CN116312012A

CN116312012A - Vehicle-road cooperation method, device, system and storage medium

Info

Publication number: CN116312012A
Application number: CN202211091392.8A
Authority: CN
Inventors: 曹海毛; 陈峰毅; 刘彦斌; 刘挺
Original assignee: Alibaba Cloud Computing Ltd
Current assignee: Alibaba Cloud Computing Ltd
Priority date: 2022-09-07
Filing date: 2022-09-07
Publication date: 2023-06-23

Abstract

The embodiment of the application provides a vehicle-road cooperation method, device, system and storage medium. In the embodiment of the application, the vehicle-road environment information around the target object can be determined in the navigation process of the navigated target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

Description

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

Technical Field

The present disclosure relates to the field of wireless communications technologies, and in particular, to a vehicle-road collaboration method, device, system, and storage medium.

Background

The vehicle-road cooperation is a safe, efficient and environment-friendly road traffic system which is formed by adopting advanced wireless communication, new generation internet and other technologies, implementing vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, developing vehicle active safety control and road cooperation management on the basis of full-time idle dynamic traffic information acquisition and fusion, fully realizing effective cooperation of people and vehicles and roads, ensuring traffic safety and improving traffic efficiency. Therefore, in the vehicle-road cooperative scene, how to improve traffic safety is a technical problem that those skilled in the art need to continuously study.

Disclosure of Invention

Aspects of the present application provide a vehicle-road coordination method, apparatus, system, and storage medium for improving traffic safety.

The embodiment of the application provides a vehicle-road cooperation method, which comprises the following steps:

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.

The embodiment of the application also provides a vehicle-road cooperative system, which comprises: 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; the vehicle-road collaborative guiding information is used for guiding the target object to perceive the vehicle-road environment information; providing the vehicle-mounted terminal with the vehicle-road collaborative guiding information;

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

Embodiments of the present application also provide 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 vehicle road coordination method described above.

Embodiments also provide a computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform steps in the above-described vehicle-road coordination method.

In the embodiment of the application, the vehicle-road environment information around the target object can be determined in the navigation process of the navigated target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a schematic structural diagram of a vehicle-road collaboration system according to an embodiment of the present application;

fig. 2 and fig. 3 are schematic diagrams of a workflow of a vehicle-road collaboration system according to an embodiment of the present application;

fig. 4 and fig. 5 are schematic diagrams of a NIO architecture according to an embodiment of the present application;

fig. 6 and fig. 7 are schematic diagrams showing the effect of the vehicle-road collaborative guiding information provided in the embodiments of the present application;

fig. 8 is a schematic flow chart of a vehicle-road collaboration method according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a computing device according to an embodiment of the present application.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the prior art, a navigation terminal can plan a navigation route from a starting place to a destination according to the starting place and the destination provided by a user, and guide the user to reach the destination along the navigation route from the starting place by means of voice guidance and/or picture guidance based on the navigation route. However, the prior art navigation technology only focuses on real-time positioning information of the navigated vehicle to provide path navigation to the navigated vehicle. The navigated vehicle and/or the driver of the navigated vehicle can only perceive the real-time positioning and navigation route of the driver, but cannot perceive other surrounding vehicles and road environment information. Therefore, the navigation information provided by the prior navigation technology is single, and the driving safety is low.

In some embodiments of the present application, in order to improve traffic safety, vehicle environment information around a target object may be determined during navigation of the target object to be navigated; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

It should be noted that: like reference numerals denote like objects in the following figures and embodiments, and thus once an object is defined in one figure or embodiment, further discussion thereof is not necessary in the subsequent figures and embodiments.

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

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

The in-vehicle terminal 20 is an electronic device mounted on a target object. The in-vehicle terminal 20 may be fixed to the target object, or may be an electronic device that is mounted on the target object at a later stage. For example, the in-vehicle terminal 20 may be a smart phone, a tablet computer, a personal computer, a smart wearable device, or a dedicated in-vehicle device. For example, a car navigation device, etc. In the present embodiment, the in-vehicle terminal 20 has navigation and road cooperation functions. Alternatively, the in-vehicle terminal 20 may install software (such as a vehicle-road cooperation Application in fig. 2 and 3) such as an Application (APP) related to vehicle-road cooperation, and the software may provide the electronic map and navigation guidance information and vehicle-road cooperation information based on the electronic map to the user. 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 in-vehicle terminal 20 is deployed with a vehicle-road cooperative application and navigation unit. Wherein, the navigation unit improves the navigation route planning; the vehicle-road cooperative application provides vehicle-road cooperative services.

In this embodiment, the service end 30 is a computer device that can respond to a service request of the vehicle-mounted terminal 20 and provide a service related to vehicle-road cooperation for a user, and generally has the capability of bearing the service and guaranteeing the service. The server 30 may be a single server device, a cloud server array, or a Virtual Machine (VM) running in the cloud server array. The server 30 may refer to other computing devices having corresponding service capabilities, such as a terminal device (running a service program) such as a computer.

The vehicle-mounted terminal 20 and the server 30 may be connected wirelessly or by a wire. Alternatively, the vehicle-mounted terminal 20 may be connected through a mobile network and communication, and accordingly, the network system of the mobile network may be any one of 2G (GSM), 2.5G (GPRS), 3G (WCDMA, TD-SCDMA, CDMA2000, UTMS), 4G (LTE), 4g+ (lte+), 5G, wiMax, and the like. Alternatively, the vehicle terminal 20 may be communicatively connected to the server 30 by bluetooth, wiFi, infrared, or the like.

In the present embodiment, the in-vehicle terminal 20 may acquire real-time information of the target object 10. The real-time information of the target object 10 refers to information that may reflect the real-time state of the target object 10, including but not limited to: real-time positioning information and/or real-time driving status information, etc. The real-time traveling state information of the target object 10 refers to information reflecting the real-time traveling state of the target object 10, and includes at least one of the following: real-time speed data, real-time direction angle, real-time Inertial Measurement Unit (IMU) data, and the like. Wherein the IMU data comprises: the attitude angle (or angular velocity) of the target object 10, acceleration, and the like.

The real-time information of the target object 10 acquired by the vehicle-mounted terminal 20 may be acquired by the vehicle-mounted terminal 20 in real time, and of course, may also be acquired by other sensors on the target object 10. For example, the real-time positioning information of the target object 10 may be obtained by autonomous positioning by the in-vehicle terminal 20. In the embodiment of the present application, the specific implementation manner of the vehicle-mounted terminal 20 to acquire the real-time positioning information of the object to be navigated is not limited. Alternatively, the in-vehicle terminal 20 may acquire the real-time positioning information of the target object 10 through satellite positioning technology, base station positioning technology, wiFi positioning technology, or the like.

The positioning accuracy of the GPS positioning technology, the base station positioning technology or the WiFi positioning technology is considered to be low. In some embodiments, to improve real-time positioning accuracy, the in-vehicle terminal 20 may communicate with a high-accuracy positioning device. The high-precision positioning apparatus may also be mounted on the target object 10. An On-Board Unit (OBU) as in fig. 2 is mounted On the target object 10. The positioning accuracy of the high-accuracy positioning device can be in the order of centimeters. For example, high precision positioning devices may implement centimeter-level positioning based on Real-time differential (RTK) positioning techniques. The in-vehicle terminal 20 can acquire real-time positioning information of the high-precision positioning device on the target object 10 in real time.

