CN117400932A - Driving control method and device, and data processing method and device - Google Patents

Abstract

The application discloses a driving control method and device, and a data processing method and device, at least comprising the following steps: determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started; acquiring attribute information of the directional lane; and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment. The scheme improves the intelligence and the reliability of auxiliary driving.

Description

Driving control method and device, and data processing method and device

Technical Field

The present application relates to the field of data processing, and relates to, but is not limited to, driving control methods and apparatuses, and data processing methods and apparatuses.

Background

Driving assistance systems (Advanced Driver Ass istance Systems, ADAS) have been applied to an increasing number of vehicle types. Navigation assistance driving belongs to one sub-function in the driving assistance system. When the detection of the precondition is satisfied, the navigation auxiliary driving function can be started, and the system can control the vehicle to run along the navigation path.

However, for special road types, no processing method exists at present, so that an incorrect driving lane is likely to be entered in the navigation process, and the experience is poor.

Disclosure of Invention

The application provides a driving control method and device, and a data processing method and device, wherein a navigation scheme aiming at a directional lane is provided in the scheme, so that the intelligence and reliability of auxiliary driving are improved.

The technical scheme of the application is realized as follows:

in a first aspect, the present application provides a running control method, which is applied to a vehicle apparatus, the method including:

determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started;

acquiring attribute information of the directional lane;

and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

In a second aspect, the present application provides a data processing method, where the method is applied to a processing end; the method comprises the following steps:

receiving at least one attribute information reported by at least one vehicle device;

for each attribute information in the at least one attribute information, adding a second identifier for representing a directional lane at a position corresponding to the attribute information on a map;

and storing the attribute information at a location on the map corresponding to the attribute information.

In a third aspect, the present application provides a travel control apparatus deployed in a vehicle device, the apparatus comprising:

a determining unit configured to determine that a directional lane exists on a navigation route of the vehicle apparatus, in a case where a navigation assist driving function of the vehicle apparatus is turned on;

an acquisition unit for acquiring attribute information of the directional lane;

and the control unit is used for controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

In a fourth aspect, the present application provides a data processing apparatus, where the apparatus is disposed at a processing end; the device comprises:

the receiving unit is used for receiving at least one attribute information reported by at least one vehicle device;

an adding unit configured to add, for each of the at least one attribute information, a second identifier for characterizing a directional lane at a position on a map corresponding to the attribute information, respectively;

and the storage unit is used for storing the attribute information at a position corresponding to the attribute information on the map.

In a fifth aspect, the present application provides an electronic apparatus, which can implement the travel control method provided in the first aspect described above.

The electronic device may be a controller or a vehicle device, for example.

In a sixth aspect, the present application provides a processing apparatus, which can implement the data processing method provided in the second aspect.

The processing device may be, for example, an electronic device at the processing end.

In a seventh aspect, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described travel control method, or a data processing method.

The running control method and device provided by the application comprise the following steps: determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started; acquiring attribute information of the directional lane; and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

For the scheme of the application, under the condition that the navigation auxiliary function is started, whether the directional lane exists or not can be detected, if the directional lane exists, the vehicle equipment is controlled to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment, the running problem caused by entering when the directional lane is not entered can be avoided, and the intelligence and the reliability of auxiliary driving are improved.

Drawings

Fig. 1 is a schematic structural diagram of an alternative driving scenario of a directional lane according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a first alternative driving control method provided in the embodiment of the present application;

fig. 3 is a schematic flow chart of a second alternative driving control method according to the embodiment of the present application;

fig. 4 is a schematic flow chart of a third alternative driving control method according to the embodiment of the present application;

fig. 5 is a schematic flow chart of a fourth alternative driving control method according to the embodiment of the present application;

fig. 6 is a schematic flow chart of a fifth alternative running control method according to the embodiment of the present application;

fig. 7 is a schematic flow chart of a sixth alternative running control method according to the embodiment of the present application;

FIG. 8 is a schematic flow chart of an alternative data processing method according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of an alternative configuration of mounting locations for components in a vehicle apparatus provided in an embodiment of the present application;

FIG. 10 is a schematic diagram of an alternative driving assistance system according to an embodiment of the present disclosure;

FIG. 11 is a schematic flow chart of an alternative implementation 1 according to an embodiment of the present application;

FIG. 12 is a schematic flow chart of an alternative implementation 2 provided in an embodiment of the present application;

