threshold can be determined according to the real-time positioning information of the target object, as the real-time positioning information association of the target object road environment information.

Correspondingly, when determining the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, the real-time positioning information of other navigated objects can be used as the vehicle-road cooperative guidance information; and the real-time positioning information of other navigated objects can be provided to the vehicle terminal.

In order to improve the real-time performance of vehicle-road cooperative guidance, the real-time positioning information of other navigated objects can be compressed according to the data compression method of the communication protocol that supports data compression, so as to obtain the compressed real-time positioning information of other navigated objects; Further, according to the data format supported by the communication protocol, the compressed real-time positioning information of other objects to be navigated is provided to the vehicle terminal, which can reduce the amount of data transmitted between the vehicle terminal and the server, improve data transmission efficiency, and contribute to Improve the efficiency of subsequent vehicle-road collaborative guidance.

Further, the vehicle-mounted terminal can receive real-time positioning information of other objects to be navigated. Optionally, the vehicle-mounted terminal can receive the compressed real-time positioning information of other navigated objects, and decompress the compressed real-time positioning information of other navigated objects to obtain the real-time positioning information of other navigated objects. Optionally, the vehicle-mounted terminal can decompress the compressed real-time information according to the decompression method of the above-mentioned communication protocol supporting data compression, and obtain real-time positioning information of other objects to be navigated.

Further, the vehicle-mounted terminal can output real-time positioning information of other objects to be navigated. Specifically, the vehicle-mounted terminal may render icons of other navigated objects at corresponding positions on the navigation interface according to real-time positioning information of other navigated objects. Since the real-time positioning information of other navigated objects changes dynamically, the icons of other navigated objects displayed by the vehicle-mounted terminal also change dynamically, which can realize the real-time trajectory restoration of the accompanying vehicles around the target object. In this way, the target object or the user of the target object can know the real-time track information of the cycle accompanying vehicle in real time during the navigation process, which provides more detailed and granular navigation, helps to improve more refined guidance perception, and enhances user awareness. Driving judgment improves traffic safety.

Embodiment 2: In some embodiments, based on the real-time positioning information of other navigated objects in Embodiment 1 above, the real-time positioning information of the target object and the real-time positioning information of other navigated objects can also be used to determine the relationship between other navigated objects and The relative positional relationship between the target objects; and according to the relative positional relationship, the navigation guidance warning information of the target object is determined as the vehicle-road cooperative guidance information. The navigation guidance warning information is used to provide navigation guidance for the target object to avoid risk events. In this way, the target object or the user of the target object can perceive the surrounding traffic dangers in real time during the navigation process, enhance the user's driving judgment, and improve traffic safety.

Embodiment 3: In some embodiments, the real-time information of the target object may include: real-time positioning information and real-time driving status information of the target object. For the description of the real-time driving state information of the target object, reference may be made to the relevant content of the above-mentioned embodiments, and details will not be repeated here.

In actual traffic driving, roads or lanes have driving condition restrictions. Based on this, when determining the vehicle road environment information associated with the real-time information of the target object according to the real-time information of the target object, it is specifically used to: determine the driving condition corresponding to the target road section where the target object is currently located according to the real-time positioning information of the target object, as Road environment information. The driving conditions corresponding to the target section where the target object is currently located may include: one or more of speed limit conditions, vehicle state conditions, and vehicle type conditions. A plurality of kinds means two or more kinds.

Correspondingly, when the server determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it can judge whether the driving state of the target object is Satisfy the requirements of the driving conditions of the road section where the target object is currently located; and when the driving state of the target object does not meet the requirements of the driving conditions supported by the road section where the target object is currently located, determine the driving warning information for the target object as a vehicle-road coordination boot information. The driving warning information is used to warn that the driving state of the target object does not meet the requirements of the driving conditions, and can guide the target object and/or the user of the target object to adjust the driving state of the target object to meet the requirements of the driving conditions corresponding to the target road section.

In this way, the target object or the user of the target object can perceive in real time whether their own driving state is compatible with the road driving conditions during the navigation process, and whether there is a risk of violating traffic regulations, thereby enhancing the user's driving judgment and improving traffic safety.

Embodiment 4: In actual traffic driving, traffic events will also affect vehicle driving safety to a certain extent. Therefore, in the embodiment of the present application, according to the real-time positioning information of the target object, traffic events within a set distance range from the target object can also be determined as the vehicle road environment information. Wherein, the traffic event may include: an accident traffic event, a road traffic event, and the like.