In other embodiments, the target object 10 may also carry an image acquisition device (not shown in the figures). The image capturing apparatus may capture a real-time environment image of the environment in which the target object 10 is currently located during the movement of the target object 10. In the present embodiment, the number and implementation form of the image capturing devices are not limited. For example, the image capturing device may be a vehicle-mounted camera (such as a vehicle recorder) or a camera on the vehicle-mounted terminal 20 during driving of the motor vehicle by the user or in an automatic driving scene. The number of cameras can be 1 or more. The plural means 2 or more than 2. For example, the target object 10 is a motor vehicle, and the camera is 1 or more cameras mounted on the motor vehicle. For a plurality of cameras, the camera may be disposed at different positions of the motor vehicle, for example, may be disposed at the head, tail, left and right sides, and the like of the motor vehicle.

Further, the image pickup device may supply the picked-up environmental image to the in-vehicle terminal 20. The communication manner between the image capturing device and the vehicle-mounted terminal 20 may refer to the communication manner between the vehicle-mounted terminal 20 and the server 30, which is not described herein. Further, the in-vehicle terminal 20 may determine real-time positioning information of the target object based on the real-time environment image and the electronic map data. Alternatively, the in-vehicle terminal 20 acquires the feature descriptors of the pixels in the real-time environment image; and determines real-time positioning information of the target object 10 according to the feature descriptors of the pixel points in the real-time environment image and the feature descriptors of the position points recorded in the electronic map data.

Alternatively, when determining the position coordinates of the pixels in the real-time environment image in the real-time environment map, the vehicle-mounted terminal 20 may calculate the similarity between the feature descriptors of the pixels in the real-time environment image and the feature descriptors of the pixels in the electronic map data, and use the position points with the similarity greater than or equal to the set similarity threshold as the corresponding position points of the pixels in the real-time environment image in the electronic map data, i.e., the position coordinates of the position points with the similarity greater than or equal to the set similarity threshold in the electronic map data as the position coordinates of the pixels in the corresponding real-time environment image in the electronic map data. Then, the vehicle-mounted terminal 20 can calculate the positioning position information of the target object 10 in the electronic map, namely the real-time positioning information of the target object, according to the position coordinates of the pixel points in the real-time environment image in the electronic map data.

The embodiment of the vehicle-mounted terminal 20 for acquiring the real-time positioning information of the target object shown in the above embodiment is merely illustrative and not limiting.

The real-time driving state information of the target object 10 may be acquired by the in-vehicle terminal 20, or may be acquired by other sensors on the in-vehicle terminal 20. For example, the real-time travel speed of the target object 10 may be acquired by the in-vehicle terminal 20, or may be acquired by a speed sensor on the target object 10, or the like.

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

Optionally, the vehicle-mounted terminal 20 may also plan a navigation path for the user according to the positioning location information, the destination address, and the current road condition information of the navigated object. In this way, the target object can reach the destination address along the navigation path. The navigation path planned by the navigation unit in the in-vehicle terminal 20 may be 1 or more. The plurality refers to 2 or more than 2. The navigation unit may provide the list of navigation paths at the planning to the vehicle-road coordination application (corresponding to step 5 in fig. 2). Further, the user may select a navigation path from the road path list (corresponding to step 6 in fig. 2). The target object 10 may reach the destination along the selected navigation path.

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

The real-time positioning information of the target object can be obtained from the vehicle-mounted unit for the vehicle-road cooperative application in the vehicle-mounted terminal 20 (corresponding to step 7 in fig. 2); and passes the real-time positioning information into the navigation unit (corresponding to step 8 in fig. 2). Further, the navigation unit may display the interest point information around the target object according to the real-time positioning information (corresponding to step 9 in fig. 2) to obtain the navigation interface.

In the actual driving process, the road conditions around the vehicle and the vehicle can influence the driving efficiency and the traffic safety of the vehicle. Based on this, in the present embodiment, in order to improve traffic safety, a vehicle-road cooperative guidance may be provided in addition to the navigation guidance for the target object 10. Accordingly, referring to fig. 1 to 3, the in-vehicle terminal 20 may acquire real-time information of the target object 10 during the navigation path of the target object; and provides real-time information of the target object 10 to the server 30 (see step 10 in fig. 2 and step 3 in fig. 3). As shown in fig. 3, for the server 30, real-time information of the target object 10 may be received through communication service communication between the on-board 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 cooperative application in the vehicle-mounted terminal 20 may 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 may return a registration success result (corresponding to step 2 in fig. 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 of fig. 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. Alternatively, 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 for responding to or processing real-time information of the target object 10 will be described in detail in the following embodiments, and will not be described in detail herein.

In the embodiment of the present application, the specific implementation manner in which the in-vehicle 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 may provide the real-time information of the target object 10 to the server 30 in an asynchronous manner, so that the vehicle-mounted terminal 20 may perform other operations without waiting for the server 30 to return a result, which is beneficial to reducing the waste of computing resources.

Because the real-time performance of the vehicle-road collaborative guidance influences the traffic safety, the higher the real-time performance of the vehicle-road collaborative guidance is, the higher the traffic safety is. This is mainly because the higher the real-time of the cooperative guidance of the vehicle and the road is, the higher the timeliness of the target object 10 to learn the potential danger is, and the more enough time is available to avoid the danger. Therefore, in order to improve the real-time performance of the vehicle-road collaborative guidance, in some embodiments, the real-time performance of the vehicle-road collaborative guidance is achieved by improving the data transmission efficiency between the vehicle-mounted terminal 20 and the server 30. Optionally, the vehicle-mounted terminal 20 may compress the real-time information of the target object according to a data compression manner of a communication protocol supporting data compression, so as to obtain compressed real-time information; further, according to the data format supported by the communication protocol, the compressed real-time information is provided to the server 30, so that the data volume transmitted between the vehicle-mounted terminal 20 and the server 30 can be reduced, the data transmission efficiency is improved, and further the subsequent vehicle-road collaborative guiding efficiency is improved.

In the embodiments of the present application, a specific implementation of a communication protocol supporting data compression is not limited. In some embodiments, the communication protocol supporting data compression may be a Protobuf protocol. The protocol can provide a tool library with high-efficiency protocol data exchange format, can realize high-efficiency data compression, is beneficial to saving magnetic disks and transmission bandwidths, is beneficial to reducing the data volume transmitted between the vehicle-mounted terminal 20 and the server 30, and improves the data transmission efficiency between the vehicle-mounted terminal 20 and the server 30.

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

Referring to fig. 1 to fig. 3, after the server 30 obtains the real-time information of the target object 10, it may determine the vehicle environment information associated with the real-time information according to the real-time information of the target object 10. The process corresponds to step 12 in fig. 2 and step 7 in fig. 3.

The vehicle-road environment information related to the real-time information refers to vehicle information and/or road information affecting the traveling 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 of a road section and/or a lane in which the target object 10 is currently located, and/or traffic events around the target object 10, etc. Wherein, the traffic event may include: traffic accident events and/or road traffic events (e.g., a road closure event, a road repair event, etc.). In the embodiment of the present application, the surrounding of the target object 10 mainly refers to being within the set distance range of the target object 10. For example, 5 meters, 10 meters, or other distance range from the target object, etc.

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 the vehicle-road collaborative guiding information of the target guided object 10 according to the vehicle-road environment information associated with the real-time information of the target object 10. The vehicle-road collaborative guiding information is used for guiding the target object to perceive the vehicle-road environment information, and can guide the running state of the target object 10 to be matched with the surrounding vehicle-road environment, thereby being beneficial to improving the running safety of the target object 10.