Fig. 13 is a schematic structural diagram of an alternative driving control device according to an embodiment of the present application;

FIG. 14 is a schematic diagram of an alternative configuration of a data processing apparatus according to an embodiment of the present application;

fig. 15 is a schematic structural diagram of an alternative electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

In the following description, the term "first\second\third" is merely used for example to distinguish different objects, and does not represent a specific ordering for the objects, and does not have a limitation of precedence order. It will be appreciated that the "first-/second-/third-" may be interchanged with one another in the specific order or sequence of parts where appropriate to enable the embodiments of the present application described herein to be implemented in other than those illustrated or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

The embodiment of the application provides a driving control method and device, a data processing method and device, equipment and a storage medium. In practical application, the running control method can be realized by the running control device, and the data processing method can be realized by the data processing device; the functional entities in the travel control apparatus may be cooperatively implemented by hardware resources (e.g., vehicle equipment or controllers in the vehicle equipment), computing resources such as processors, communication resources (e.g., to support various modes of communication such as implementing fiber optic cables, cellular, etc.). The functional entities in the data processing apparatus may be cooperatively implemented by hardware resources of a processing device (e.g., a processing end device or a cloud device), such as computing resources of a processor, and communication resources (e.g., for supporting communication in various manners such as implementing optical cables, cellular, etc.).

Next, a driving scenario of a directional lane provided in the embodiment of the present application will be described.

Illustratively, referring to what is shown in FIG. 1, the vehicle apparatus 10 is traveling on a directional lane 20 and the vehicle apparatus 30 is traveling on a non-directional lane 40.

Optionally, the vehicle device 10, 30 may also be connected to the processing end 50 (also referred to as a cloud end) for reporting a message to the processing end 50 or downloading information from the processing end 50.

Illustratively, the vehicle device 10, 30 may be configured to report attribute information of the directional lane to the processing end 50; alternatively, the map information is downloaded from the processing end 50.

In one possible embodiment, the vehicle apparatus 10 is configured to perform: determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started; acquiring attribute information of the directional lane; and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

Next, embodiments of a running control method and apparatus, a data processing method and apparatus, a device, and a storage medium provided in the embodiments of the present application are described.

In a first aspect, an embodiment of the present application provides a running control method that is applied to a running control apparatus. The functions performed by the method may be performed by a processor in an electronic device (vehicle device or a controller in a vehicle device, such as the vehicle device 10 in fig. 1) that includes at least a processor and a storage medium, although the program code may be stored in a computer storage medium.

Next, a travel control method provided in the embodiment of the present application will be described with a vehicle device as an execution subject.

Fig. 2 is a flow chart of a running control method according to an embodiment of the present application, and as shown in fig. 2, the process may include, but is not limited to, S201 to S203 described below.

S201, the vehicle device determines that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started.

The navigation driving assisting function, namely "intelligent navigation driving assisting", can realize intelligent navigation driving assisting from the point A to the point B based on the navigation route set by the user. For example, the functions of assisting a user in realizing intelligent lane changing exceeding a slow car, intelligent optimal lane selection, intelligent speed limiting adjustment, intelligent ramp entering and exiting, intelligent expressway switching, intelligent lane changing emergency avoidance, traffic cone recognition/avoidance, fault vehicle avoidance and the like can be realized, and the functions of assisting in driving according to a navigation path under applicable road conditions and guiding the vehicle to reach a destination can be realized.

The navigation assistance driving function may be turned on based on the operation (voice operation, key operation, or the like) of the vehicle device by the user, or may be automatically turned on when a certain condition is satisfied.

The directional lane refers to a special lane which is appointed to be used only by vehicles which drive to a specified place and a specified direction according to different places which are reached in a preset direction of a road, and the vehicles which drive to the directions of other places cannot drive in.

Navigation route, which is a travel route generated by navigation and used for reaching a specified place. The navigation route may be one or more.

S201 may be implemented as: the vehicle device firstly detects whether the navigation auxiliary driving function is started, and under the condition that the navigation auxiliary driving function is started, detects whether a directional lane exists on a navigation route of the vehicle device, and if so, determines whether the directional lane exists on the navigation route of the vehicle device.

The embodiment of the application is not limited to a specific manner of determining whether the directional lane exists, and can be configured based on actual requirements. For example, it may be determined based on map information or based on data detected by a sensor in real time.