Further, according to the traffic events within the set distance range from the target object, the traffic event reminder information can be generated, and the traffic event reminder information can be used as the vehicle-road coordination guidance information. Further, the traffic event reminder information can be provided to the vehicle terminal. In this way, the target object 10 or the user of the target object 10 can perceive periodic traffic events in time during the navigation process, enhance the user's driving judgment, and improve traffic safety.

The determination manner and implementation form of the vehicle-road coordination guidance information provided in the above embodiments are only illustrative and not limiting. It should also be noted that the server can determine one or more types of vehicle cooperative guidance information to provide to the vehicle-mounted terminal, specifically determined by the vehicle-road environment information associated with the real-time information of the target object.

It should be noted that the subject of execution of each step of the method provided in the foregoing embodiments may be the same device, or the method may also be executed by different devices. For example, the execution subject of steps 801 and 802 may be device A; for another example, the execution subject of step 801 may be device A, and the execution subject of step 802 may be device B; and so on.

In addition, in some of the processes described in the above embodiments and accompanying drawings, multiple operations appearing in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear herein or executed in parallel , the sequence numbers of operations, such as 801, 802, etc., are only used to distinguish different operations, and the sequence numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel.

Correspondingly, the embodiment of the present application also provides a computer-readable storage medium storing computer instructions, and when the computer instructions are executed by one or more processors, one or more processors are caused to execute the above-mentioned vehicle-road coordination method. step.

FIG. 9 is a schematic structural diagram of a computing device provided by an embodiment of the present application. As shown in FIG. 9, the computing device includes: a memory 90a, a processor 90b, and a communication component 90c. Among them, the memory 90a is used to store computer programs.

The processor 90b is coupled to the memory 90a and the communication component 90c, and is used to execute the computer program for: obtaining the real-time information of the navigated target object provided by the vehicle-mounted terminal; determining the vehicle road environment associated with the real-time information according to the real-time information of the target object information; determine the vehicle-road coordination guidance information of the target object according to the vehicle-road environment information; the vehicle-road coordination guidance information is used to guide the target object to perceive the vehicle-road environment information; and, provide the vehicle-road coordination guidance information to the vehicle-mounted terminal through the communication component 90c , for the vehicle-mounted terminal to output vehicle-road coordination guidance information.

In some embodiments, when the processor 90b acquires the real-time information of the target object provided by the vehicle-mounted terminal, it is specifically used to: acquire compressed real-time information; the compressed real-time information is the data of the vehicle-mounted terminal according to the communication protocol supporting data compression The compression method is obtained by compressing the real-time information of the target object; the compressed real-time information is decompressed to obtain the real-time information of the target object.

In other embodiments, the real-time information includes: real-time location information of the target object. Correspondingly, when the processor 90b determines the vehicle road environment information associated with the real-time information according to the real-time information of the target object, it is specifically used to: determine that the distance to the target object is less than or equal to the set distance according to the real-time positioning information of the target object. The real-time positioning information of other objects to be navigated at the distance threshold, and the real-time positioning information of other objects to be navigated is used as the vehicle road environment information.

Correspondingly, when the processor 90b determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it is specifically configured to: use the real-time positioning information of the above-mentioned other objects to be navigated as the vehicle-road cooperative guidance information for the vehicle-mounted terminal According to the real-time positioning information of other objects to be navigated, icons of other objects to be navigated are rendered at corresponding positions on the navigation interface.

Optionally, when the processor 90b determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it is specifically configured to: determine the real-time positioning information of other navigated objects and the real-time positioning information of the target object The relative positional relationship between the object and the target object; according to the relative positional relationship, the navigation guidance warning information of the target object is determined, and the navigation guidance warning information is used as the vehicle-road coordination guidance information. Among them, the navigation guidance warning information is used to provide navigation guidance for the target object to avoid risk events.

In some embodiments, the real-time information includes: real-time positioning information and real-time driving status information of the target object. When the processor 90b determines the vehicle road environment information associated with the real-time information according to the real-time information of the target object, it is specifically used to: determine the driving conditions supported by the target road section where the target object is currently located according to the real-time positioning information of the target object, and part of the vehicle road environment information. information.