Further, the server 30 may provide the vehicle guidance information to the vehicle-mounted terminal 20 (corresponding to step 14 of fig. 2 and step 8 of fig. 3). Accordingly, the in-vehicle terminal 20 may output the road co-guide information (corresponding to step 16 of fig. 2) to guide the target object 10 to pay attention to the surrounding road environment.

In some embodiments, in order to improve the real-time performance of the collaborative guidance of the vehicle and road, the server 30 may compress the real-time positioning information of other objects to be navigated according to the data compression mode of the communication protocol supporting data compression, so as to obtain compressed collaborative guidance information of the vehicle and road; further, according to the data format supported by the communication protocol, the compressed vehicle-road collaborative guiding information is provided for the server 30, so that the data volume transmitted between the vehicle-mounted terminal 20 and the server 30 can be reduced, the data transmission efficiency is improved, and further the subsequent vehicle-road collaborative guiding efficiency is improved.

For the specific embodiment of the data compression of the vehicle-road collaborative guiding information by the server 30, refer to the related content of the data compression of the real-time information of the target object 10 by the vehicle-mounted terminal 20, which is not described herein.

Further, the in-vehicle terminal 20 may receive the road cooperation guidance information. Alternatively, the vehicle-mounted terminal 20 may receive the compressed vehicle-road co-guide information and decompress the compressed vehicle-road co-guide information to obtain the vehicle-road co-guide information. Optionally, the vehicle-mounted terminal 20 may decompress the compressed vehicle-path collaborative guiding information according to the decompression method of the communication protocol supporting data compression, so as to obtain the vehicle-path collaborative guiding information.

Further, the in-vehicle terminal 20 may output the vehicle-road cooperative guide information to guide the user of the target object 10 to pay attention to the surrounding vehicle-road environment through the vehicle-road cooperative guide information.

The vehicle-road cooperative system provided by the embodiment can determine the vehicle-road environment information around the target object in the navigation process of the target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

In the embodiment of the present application, the architecture of the server 30 is not limited. In some embodiments, 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 a Reactor Threads (Reactor Threads) 30a and a Worker Threads (Worker Threads) 30b. In this embodiment, the NIO architecture is deployed on the server 30. Accordingly, the reactor thread 30a and the work thread 30b are both threads started in the server 30. Among other things, reactor thread 30a may include a Reactor (Reactor) 301 and a processing component (Handler) 302. In the present embodiment, the reactor 301 registers a connection Channel (Channel) between the in-vehicle terminal 20 and the server 30.

The reactor 301 may employ a multiplexer (Selector) 303 to monitor the processing events on the connection channels. Specifically, as shown in fig. 4, the multiplexer may monitor the processing event on the connection channel by a query (Select) function (corresponding to the "query" in fig. 4), in particular; and when the monitored file descriptor changes, determining that a processing event occurs on the connection channel. Further, the type of processing event that is detected to occur may also be determined based on the change in the file descriptor. The types of processing events can be categorized as: connection events, read-write events, etc.

Further, the multiplexer 303 notifies the processing component 302 of receiving the real-time information of the target object, i.e., distributes the processing event of receiving the real-time information of the target object to the processing component 302 (corresponding to "distribution" in fig. 4) in case that it is detected that the connection channel has occurred the processing event of providing the real-time information of the target object to the server 30.

Accordingly, processing component 302 may read the real-time information of the target object (corresponding to the "read" in FIG. 4) and dispatch to worker thread 30b for processing. The working thread 30b can determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; and determining the vehicle-road collaborative guiding information of the navigated object according to the vehicle-road environment information.

Further, the processing component 302 may obtain the vehicle-road co-guiding information, and provide the vehicle-road co-guiding 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 outputs the vehicle-road co-guiding information. The processing component 302 provides the vehicle guidance information to the vehicle-mounted terminal 20, that is, "sending" in the processing component 302 in fig. 4, and may also be described as the processing component 302 sending the vehicle guidance information to the vehicle-mounted terminal 20.

In this embodiment, the service end 30 adopts a multiplexing communication mode, and designs and implements according to a Reactor (Reactor) mode, so that the service end 30 can concurrently process real-time information of different objects to be navigated, and the read-write operations are non-blocking, so that the running efficiency of the I/O thread can be improved, thread suspension caused by frequent I/O thread blocking is avoided, and the processing performance of the service end 30 is improved.

In some embodiments, to improve the real-time nature of the roadway collaborative guide, an asynchronous listening (Future-Listener) mechanism may be incorporated in the processing component 302. Accordingly, the processing component 302 may employ an asynchronous listening mechanism to monitor the completion status of the real-time information processing of the target object by the worker thread 30 b; and reads the car-road cooperative guidance information when the completion of the real-time information processing of the working thread 30b for the target object is monitored.

Alternatively, the processing component 302 may create an asynchronous (Future) object in response to the vehicle-road collaboration service initiation by the server 30; and sets a listening function (Listener) using an asynchronous (Future) object. The snoop function is for snooping the completion status of real-time information processing of the worker thread 30b for the target object. Further, the processing component 302 reads the vehicle-road collaborative guiding information under the condition that the real-time information processing of the target object is monitored by utilizing the monitoring function; and provides the vehicle-mounted terminal 20 with the vehicle-road cooperative guidance information through a connection channel between the vehicle-mounted terminal 20 and the server 30. The specific embodiment of the processing component 302 providing the vehicle-road co-guiding information to the vehicle-mounted terminal 20 may refer to the related content that the server 30 provides the vehicle-road co-guiding information to the vehicle-mounted terminal 20, which is not described herein.

In this embodiment, the processing component 302 may send the vehicle-road collaborative guiding information to the vehicle-mounted terminal 20 in real time through an asynchronous monitoring mechanism, and the vehicle-mounted terminal 20 may actively acquire or acquire the vehicle-road collaborative guiding information through a notification mechanism, which is helpful for further improving the real-time performance of the vehicle-road collaborative guiding.

In some embodiments, as shown in fig. 5, the reactor thread 30a may comprise: a master Reactor (Main Reactor) thread 30a1 and a slave Reactor (Sub Reactor) thread 30a2. The master reactor thread 30a1 is used for processing the connection event, and the read-write event is handed to the slave reactor thread 30a for processing.

Accordingly, 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: slave reactor 30a21 and process module 302 as reactor 301 in fig. 4 described above. The main reactor 30a11 is registered with a communication channel. The number of communication channels is 1 or more. The plural means 2 or more than 2. The communication channel registered by the main reactor 30a11 is not communicated with the in-vehicle terminal 20 in the present case, but establishes a connection channel with the in-vehicle terminal 20 in response to a connection request of the in-vehicle terminal 20.

Specifically, the primary reactor 30a11 may employ a multiplexer to monitor connection events on the communication channel. For a description of the connection event and the "query" function on the monitoring communication channel, reference may be made to the related content of the processing event on the monitoring communication channel in fig. 4, which is not repeated herein. And in the event of a connection event on the communication channel being monitored, the receiver 30a12 is notified to handle the connection event. I.e. the multiplex server in the main reactor 30a11 distributes the connection event to the receiver 30a12 (corresponding to the "distribution" in the main reactor 30a11 of fig. 5). Accordingly, the receiver 30a12 may receive the connection event (corresponding to the "reception" in the receiver 30a12 of fig. 5), and may establish a connection channel between the in-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) through which one thread can snoop connection events on multiple communication channels.