S202, the vehicle equipment acquires attribute information of the directional lane.

The attribute information of the directional lane is used for describing the sequence number, the starting position, the key position and the like of the directional lane.

In one possible embodiment, the attribute information of the directional lane may include, but is not limited to, one or more of the following: the lane number is the position of the lane, the starting point of the directional lane, the ending point of the directional lane, the direction of the traffic destination and the length information.

Specifically, the attribute information here may include: partial attribute information or complete attribute information.

In one possible embodiment, the vehicle device detects attribute information of the directional lane from a sensor (e.g., camera, etc.). The attribute information detected here is real-time, and therefore may not be comprehensive, and may be part of the attribute information.

In another possible embodiment, the attribute information of the directional lane on the navigation route is read in the map information.

In practice, one or two detection modes (real-time detection by a sensor or detection by map information) may be configured, and if one detection mode is configured, the attribute information obtained by the detection mode is used as a standard, and if two detection modes are configured at the same time, if only one detection mode can detect the attribute information of the directional lane, then the attribute information in the map information is preferentially used if both detection modes detect the attribute information of the directional lane. The reason is that the attribute information of the directional lane in the map information can be comprehensively obtained based on a plurality of attribute information reported by a plurality of vehicles, and the accuracy is high.

It should be noted that S201 and S202 may be performed before the navigation running, or may be performed during the navigation running.

And S203, the vehicle equipment controls the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

S203 may be implemented as: the vehicle device obtains a candidate lane based on the attribute information of the directional lane and the navigation route of the vehicle device, generates a navigation path based on the candidate lane, and controls the vehicle device to run based on the navigation path.

The running control method provided by the application comprises the following steps: determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started; acquiring attribute information of the directional lane; and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

For the scheme of the application, under the condition that the navigation auxiliary function is started, whether the directional lane exists or not can be detected, if the directional lane exists, the vehicle equipment is controlled to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment, the running problem caused by entering when the directional lane is not entered can be avoided, and the intelligence and the reliability of auxiliary driving are improved.

Next, it is determined for the vehicle device in S201 that a directional lane exists on the navigation route of the vehicle device. This process may include, but is not limited to, mode 1 or mode 2 described below.

In the mode 1, the detected identifier of the vehicle device in the navigation driving process is identified in real time through a sensor, and if the first identifier for representing the directional lane is identified, the presence of the directional lane on the navigation route of the vehicle device is determined.

The first identifier refers to an identifier on a road, wherein the identifier represents that a directional lane exists currently. For example, the first identifier may identify "directional lane" for the text on the lane, or the first identifier may also identify "directional lane exists in front of the sign board" detected during driving.

The sensors herein may include, but are not limited to, various types of cameras. The recognition means may include, but is not limited to, text recognition, or recognition of special symbols.

Mode 2, in the map information, determining whether a second identifier for representing a directional lane exists on the navigation route, and if the second identifier exists, determining that the directional lane exists on the navigation route of the vehicle device.

And the second mark is a mark used for representing that the current lane is a directional lane in the map information. The embodiment of the application does not limit the specific running of the second sign. For example, the second identifier may be configured as the letter "D", or a triangular flag, or the like.

The vehicle device reads the map information, searches for the presence of the second identifier on the navigation route in the map information, and determines that the directional lane is present on the navigation route of the vehicle device if at least one second identifier is found.

Here, if a plurality of identifications are detected, it is determined that a plurality of directional lanes exist. The processing procedure for each directional lane is similar, and in the embodiment of the present application, one directional lane is taken as an example for illustration.

Compared with the mode 2, the mode 1 has the characteristic of high real-time performance, and compared with the mode 1, the mode 2 has the characteristics of comprehensive information, high accuracy and high reliability.

Next, a description will be given of a process in which the vehicle device controls the vehicle device to travel based on the attribute information of the directional lane and the navigation route of the vehicle device in S203. Referring to the content shown in fig. 3, the process may include, but is not limited to, S2031 to S2033 described below.

S2031, the vehicle device determines whether the directional lane is drivable in based on the attribute information of the directional lane and the vehicle device navigation route.

If the entry is possible, the following S2032 is executed, and if the entry is not possible, the following S2033 is executed.

Optionally, after determining whether the driving in is possible, the flag bit of the directional lane may also be updated. For example, it is determined that the entry is possible, the flag is set to be 1, it is determined that the entry is not possible, and the flag is set to be zero.