Correspondingly, when the processor 90b determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it is specifically used to: judge whether the driving state of the target object satisfies the driving condition according to the driving conditions and the real-time driving state information of the target object requirements; when the driving state of the target object does not meet the requirements of the driving conditions, determine the driving warning information for the target object, and use the driving warning information as the vehicle-road coordination guidance information. The driving warning information is used to warn that the driving state of the target object does not meet the requirements of the driving conditions, and can guide the target object and/or the user of the target object to adjust the driving state of the target object to meet the requirements of the driving conditions.

In other embodiments, the real-time information includes: real-time location information of the target object. When the processor 90b determines the vehicle road environment information associated with the real-time information according to the real-time information of the target object, it is specifically used to: determine the traffic events within the set distance from the target object according to the real-time positioning information of the target object, as the vehicle road environment information. environmental information.

Correspondingly, when the processor 90b determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it is specifically configured to: generate traffic event prompt information according to the traffic event as the vehicle-road cooperative guidance information of the target object.

In some embodiments of the present application, the computing device is deployed with a non-blocking input/output NIO architecture; the NIO architecture includes: a reactor thread and a worker thread; the reactor thread includes: a reactor and a processing component; the reactor is registered with a vehicle terminal and a computing Connection channel between devices.

When the processor 90b acquires the real-time information of the target object provided by the vehicle-mounted terminal, it is specifically used to: control the reactor to use a multiplexer to monitor the processing events on the connection channel between the vehicle-mounted terminal and the computing device; When a processing event that provides real-time information of the target object occurs, the processing component is notified to receive the real-time information of the target object; and, the processing component is used to read the real-time information of the target object.

Correspondingly, when the processor 90b determines the vehicle road environment information associated with the real-time information according to the real-time information of the target object, it is specifically used to: use the processing component to distribute the real-time information of the target object to the working thread; The real-time information determines the vehicle-road environment information associated with the real-time information. Correspondingly, when the processor 90b determines the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information, it is specifically configured to: call a working thread to determine the vehicle-road cooperative guidance information of the navigated object according to the vehicle-road environment information.

Correspondingly, when the processor 90b provides the vehicle-road coordinated guidance information to the vehicle-mounted terminal, it is specifically configured to: use the processing component to obtain the vehicle-road coordinated guidance information, and provide the vehicle-road coordinated guidance information to the vehicle-mounted terminal through the connection channel for The vehicle-mounted terminal outputs vehicle-road coordination guidance information.

Optionally, the reactor thread includes a master reactor thread and a slave reactor thread; the master reactor thread includes: a master reactor and a receiver; the slave reactor thread includes: a slave reactor and a processing component as a reactor; the master reactor thread The server is registered with a communication channel. Correspondingly, the processor 90b is also configured to: use the main reactor to monitor the connection event on the communication channel by using a multiplexer, and notify the receiver to process the connection event when a connection event occurs on the communication channel; The receiver establishes a connection channel between the vehicle terminal and the computing device in response to the connection event; uses the master reactor to assign the connection channel between the vehicle terminal and the computing device to the slave reactor; and registers the vehicle terminal with the slave reactor. Compute the connection channel between devices.

Optionally, the processor 90b is also used to: use the processing component to also adopt an asynchronous monitoring mechanism to monitor the completion status of the real-time information processing of the working thread for the target object; Next, read the vehicle-road coordination guidance information.

Optionally, the processor 90b is also used to: use the processing component to respond to the startup of the vehicle-road coordination service of the computing device, and create an asynchronous object; use the asynchronous object to set the monitoring function; the monitoring function is used to monitor the real-time information processing of the target object by the working thread completion status.

In some optional implementation manners, as shown in FIG. 9 , the computing device may further include: a power supply component 90d. In some embodiments, the computing device can be implemented as a terminal device such as a computer. Correspondingly, the computing device may further include optional components such as a display component 90e, an audio component 90f, and the like. FIG. 9 only schematically shows some components, which does not mean that the computing device must include all the components shown in FIG. 9 , nor does it mean that the computing device can only include the components shown in FIG. 9 .

The computing device provided in this embodiment can determine the vehicle-road environment information around the target object during the navigation process of the target object; and determine the vehicle-road coordination guidance information of the target object according to the vehicle-road environment information around the target object . The vehicle-road coordination guidance information can guide the target object or the user of the target object to pay attention to the surrounding vehicle-road environment during driving, providing finer-grained navigation, helping to provide more refined guidance perception, and enhancing the user's driving experience. Judgment to improve driving safety.