Further, the master reactor 30a11 may allocate a connection channel between the in-vehicle terminal 20 and the server 30 to the slave reactor 30a21. Accordingly, a connection channel between the in-vehicle terminal 20 and the server 30 is registered from the reactor 30a21. Thus, for slave reactor 30a21, multiplexer 303 may be employed to monitor the processing event on the connection channel; in the event that the 3-connection channel is monitored to have a processing event that provides real-time information of the target object to the server 30, the notification processing component 302 receives the real-time information of the target object. For descriptions of "query", "distribute", and "read" and "send" from the reactor 30a21 and the processing assembly 302, reference is made to the relevant contents of fig. 4, and details are not repeated here.

Further, the processing component 302 may read the real-time information of the target object (corresponding to the "read" in the processing component 302 of FIG. 5) and dispatch to the worker thread 30b for processing (corresponding to the "send" in the processing component 302 of FIG. 5). The working thread 30b can determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information. The "track restoration" and "traffic event" in the worker thread 30b in fig. 5 will be described in the following embodiments, and are not described in detail herein.

In this embodiment, in the case that the processing component 302 monitors that the real-time information processing of the target object is completed by using the monitoring function, the vehicle-road collaborative guiding information is read; and provides the vehicle-mounted terminal 20 with the vehicle-road cooperative guidance information through a connection channel between the vehicle-mounted terminal 20 and the server 30. Accordingly, the in-vehicle terminal 20 can output the vehicle-road cooperative guidance information.

In the embodiment of the present application, the specific implementation form of outputting the vehicle-road cooperation guidance information by the in-vehicle terminal 20 is not limited. In some embodiments, as shown in fig. 1, the vehicle-mounted terminal 20 may render the vehicle-road cooperative guide information on the navigation interface, so that the user of the target object 10 may adjust the driving state of the target object 10, etc. by viewing the vehicle-road cooperative guide information on the navigation interface. In other embodiments, the vehicle-mounted terminal 20 may play the vehicle-road collaborative guiding information by voice, and the target object 10 may adjust the driving state of the target object 10 by voice reminding.

The vehicle-road collaborative guiding information is determined to a certain extent by vehicle-road environment information related to real-time information of the target object, and the vehicle-road environment information is determined according to the real-time information. Specific implementation forms of the vehicle-road cooperative guidance information are exemplarily described below with respect to several real-time information.

Embodiment 1: in some embodiments, the real-time information of the target object 10 includes: real-time positioning information of the target object. For the implementation of the vehicle-mounted terminal 20 to obtain the real-time positioning information of the target object 10, reference may be made to the relevant content of the above embodiment, which is not described herein. Accordingly, the server 30 may process the real-time positioning information. Specifically, the real-time positioning information may be processed by the work thread 30b in the server 30 shown in fig. 5, i.e., the "positioning process" in fig. 5.

Referring to fig. 2 and fig. 3, based on the real-time positioning information of the target object 10, the server 30 may determine, according to the real-time positioning information of the target object 10, the real-time positioning information of other objects to be navigated, whose distances to the target object 10 are less than or equal to the set distance threshold, as the road environment information associated with the real-time positioning information of the target object 10. Specifically, the worker thread 30b in the server 30 may determine real-time positioning information (corresponding to the trajectory restoration in the worker thread 30b in fig. 5) of other navigated objects whose distances between the target objects 10 are less than or equal to the set distance threshold.

In some embodiments, as shown in fig. 3, the server 30 may further fuse the real-time positioning information of multiple sources of the target object 10 to obtain fused real-time positioning information (i.e. the fusion of the positioning information in step 6 of fig. 3). Further, the server 30 may determine, according to the real-time positioning information of the target object 10, the real-time positioning information of other objects to be navigated, the distance between the real-time positioning information and the target object 10 being less than or equal to the set distance threshold, as the road environment information associated with the real-time positioning information of the target object 10.

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 than the target object. For the implementation of acquiring the real-time positioning information of other objects to be navigated by the vehicle-mounted terminal carried by other objects to be navigated, refer to the related content of acquiring the real-time positioning information of the target object 10 by the vehicle-mounted terminal 20 of the target object 10, which is not described herein.

Accordingly, when determining the vehicle-road collaborative guiding information of the target object 10 according to the vehicle-road environment information, the server 30 may use the real-time positioning information of other objects to be navigated as the vehicle-road collaborative guiding information; and provides real-time positioning information of other navigated objects to the in-vehicle terminal 20.

Alternatively, as shown in fig. 2, the server 30 may use a message queue to store real-time positioning information (corresponding to step 11 in fig. 2), and perform track fusion on real-time positioning information of multiple sources of other objects to be navigated to obtain fused track information (corresponding to step 12 in fig. 2). Further, the integrated track information may be provided to the in-vehicle terminal 20 as the road cooperation guidance information (corresponding to step 14 in fig. 2).

In order to improve the real-time performance of the vehicle-road collaborative guidance, the server 30 can compress the real-time positioning information of other objects to be navigated according to the data compression mode of the communication protocol supporting data compression so as to obtain the compressed real-time positioning information of the other objects to be navigated; further, according to the data format supported by the communication protocol, the real-time positioning information of other compressed objects to be navigated is provided to the server 30, so that the data volume transmitted between the vehicle-mounted terminal 20 and the server 30 can be reduced, the data transmission efficiency can be improved, and further the subsequent vehicle-road collaborative guiding efficiency can be improved.

For the specific embodiment of the server 30 for performing data compression on the real-time positioning information of other objects to be navigated, refer to the related content of the vehicle-mounted terminal 20 for performing data compression on the real-time information of the target object 10, which is not described herein.

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

Further, the in-vehicle terminal 20 may output real-time positioning information of other navigated objects. Specifically, the in-vehicle terminal 20 may render icons of other objects to be navigated at corresponding positions of the navigation interface according to real-time positioning information of the other objects to be navigated. Optionally, as shown in fig. 2, the in-vehicle terminal 20 receives real-time positioning information of other navigated objects; according to the real-time positioning information of other objects to be navigated and the size of the display screen of the vehicle-mounted terminal 20, performing coordinate transformation on the real-time positioning information of other objects to be navigated to obtain the corresponding positions of the real-time positioning information of other objects to be navigated on the navigation interface (corresponding to step 15 'coordinate transformation' in fig. 2); further, icons of other navigated objects may be rendered at respective locations of the navigation interface.

Since the real-time positioning information of other objects to be navigated is dynamically changed, the icons of other objects to be navigated displayed by the vehicle-mounted terminal 20 are also dynamically changed, so that the real-time track restoration of the surrounding accompanying vehicles of the target object 10 can be realized. In this way, the target object 10 or the user of the target object 10 can know the real-time track information of the periodically accompanying vehicle in real time in the navigation process, thereby providing more detailed granular navigation, being beneficial to improving more refined guiding perception, enhancing the driving judgment of the user and improving traffic safety.

Regarding the communication and data transmission modes between the vehicle-mounted terminal and the server 30 of other objects to be navigated, reference may be made to the content related to the communication and data transmission between the vehicle-mounted terminal and the server of the target object, which is not described herein. The processing procedure of the real-time positioning information of the target object by the server 30 may be the processing procedure of the real-time positioning information of the target object by the server 30 in fig. 3 and fig. 4, which is not described herein.

Based on the NIO architecture of the server 30 shown in fig. 4 and 5, according to the reactor mode design, multiplexers are aggregated, and the worker thread 30b in the server 30 can concurrently process real-time information of the target object and other navigated objects, and restore real-time tracks of the navigated objects accompanying the target object (corresponding to the "track restoration" in the worker thread 30b in fig. 5).