S2032, if it is determined that the directional lane is drivable in, the vehicle device uses the directional lane as a candidate driving lane, and determines a navigation path from the candidate driving lane based on a first rule; and controlling the vehicle equipment to run according to the navigation path.

In practice, the candidate driving lane has a plurality of non-directional lanes in addition to the directional lanes. Here, the vehicle apparatus determines a navigation path among all the candidate travel lanes based on the first rule for all the candidate travel lanes, and controls the vehicle apparatus to travel in accordance with the navigation path.

Illustratively, the first rule may be an efficiency-first rule, i.e. the shorter the time, the more preferred.

S2033, if the directional lane is determined to be unable to enter, the vehicle device eliminates the directional lane from the candidate driving lanes, determines a navigation path from the candidate driving lanes after eliminating the directional lane based on a first rule, and controls the vehicle device to drive according to the navigation path.

Here, since the qualitative lane is not drivable in, the directional lane is eliminated from the candidate driving lanes, and then the vehicle apparatus determines a navigation path among all the candidate driving lanes based on the first rule for the candidate driving lanes after eliminating the directional lane, and controls the vehicle apparatus to drive according to the navigation path.

Next, a procedure for determining whether the directional lane is drivable in based on the attribute information of the directional lane and the vehicle device navigation route in S2031 will be described.

Referring to the content shown in fig. 4, the process may include, but is not limited to, S20311 to S20314 described below.

S20311, the vehicle device determines that the directional lane is not drivable in the case where the attribute information is partial attribute information.

The embodiment of the application does not limit the specific content included in the partial attribute information, and can be determined according to actual situations. For example, the partial attribute information may be attribute information that does not include the end position, or may be attribute information that does not include the start position, or may be directional lane warning information.

Here, since the state of the directional lane cannot be fully understood by part of the attribute information, the directional lane is configured to be non-drivable in. Therefore, the problem that the vehicle cannot exit in time after entering can be avoided, the accuracy is high, and the user experience is good.

In practice, the attribute information of the detected directional lane is mostly partial attribute information by the sensor implementation.

S20312, in the case where the attribute information is the complete attribute information of the directional lane, the vehicle device; and determining a complete path of the directional lane based on the complete attribute information.

If the attribute information of the directional lane is complete, a complete path of the directional lane can be obtained based on the starting position, the end position and the distance information.

In practice, most of the attribute information of the directional lanes acquired in the map information is complete attribute information.

S20313, if the navigation route includes the complete path of the directional lane, the vehicle device determines that the directional lane can be driven in.

The navigation route comprises the complete path of the directional lane, i.e. the complete path of the directional lane is part of the navigation route, it is determined that the directional lane can be driven in.

Since the navigation route includes the complete path of the directional lane, there is no case of exiting at the intermediate section of the directional lane, so it can be determined that the directional lane can be entered.

S20314, if the navigation route does not include the complete path of the directional lane, the vehicle device determines that the directional lane is not drivable in.

Since the navigation route includes a complete path without the directional lane, there may be a case where the navigation route exits at the intermediate section of the directional lane, so that it may be determined that the directional lane is not drivable in.

Therefore, under the condition that the directional lane cannot be driven in, the situation that the vehicle does not actively drive in the directional lane can be ensured, and the user experience is good.

Furthermore, in the driving control method provided by the embodiment of the application, under the condition that the directional lane is determined to be unable to enter, reminding can be performed.

Referring to what is shown in fig. 5, the process may further include, but is not limited to, S2034 described below.

S2034, the vehicle device outputs first information to remind that the directional lane is not drivable in.

The first information may be a voice output mode, or a warning light output mode, etc., which are not specifically limited in the embodiments of the present application.

The output timing is not limited, and for example, the warning may be performed before the vehicle enters the steering lane; the system is also arranged on the driving route of the directional lane (on the directional lane or on the side lane), and periodically reminds.

In one possible embodiment, the voice output "just before passing the directional lane is not coincident with the direction of the vehicle navigation" may be 200 meters before passing the start of the directional lane, and the driver does not change the lane to enter.

Therefore, under the condition that the directional lane cannot be driven in, the vehicle can be guaranteed to not actively drive in the directional lane, and a prompt can be output to remind a user to drive in the directional lane in a manual mode, so that the intelligence and the reliability of navigation auxiliary driving are further improved, and the user experience is good.