In the embodiment of the present application, the memory is used to store computer programs, and may be configured to store other various data to support operations on the device where it is located. Wherein, the processor can execute the computer program stored in the memory to realize the corresponding control logic. The memory can be realized by any type of volatile or non-volatile storage devices or their combination, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

In the embodiment of the present application, the processor may be any hardware processing device capable of executing the logic of the above method. Optionally, the processor can be a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) or a micro control unit (Microcontroller Unit, MCU); it can also be a field programmable gate array (Field- Programmable Gate Array (FPGA), Programmable Array Logic (PAL), General Array Logic (GAL), Complex Programmable Logic Device (CPLD) and other programmable devices; or It is an advanced reduced instruction set (RISC) processor (Advanced RISC Machines, ARM) or a system chip (System on Chip, SOC), etc., but not limited thereto.

In the embodiment of the present application, the communication component is configured to facilitate wired or wireless communication between the device where it is located and other devices. The device where the communication component is located can access a wireless network based on communication standards, such as WiFi, 2G or 3G, 4G, 5G or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may also be based on Near Field Communication (NFC) technology, Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology or other techniques to achieve.

In the embodiment of the present application, the display component may include a liquid crystal display (LCD) and a touch panel (TP). If the display assembly includes a touch panel, the display assembly may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action.

In the embodiment of the present application, the power supply component is configured to provide power to various components of the device where it is located. A power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which the power supply component resides.

In the embodiment of the present application, the audio component may be configured to output and/or input audio signals. For example, the audio component includes a microphone (MIC), which is configured to receive an external audio signal when the device on which the audio component is located is in an operation mode, such as a calling mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or sent via a communication component. In some embodiments, the audio component further includes a speaker for outputting audio signals. For example, for a device with a language interaction function, the voice interaction with the user can be realized through the audio component.

It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different messages, devices, modules, etc. are different types.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. 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, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

The storage medium of the computer is a readable storage medium, which may also be referred to as a readable medium. Readable storage media, including both volatile and non-permanent, removable and non-removable media, may be implemented by any method or technology for information storage. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, A magnetic tape cartridge, disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (14)

1. A vehicle-road cooperative method, characterized by comprising:

acquiring real-time information of a navigated target object provided by a vehicle-mounted terminal;

according to the real-time information of the target object, determining the vehicle-road environment information associated with the real-time information;

determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information; the vehicle-road collaborative guiding information is used for guiding the target object to perceive the vehicle-road environment information;

and providing the vehicle-road collaborative guiding information for the vehicle-mounted terminal so that the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

2. The method of claim 1, wherein the real-time information comprises: real-time positioning information of the target object;

the determining the vehicle-road environment information associated with the real-time information according to the real-time information of the target object comprises the following steps:

According to the real-time positioning information of the target object, other navigated objects, the distance between which and the target object is smaller than or equal to a set distance threshold value, are determined;

the real-time positioning information of the other navigated objects is used as the vehicle-road environment information;

the determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information comprises the following steps:

and using the real-time positioning information of the other objects to be navigated as the vehicle-road collaborative guiding information, so that the vehicle-mounted terminal renders icons of the other objects to be navigated at corresponding positions of a navigation interface according to the real-time positioning information of the other objects to be navigated.

3. The method of claim 2, wherein determining the vehicle-road co-guidance information of the target object according to the vehicle-road environment information, further comprises:

determining the relative position relationship between the other navigated objects and the target object according to the real-time positioning information of the other navigated objects and the real-time positioning information of the target object;

determining navigation guiding early warning information of the target object according to the relative position relation; the navigation guidance early warning information is used for providing navigation guidance for avoiding risk events for the target object;

And taking the navigation guidance early warning information as the vehicle-road collaborative guidance information.

4. The method of claim 1, wherein the real-time information comprises: real-time positioning information and real-time driving state information of the target object;

the determining the vehicle-road environment information associated with the real-time information according to the real-time information of the target object comprises the following steps:

determining a current target road section of the target object according to the real-time positioning information of the target object;

taking the running condition corresponding to the target road section as the vehicle-road environment information;

the determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information comprises the following steps:

judging whether the running state of the target object meets the requirement of the running condition according to the running condition and the real-time running state information of the target object;

determining driving early warning information for the target object under the condition that the driving state of the target object does not meet the requirement of the driving condition; the driving early warning information is used for warning that the driving state of the target object does not meet the requirement of the driving condition;

And taking the driving early warning information as the vehicle-road collaborative guiding information.