Embodiment 2: in some embodiments, based on the real-time positioning information of the other objects to be navigated in embodiment 1, the server 30 may further determine the relative positional relationship between the other objects to be navigated and the target object according to the real-time positioning information of the target object and the real-time positioning information of the other objects to be navigated; and determining navigation guidance early warning information of the target object according to the relative position relation, and taking the navigation guidance early warning information as the vehicle-road collaborative guidance information.

In the embodiment of the present application, the relative positional relationship between the other navigated object and the target object may be a vector positional relationship, including: distance and relative direction between other navigated objects and target objects. For example, the relative positional relationship between other navigated objects and the target object is: other navigated objects are 1 meter to the left of the target object, etc.

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 positioning precision on the order of centimeters. Based on the high-precision positioning information, lane-level positioning of the navigated object can be achieved.

In this embodiment, the server 30 may determine the navigation guidance early warning information of the target object according to the relative positional relationship between other objects to be navigated and the target object. The navigation guidance early warning information is used for providing navigation guidance for avoiding the risk event for the target object 10, and early warning the potential risk event, so as to prevent the target object 10 from generating the potential risk event. For example, the server 30 may select an adapted navigation guidance early warning template from preset navigation guidance early warning information according to the relative distance between other objects to be navigated and the target object being less than or equal to the set distance threshold; and filling the relative direction into the navigation guiding and early warning template according to the relative direction between other objects to be navigated and the target object to obtain the navigation guiding and early warning information of the target object. For example, as shown in fig. 1, assuming that the relative distance between other objects to be navigated and the target object is less than or equal to a set distance threshold, determining that the navigation guidance early-warning template is a navigation guidance template "XX direction collision early-warning" corresponding to collision early-warning, and the like; further, since other objects to be navigated are located on the left side of the target object, the left side is filled into the navigation guidance template 'XX direction collision early warning', so that navigation guidance early warning information, such as 'left side collision early warning', and the like, is obtained.

In this way, the target object 10 or the user of the target object 10 can sense the surrounding traffic danger in real time in the navigation process, so as to enhance the driving judgment of the user and improve the 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 state information of the target object. For description of the real-time driving status information of the target object 10, reference may be made to the related content of the above embodiment, and the description thereof will be omitted.

In actual traffic driving, the road or lane has a driving condition limitation. For example, the highest travel speeds supported by different road segments are different. As another example, the types of traveling vehicles supported by different lanes are different. As another example, some lanes support vehicles only for certain events, such as emergency lanes and the like.

Based on this, when determining 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, the server 30 is specifically configured to: and determining the driving conditions supported by the current road section of the target object as part of vehicle-road environment information according to the real-time positioning information of the target object. The driving conditions supported by the road section where the target object is currently located may include: speed limit conditions, vehicle status conditions, vehicle type conditions, and the like. The plural kinds are 2 kinds or more than 2 kinds.

Accordingly, when determining the cooperative guidance information of the vehicle and road of the target object 10 according to the vehicle environment information, the server 30 may determine whether the running state of the target object 10 meets the requirement of the running condition of the road section where the target object 10 is currently located according to the real-time running state information of the target object 10 and the running condition corresponding to the current target road section where the target object 10 is located; and determining the driving early warning information aiming at the target object under the condition that the driving state of the target object does not meet the requirement of the driving condition corresponding to the target road section of the target object 10; and the driving early warning information is used as the cooperative guidance information of the vehicle and road. Wherein, the running state for warning the target object does not meet the requirement of the running condition of the target road section. The driving condition of the target road section is used for limiting the driving state condition which needs to be met when the vehicle passes through the target road section. Alternatively, the driving condition of the target link may include: speed limit (i.e. maximum driving speed) conditions, vehicle type conditions, license plate limit conditions, and the like.

For example, a cause that the traveling state of the target object does not satisfy the requirement of the traveling condition supported by the road section where the target object 10 is currently located may be determined as the traveling pre-warning information. For example, as shown in fig. 6, the traveling speed of the target object exceeds the speed limit condition of the current road segment, and it may be determined that the overspeed reminding information is the cooperative guidance information of the vehicle and the like. In fig. 6, only overspeed reminding information is "you overspeed the lane speed limit 90".90 means 90km/h (90 km/h).

In this way, the target object 10 or the user of the target object 10 can sense whether the driving state of the user is matched with the driving condition of the road or not in real time in the navigation process, and whether the risk of violating the traffic regulation exists or not, so that the driving judgment of the user is enhanced, and the traffic safety is improved.

Embodiment 4: in actual traffic driving, traffic incidents also affect the driving safety of vehicles to some extent. Therefore, in the embodiment of the present application, the server 30 may further determine, according to the real-time positioning information of the target object 10, a traffic event within a set distance range from the target object 10 as the partial vehicle environment information. Wherein, the traffic event may include: accident traffic events and road traffic events, etc.

Further, the server 30 may generate traffic event prompt information as the vehicle-road collaborative guiding information according to the traffic event within the set distance range from the target object 10. Further, the server 30 may provide traffic event prompt information to the in-vehicle terminal 20.

Specifically, a traffic event within a set distance range from the target object 10 may be determined by the worker thread 30b in the server 30 as the vehicle-road environment information (corresponding to the traffic event in the worker thread 30b in fig. 5).

As shown in fig. 7, the in-vehicle terminal 20 may output traffic event prompt information. Fig. 7 illustrates an example of traffic event notification information, but is not limited to, that "the left side 1 lane is occupied by a 100 m trouble car in front". In this way, the target object 10 or the user of the target object 10 can timely sense the periodic traffic event in the navigation process, so that the driving judgment of the user is enhanced, and the traffic safety is improved.

In the embodiment of the present application, the specific implementation manner of the service end 30 for sensing the traffic event is not limited. In some embodiments, the vehicle road collaboration system further comprises: road side equipment. The road side equipment refers to facilities provided on the road side, which have data acquisition and communication capabilities. In some embodiments, the road side equipment may also have certain computing and data processing capabilities, etc. The road side equipment may be traffic lights, street lamps, road side cameras, etc., but is not limited thereto. Accordingly, traffic events may be collected by the road side equipment 40 and reported to the server. The communication manner between the road side device and the server 30 may refer to the communication manner between the vehicle-mounted terminal 20 and the server 30, and will not be described herein.

Of course, in other embodiments, the traffic event may be reported by the navigated object, or by the traffic management department to the server 30, etc.

The determination manner and implementation manner of the vehicle-road collaborative guiding information provided in the above embodiment are only exemplary and not limiting. It should be further noted that, the server 30 may determine that one or more types of vehicle collaborative guiding information are provided to the vehicle-mounted terminal 20, and specifically, the vehicle environment information associated with the real-time information of the target object is determined.

Fig. 8 is a schematic flow chart of a vehicle-road collaboration method according to an embodiment of the present application. As shown in fig. 8, the method mainly comprises the following steps:

801. and acquiring real-time information of the navigated target object provided by the vehicle-mounted terminal.

802. And determining the vehicle-road environment information associated with the real-time information according to the real-time information of the target object.

803. 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.

804. And providing the vehicle-road collaborative guiding information to the vehicle-mounted terminal so that the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

Regarding the relationship between the vehicle-mounted terminal and the target object, reference may be made to the related content of the above system embodiment, which is not described herein.

In this embodiment, the vehicle-mounted terminal may acquire real-time information of the target object. For a description of the specific implementation manner of the real-time information and the real-time positioning information of the target object obtained by the vehicle-mounted terminal, reference may be made to the related content of the above system embodiment, which is not described herein again.

In the actual driving process, the road conditions around the vehicle and the vehicle can influence the driving efficiency and the traffic safety of the vehicle. Based on this, in the present embodiment, in order to improve traffic safety, a vehicle-road cooperative guidance may be provided in addition to the navigation guidance for the target object. Correspondingly, the vehicle-mounted terminal can acquire real-time information of the target object in the process that the target object follows the navigation path; and providing the real-time information of the target object to the server.

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

In the embodiment of the application, the specific implementation mode of providing the real-time information of the target object to the server by the vehicle-mounted terminal is not limited. In some embodiments, the vehicle-mounted terminal may provide real-time information of the target object to the server in an asynchronous manner, so that the vehicle-mounted terminal may perform other operations without waiting for the server to return a result, which is beneficial to reducing the waste of computing resources.

Because the real-time performance of the vehicle-road collaborative guidance influences the traffic safety, the higher the real-time performance of the vehicle-road collaborative guidance is, the higher the traffic safety is. This is mainly because the higher the real-time of the cooperative guidance of the vehicle and the road is, the higher the timeliness of the target object to learn the potential danger is, and the more enough time is available to avoid the danger. Therefore, in order to improve the real-time performance of the vehicle-road collaborative guidance, in some embodiments, the real-time performance of the vehicle-road collaborative guidance is achieved by improving the data transmission efficiency between the vehicle-mounted terminal and the server. Optionally, the vehicle-mounted terminal may compress the real-time information of the target object according to a data compression mode of a communication protocol supporting data compression, so as to obtain compressed real-time information; furthermore, the compressed real-time information is provided for the server according to the data format supported by the communication protocol, so that the data volume transmitted between the vehicle-mounted terminal and the server can be reduced, the data transmission efficiency is improved, and further the subsequent vehicle-road collaborative guiding efficiency is improved.

In the embodiments of the present application, a specific implementation of a communication protocol supporting data compression is not limited. In some embodiments, the communication protocol supporting data compression may be a Protobuf protocol. The protocol can provide a tool library with high-efficiency protocol data exchange format, can realize high-efficiency compression of data, is beneficial to saving magnetic discs and transmission bandwidths, and is further beneficial to reducing the data volume transmitted between the vehicle-mounted terminal and the server, and the data transmission efficiency between the vehicle-mounted terminal and the server is improved.

Accordingly, an alternative embodiment of step 801 is: and 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 communication protocol supporting data compression, so as to obtain the real-time information of the target object.

After the real-time information of the target object is acquired, in step 802, the vehicle 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 environment information, reference may be made to the relevant content of the above system embodiment, which is not described herein again.

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 vehicle-road collaborative guiding information of the target guided object may be determined according to the vehicle-road environment information associated with the real-time information of the target object. The vehicle-road collaborative guiding information is used for guiding the target object to perceive the vehicle-road environment information, can guide the running state of the target object to be matched with the surrounding vehicle-road environment, and is beneficial to improving the running safety of the target object.

Further, in step 804, the vehicle-road cooperative guidance information may be provided to the in-vehicle terminal. Accordingly, the vehicle-mounted terminal may output the vehicle-road cooperative 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 the vehicle-road collaborative guiding, the real-time positioning information of other objects to be navigated may be compressed according to a data compression manner of a communication protocol supporting data compression, so as to obtain compressed vehicle-road collaborative guiding information; furthermore, compressed vehicle-road collaborative guiding information is provided for the vehicle-mounted terminal according to a data format supported by a communication protocol, so that the data quantity transmitted between the vehicle-mounted terminal and the server can be reduced, the data transmission efficiency is improved, and further the subsequent vehicle-road collaborative guiding efficiency is improved.

For the specific implementation manner of data compression of the vehicle-road collaborative guiding information, reference may be made to the related content of data compression of the real-time information of the target object by the vehicle-mounted terminal, which is not described herein again.

Further, the in-vehicle terminal may receive the vehicle-road cooperative guidance information. Optionally, the vehicle-mounted terminal may receive the compressed vehicle-road collaborative guiding information, and decompress the compressed vehicle-road collaborative guiding information to obtain the vehicle-road collaborative guiding information. Optionally, the vehicle-mounted terminal may decompress the compressed vehicle-road collaborative guiding information according to the decompression mode of the communication protocol supporting data compression, so as to obtain the vehicle-road collaborative guiding information.

Further, the in-vehicle terminal may output the vehicle-road cooperative guide information to guide the user of the target object to pay attention to the surrounding vehicle-road environment through the vehicle-road cooperative guide information.

In this embodiment, the vehicle-road environment information around the target object may be determined during the navigation of the target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

In the embodiment of the present application, the architecture of the server is not limited. In some embodiments, to improve the processing performance of the server, the server may employ an NIO architecture. For a description of the NIO architecture, reference may be made to the relevant content of the above system embodiments, and details are not repeated here.

Based on the NIO architecture, the reactor may employ a multiplexer (Selector) to monitor the processing events on the connection channels; and under the condition that the processing event of providing the real-time information of the target object to the server side is monitored, the notification processing component receives the real-time information of the target object.

Accordingly, the processing component can read the real-time information of the target object and distribute the real-time information to the working 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 determining the vehicle-road collaborative guiding information of the navigated object according to the vehicle-road environment information.

Further, the processing component can acquire the vehicle-road collaborative guiding information, and provide the vehicle-road collaborative guiding information for the vehicle-mounted terminal through a connecting channel between the vehicle-mounted terminal and the server, so that the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

In this embodiment, a multiplexing communication manner is adopted, and a multiplexer (Selector) is designed and implemented according to a Reactor (Reactor) mode, so that the server 30 can concurrently process real-time information of different navigated objects, and the read-write operations are non-blocking, so that the running efficiency of the I/O thread can be improved, thread suspension caused by frequent I/O thread blocking is avoided, and the processing performance of the server is improved.

In some embodiments, to improve the real-time performance of the vehicle-road collaborative guidance, an asynchronous listening (Future-Listener) mechanism may be introduced in the processing component. Correspondingly, the processing component can monitor the completion state of the real-time information processing of the working thread on the target object by adopting an asynchronous monitoring mechanism; and under the condition that the real-time information processing of the working thread aiming at the target object is monitored to be completed, the vehicle-road collaborative guiding information is read.

Alternatively, the processing component may create an asynchronous (Future) object in response to a vehicle-road collaboration service initiation at the server; and sets a listening function (Listener) using an asynchronous (Future) 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. Further, the processing component reads the cooperative guidance information of the vehicle and road under the condition that the real-time information processing of the target object is monitored by utilizing the monitoring function; and providing the vehicle-mounted terminal with the vehicle-road collaborative guiding information through a connecting channel between the vehicle-mounted terminal and the server. The specific implementation manner of providing the vehicle-road collaborative guiding information to the vehicle-mounted terminal by the processing component can refer to the related content of providing the vehicle-road collaborative guiding information to the vehicle-mounted terminal by the service end, and is not described herein again.

In this embodiment, the processing component may send the vehicle-road collaborative guiding information to the vehicle-mounted terminal in real time through the asynchronous monitoring mechanism, and the vehicle-mounted terminal may actively acquire or acquire the vehicle-road collaborative guiding information through the notification mechanism, which is helpful for further improving the real-time performance of the vehicle-road collaborative guiding.