5. The method of claim 1, wherein the real-time information comprises: real-time positioning information of the target object;

the determining the vehicle-road environment information associated with the real-time information according to the real-time information of the target object comprises the following steps:

according to the real-time positioning information of the target object, determining traffic events within a set distance range from the target object as part of vehicle-road environment information;

the determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information comprises the following steps:

generating traffic event prompt information according to the traffic event;

and taking the traffic event prompt information as the vehicle-road collaborative guiding information of the target object.

6. The method according to any one of claims 1-5, wherein the vehicle-road collaboration method is applicable to a server;

the server is provided with a non-blocking input/output (NIO) architecture; the NIO architecture includes: a reactor thread and a worker thread; the reactor thread comprises: a reactor and a processing assembly; the reactor is registered with a connecting channel between the vehicle-mounted terminal and the server;

The obtaining the real-time information of the target object provided by the vehicle-mounted terminal comprises the following steps:

the reactor employing a multiplexer to monitor processing events on the connection channel; notifying the processing component to receive the real-time information of the target object under the condition that the connection channel is monitored to generate a processing event for providing the real-time information of the target object to the server;

and the processing component reads the real-time information of the target object.

7. The method according to claim 6, wherein determining the vehicle environment information associated with the real-time information according to the real-time information of the target object comprises:

the processing component distributes real-time information of the target object to the working thread;

the working thread determines the vehicle-road environment information associated with the real-time information according to the real-time information of the target object;

the determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information comprises the following steps:

the working thread determines the vehicle-road collaborative guiding information of the navigated object according to the vehicle-road environment information;

the providing the vehicle-road collaborative guiding information to the vehicle-mounted terminal includes:

The processing component acquires the vehicle-road collaborative guiding information, and provides the vehicle-mounted terminal with the vehicle-road collaborative guiding information through the connecting channel so that the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

8. The method of claim 7, wherein the reactor threads comprise a master reactor thread and a slave reactor thread; the main reactor thread comprises: a main reactor and a receiver; the slave reactor thread comprises: a slave reactor and the processing assembly as the reactor; the main reactor is registered with a communication channel; the method further comprises the steps of:

the main reactor adopts a multiplexer to monitor the connection event on the communication channel, and notifies the receiver to process the connection event under the condition that the connection event on the communication channel is monitored;

the receiver responds to the connection event and establishes a connection channel between the vehicle-mounted terminal and the server;

the master reactor distributes a connecting channel between the vehicle-mounted terminal and the server to the slave reactor;

and registering a connection channel between the vehicle-mounted terminal and the server by the slave reactor.

9. The method as recited in claim 8, further comprising:

the processing component adopts an asynchronous monitoring mechanism to monitor the completion state of the real-time information processing of the working thread aiming at the target object; and under the condition that the real-time information processing of the working thread for the target object is monitored to be completed, the vehicle-road collaborative guiding information is read.

10. The method as recited in claim 9, further comprising:

the processing component responds to the vehicle-road cooperative service start of the server to create an asynchronous object; setting a monitoring function by using the asynchronous object; the monitoring function is used for monitoring the completion state of the real-time information processing of the working thread aiming at the target object.

11. The method according to any one of claims 1 to 5, wherein the acquiring real-time information of the target object provided by the vehicle-mounted terminal includes:

acquiring compressed real-time information; the compressed real-time information is obtained by compressing the real-time information of the target object by the vehicle-mounted terminal according to a data compression mode of a communication protocol supporting data compression;

and decompressing the compressed real-time information to obtain the real-time information of the target object.

12. A vehicle-road cooperative system, characterized by comprising: the vehicle-mounted terminal and the server are carried on the navigated target object;

the vehicle-mounted terminal is used for providing real-time information of the target object for the server;

the server is used for determining the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information; providing the vehicle-mounted terminal with the vehicle-road collaborative guiding information;

the vehicle-mounted terminal is also used for outputting the vehicle-road collaborative guiding information.

13. A computing device, comprising: a memory, a processor, and a communication component; wherein the memory is used for storing a computer program;

the processor is coupled to the memory and the communication component for executing the computer program for performing the steps in the method of any of claims 1-11.

14. A computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform the steps in the method of any of claims 1-11.

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