In some embodiments, as shown in fig. 5, a reactor thread may include: a master Reactor (Main Reactor) thread and a slave Reactor (Sub Reactor) thread. The master reactor thread is used for processing the connection event, and the read-write event is handed to the slave reactor thread for processing. For the structure of the master reactor thread and the slave reactor thread, reference may be made to the relevant content of fig. 5, and details are not repeated here.

Based on the NIO architecture shown in FIG. 5, the primary reactor may employ a multiplexer to monitor connection events on the communication channel and, upon detecting a connection event on the communication channel, to notify the receiver to process the connection event. Accordingly, the receiver may establish a connection channel between the vehicle-mounted 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) through which one thread can snoop connection events on multiple communication channels.

Further, the master reactor may allocate a connection channel between the in-vehicle terminal and the server to the slave reactor. Accordingly, a connection channel between the vehicle-mounted terminal and the server is registered from the reactor. Thus, for slave reactors, a multiplexer may be used to monitor the processing events on the connection channels; and under the condition that the processing event of providing the real-time information of the target object to the server side is monitored, the notification processing component receives the real-time information of the target object. For a specific embodiment of the method for monitoring the processing event on the connection channel by using the multiplexer from the reactor, reference may be made to the related content of the above-mentioned reactor, which is not described herein. For the processing procedure of the processing component on the real-time information of the target object, reference may be made to the above related content, which is not described herein.

In the embodiment, under the condition that the processing component monitors that the real-time information processing of the target object is completed by utilizing the monitoring function, the vehicle-road collaborative guiding information is read; and providing the vehicle-mounted terminal with the vehicle-road collaborative guiding information through a connecting channel between the vehicle-mounted terminal and the server. Accordingly, the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

Embodiment 1: in some embodiments, the real-time information of the target object includes: real-time positioning information of the target object. For the implementation of acquiring the real-time positioning information of the target object by the vehicle-mounted terminal, reference may be made to the relevant content of the above embodiment, which is not described herein.

Based on the real-time positioning information of the target object, the real-time positioning information of other objects to be navigated, of which the distance between the objects is smaller than or equal to the set distance threshold value, can be determined according to the real-time positioning information of the target object and used as the vehicle-road environment information associated with the real-time positioning information of the target object.

Correspondingly, when the vehicle-road collaborative guiding information of the target object is determined according to the vehicle-road environment information, the real-time positioning information of other objects to be navigated can be used as the vehicle-road collaborative guiding information; and provides real-time positioning information of other navigated objects to the vehicle-mounted terminal.

In order to improve the real-time performance of the collaborative guidance of the vehicle and the road, the real-time positioning information of other objects to be navigated can be compressed according to the data compression mode of the communication protocol supporting data compression, so as to obtain the compressed real-time positioning information of the other objects to be navigated; furthermore, according to the data format supported by the communication protocol, the compressed real-time positioning information of other objects to be navigated is provided for the vehicle-mounted terminal, so that the data volume transmitted between the vehicle-mounted terminal and the server can be reduced, the data transmission efficiency is improved, and further the subsequent vehicle-road collaborative guiding efficiency is improved.

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

Further, the vehicle-mounted terminal can output real-time positioning information of other navigated objects. Specifically, the vehicle-mounted terminal can render icons of other objects to be navigated at corresponding positions of the navigation interface according to the real-time positioning information of the other objects to be navigated. Because the real-time positioning information of other objects to be navigated is dynamically changed, the icons of other objects to be navigated displayed by the vehicle-mounted terminal are also dynamically changed, and the real-time track restoration of the vehicles around the target object can be realized. Therefore, the target object or the user of the target object can know the real-time track information of the periodically-accompanying vehicle in real time in the navigation process, more detailed granular navigation is provided, more refined guiding perception is facilitated to be improved, driving judgment of the user is enhanced, and traffic safety is improved.

Embodiment 2: in some embodiments, based on the real-time positioning information of the other objects to be navigated in the above embodiment 1, the relative positional relationship between the other objects to be navigated and the target object may be determined according to the real-time positioning information of the target object and the real-time positioning information of the other objects to be navigated; and determining navigation guidance early warning information of the target object according to the relative position relation, and taking the navigation guidance early warning information as the vehicle-road collaborative guidance information. The navigation guidance early warning information is used for providing navigation guidance for avoiding risk events for the target object. Therefore, the target object or the user of the target object can sense the surrounding traffic danger in real time in the navigation process, the driving judgment of the user is enhanced, and the traffic safety is improved.

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

In actual traffic driving, the road or lane has a driving condition limitation. Based on the above, 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, the method is specifically used for: and determining the running condition corresponding to the current target road section of the target object according to the real-time positioning information of the target object, and taking the running condition as the vehicle-road environment information. The driving conditions corresponding to the target road section where the target object is currently located may include: speed limit conditions, vehicle status conditions, vehicle type conditions, and the like. The plural kinds are 2 kinds or more than 2 kinds.

Correspondingly, when the service end determines the cooperative guidance information of the vehicle and the road of the target object according to the vehicle environment information, the service end can judge whether the running state of the target object meets the requirement of the running condition of the road section where the target object is currently located according to the real-time running state information of the target object and the running condition supported by the road section where the target object is currently located; and under the condition that the running state of the target object does not meet the requirement of the running condition supported by the current road section of the target object, the running early warning information aiming at the target object is determined and used as the cooperative guidance information of the vehicle and the road. The running early warning information is used for warning that the running state of the target object does not meet the requirement of the running condition, and can guide the target object and/or a user of the target object to adjust the running state of the target object to meet the requirement of the running condition corresponding to the target road section.

Therefore, the target object or the user of the target object can sense whether the self running state is matched with the running condition of the road or not in real time in the navigation process, and whether the risk of violating the traffic regulation exists or not, so that the driving judgment of the user is enhanced, and the traffic safety is improved.

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

Further, traffic event prompt information can be generated according to traffic events within a set distance range from the target object, and the traffic event prompt information is used as vehicle-road collaborative guiding information. Further, traffic event prompt information may be provided to the vehicle-mounted terminal. In this way, the target object 10 or the user of the target object 10 can timely sense the periodic traffic event in the navigation process, so that the driving judgment of the user is enhanced, and the traffic safety is improved.

The determination manner and implementation manner of the vehicle-road collaborative guiding information provided in the above embodiment are only exemplary and not limiting. It should be further noted that, the server may determine that one or more types of vehicle collaborative guiding information is provided to the vehicle-mounted terminal, and specifically, the vehicle-road environment information associated with the real-time information of the target object is determined.

It should be noted that, the execution subjects of each step of the method provided in the above embodiment 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 body of step 801 may be device a, and the execution body of step 802 may be device B; etc.

In addition, in some of the above embodiments and the flows described in the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that the operations may be performed out of the order in which they appear herein or performed in parallel, the sequence numbers of the operations, such as 801, 802, etc., are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel.

Accordingly, embodiments of the present application also provide 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 above-described vehicle-road coordination method.

Fig. 9 is a schematic structural diagram of a computing device according to 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. Wherein the memory 90a is used for storing a computer program.

Processor 90b is coupled to memory 90a and communication component 90c for executing computer programs for: acquiring real-time information of a navigated target object provided by a vehicle-mounted terminal; 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; the vehicle-road collaborative guiding information is used for guiding the target object to perceive vehicle-road environment information; and providing the vehicle-road cooperative guidance information to the vehicle-mounted terminal through the communication component 90c for the vehicle-mounted terminal to output the vehicle-road cooperative guidance information.

In some embodiments, the processor 90b is specifically configured to, when acquiring real-time information of the target object provided by the vehicle-mounted terminal: 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; decompressing the compressed real-time information to obtain the real-time information of the target object.

In other embodiments, the real-time information includes: real-time positioning information of the target object. Accordingly, when determining the vehicle environment information associated with the real-time information according to the real-time information of the target object, the processor 90b is specifically configured to: and determining the real-time positioning information of other objects to be navigated, the distance between the real-time positioning information and the target object being smaller than or equal to the set distance threshold value, and taking the real-time positioning information of the other objects to be navigated as the road environment information.

Accordingly, the processor 90b is specifically configured to, when determining the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information: and taking 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 the navigation interface according to the real-time positioning information of the other objects to be navigated.

Optionally, the processor 90b is specifically configured to, when determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information: determining the relative position relationship between other objects to be navigated and the target object according to the real-time positioning information of the other objects to be navigated and the real-time positioning information of the target object; and determining navigation guiding and early warning information of the target object according to the relative position relation, and taking the navigation guiding and early warning information as the vehicle-road collaborative guiding information. The navigation guidance early warning information is used for providing navigation guidance for avoiding risk events for the target object.

In some embodiments, the real-time information includes: real-time positioning information and real-time driving state information of the target object. The processor 90b is specifically configured to, when determining the vehicle road environment information associated with the real-time information according to the real-time information of the target object: and determining the driving conditions supported by the current target road section of the target object and partial vehicle-road environment information according to the real-time positioning information of the target object.

Accordingly, the processor 90b is specifically configured to, when determining the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information: 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; and under the condition that the running state of the target object does not meet the requirement of the running condition, determining running early warning information aiming at the target object, and taking the running early warning information as the vehicle-road collaborative guiding information. The running early warning information is used for warning that the running state of the target object does not meet the running condition requirement, and can guide the target object and/or a user of the target object, and adjust the running state of the target object to meet the running condition requirement.

In other embodiments, the real-time information includes: real-time positioning information of the target object. The processor 90b is specifically configured to, when determining the vehicle road environment information associated with the real-time information according to the real-time information of the target object: and determining traffic events within a set distance range from the target object as vehicle-road environment information according to the real-time positioning information of the target object.

Accordingly, the processor 90b is specifically configured to, when determining the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information: and generating traffic event prompt information serving as vehicle-road collaborative guiding information of the target object according to the traffic event.

In some embodiments of the present application, a 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 comprises: a reactor and a processing assembly; the reactor is registered with a connection channel between the vehicle-mounted terminal and the computing device.

The processor 90b is specifically configured to, when acquiring real-time information of the target object provided by the vehicle-mounted terminal: the control reactor adopts a multiplexer to monitor processing events on a connecting channel between the vehicle-mounted terminal and the computing equipment; notifying a processing component to receive real-time information of a target object under the condition that a processing event for providing the real-time information of the target object occurs in the connection channel is monitored; and reading real-time information of the target object by utilizing the processing component.

Accordingly, when determining the vehicle environment information associated with the real-time information according to the real-time information of the target object, the processor 90b is specifically configured to: distributing real-time information of the target object to a working thread by utilizing a processing component; and calling a working thread to determine the vehicle-road environment information associated with the real-time information according to the real-time information of the target object. Accordingly, the processor 90b is specifically configured to, when determining the vehicle-road cooperative guidance information of the target object according to the vehicle-road environment information: and calling a working thread to determine the vehicle-road collaborative guiding information of the navigated object according to the vehicle-road environment information.

Accordingly, the processor 90b is specifically configured to, when providing the vehicle-road cooperative guidance information to the vehicle-mounted terminal: and acquiring the vehicle-road collaborative guiding information by using the processing component, and providing the vehicle-road collaborative guiding information to the vehicle-mounted terminal through the connecting channel so that the vehicle-mounted terminal can output the vehicle-road collaborative guiding information.

Optionally, the reactor threads include 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: slave reactors and process components as reactors; the main reactor is registered with a communication channel. Accordingly, the processor 90b is also configured to: monitoring a connection event on the communication channel by using the main reactor and adopting a multiplexer, and notifying a receiver to process the connection event under the condition that the connection event on the communication channel is monitored; establishing a connection channel between the vehicle-mounted terminal and the computing equipment by using the receiver to respond to the connection event; allocating a connection channel between the vehicle-mounted terminal and the computing device to the slave reactor by using the master reactor; and registering a connection channel between the vehicle-mounted terminal and the computing device with the slave reactor.

Optionally, the processor 90b is further configured to: the processing component is used for monitoring the completion state of real-time information processing of the working thread aiming at the target object by adopting an asynchronous monitoring mechanism; and under the condition that the real-time information processing of the working thread aiming at the target object is monitored to be completed, the vehicle-road collaborative guiding information is read.

Optionally, the processor 90b is further configured to: creating an asynchronous object with the processing component in response to a vehicle-road collaboration service initiation of the computing device; 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.

In some alternative implementations, as shown in fig. 9, the computing device may further include: a power supply assembly 90d. In some embodiments, the computing device may be implemented as a terminal device such as a computer. Accordingly, the computing device may further include: optional components such as a display component 90e and an audio component 90 f. Only a portion of the components are schematically shown in fig. 9, which does not mean that the computing device must contain all of the components shown in fig. 9, nor that the computing device can only include the components shown in fig. 9.

The computing device provided by the embodiment can determine the vehicle-road environment information around the target object in the navigation process of the navigated target object; and determining the vehicle-road collaborative guiding information of the target object according to the vehicle-road environment information around the target object. The vehicle-road collaborative guiding information can guide a target object or a user of the target object to pay attention to surrounding vehicle-road environments in the driving process, provides finer-granularity navigation, is favorable for providing finer guiding perception, enhances driving judgment of the user and improves driving safety.

In embodiments of the present application, the memory is used to store a computer program and may be configured to store various other data to support operations on the device on which it resides. Wherein the processor may execute a computer program stored in the memory to implement the corresponding control logic. The memory may be implemented by any type of volatile or nonvolatile memory device or combination thereof, 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 embodiments of the present application, the processor may be any hardware processing device that may execute the above-described method logic. Alternatively, the processor may be a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) or a micro control unit (Microcontroller Unit, MCU); programmable devices such as Field programmable gate arrays (Field-Programmable Gate Array, FPGA), programmable array logic devices (Programmable Array Logic, PAL), general array logic devices (General Array Logic, GAL), complex programmable logic devices (Complex Programmable Logic Device, CPLD), and the like; or an advanced Reduced Instruction Set (RISC) processor (Advanced RISC Machines, ARM) or System On Chip (SOC), etc., but is not limited thereto.

In embodiments of the present application, the communication component is configured to facilitate wired or wireless communication between the device in which it resides and other devices. The device in which the communication component is located may access a wireless network based on a communication standard, 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 one exemplary embodiment, the communication component may also be implemented 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 technologies.

In embodiments of the present application, the display assembly 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 sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.

In embodiments of the present application, the power supply assembly is configured to provide power to the various components of the device in which it is located. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the devices in which the power components are located.

In embodiments 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) configured to receive external audio signals when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals. For example, for a device with language interaction functionality, voice interaction with a user, etc., may be accomplished through an audio component.

It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

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

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

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

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

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

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (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 permanent and non-permanent, removable and non-removable media, may be implemented in any method or technology for information storage. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer 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 Disks (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

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

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;

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;

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;

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;

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 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 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.