Further, in the driving control method provided in the embodiment of the present application, if it is determined that the directional lane is not drivable, in practice, if the vehicle device is controlled to drive into the directional lane by manual operation, the specific control process may include, but is not limited to, S601 to S603 shown in fig. 6.

S601, the vehicle device receives a first operation.

The first operation is for indicating entry into the directional lane.

The first operation may be, for example, a direction adjustment instruction. The first operation here is generated after the user turns the steering wheel.

S602, the vehicle device outputs the second information and the confirmation request.

The second information is used for representing that the directional lane cannot be driven in, so as to again wake the directional lane to be driven in. The specific output manner of the second information may refer to the vehicle device in S2034 outputting the first information to remind the specific details of the directional lane that the vehicle cannot enter, which will not be described in detail herein.

The confirmation request is used for confirming whether to drive into the directional lane.

Since the vehicle device itself determines that the directional lane is not drivable in, after receiving the first operation to drive in the directional lane, it is necessary to transmit a request confirmation to determine whether the operation is performed in response.

The confirmation request here may be in a voice manner or a text display manner, or the like.

And S603, controlling the vehicle equipment to drive into the directional lane under the condition that the vehicle equipment receives the determination response.

The determination response is used to characterize a determination to drive into the directional lane.

The determination response here may be in a voice manner or a key operation manner.

Further, if the attribute information of the directional lane is obtained by the sensor in real time, referring to the content shown in fig. 7, the process may further include, but is not limited to, S204 described below.

S204, the vehicle equipment reports the attribute information of the directional lane to a processing end; and the processing end adds a second identifier for representing the directional lane and the attribute information at a position corresponding to the directional lane in the map information.

The attribute information reported here may be partial attribute information or complete attribute information.

The reporting mode can be real-time reporting, idle reporting, timing reporting and the like.

It can be seen that the vehicle device detects the attribute information of the directional lane, and reports the attribute information, so that the processing end can update and perfect the directional lane in the map and the attribute information of the directional lane based on the reported attribute information.

In a second aspect, embodiments of the present application provide a data processing method, which is applied to a data processing apparatus. The functions performed by the method may be performed by a processor in a processing device (processing side device or cloud side device, such as processing side 50 in fig. 1) invoking program code, which may of course be stored in a computer storage medium, as can be seen, the processing device comprising at least a processor and a storage medium.

Next, a data processing method provided in the embodiment of the present application will be described with a processing end as an execution body.

Fig. 8 is a flow chart of a data processing method according to an embodiment of the present application, and as shown in fig. 8, the process may include, but is not limited to, S801 to S803 described below.

S801, the processing end receives at least one attribute information reported by at least one vehicle device.

The processing end establishes a wireless connection relationship with a plurality of vehicle devices, so that at least one attribute information reported by at least one vehicle device can be received according to the wireless connection relationship.

S802, for each attribute information in the at least one attribute information, the processing end adds a second identifier for representing the directional lane at a position corresponding to the attribute information on the map.

And a second identifier for indicating a directional lane in the map information.

Here, a second identifier is added to the attribute information of a directional lane.

And 803, the processing end stores the attribute information at a position corresponding to the attribute information on the map.

Here, for a second identification, a corresponding attribute information is stored. And establishing an association relation between the second identifier and the attribute information.

The data processing method provided by the application comprises the following steps: receiving at least one attribute information reported by at least one vehicle device; for each attribute information in the at least one attribute information, adding a second identifier for representing a directional lane at a position corresponding to the attribute information on a map; and storing the attribute information at a location on the map corresponding to the attribute information.

For the scheme of the application, the plurality of attribute information reported by the plurality of vehicle devices can be arranged, and the second identifier and the attribute information of the directional lane are added in the map information for each directional lane, so that the related information of the directional lane in the map can be gradually perfected through continuous reporting, and the method has the characteristics of simplicity and reliability in implementation.

The following describes, by way of a specific and complete example, a travel control procedure and a data processing procedure provided in the embodiments of the present application.

The driving assistance system is a product favored by more and more vehicle types and users at present, the navigation assistance driving is a relatively mature function, namely, when the user starts navigation and starts an automatic driving function, the system (corresponding to a control system or a controller in the vehicle equipment) can start the navigation assistance driving function when detecting that the pre-condition is met, the system can control the vehicle to drive along a navigation path, but aiming at a specific road type of a directional lane, a relatively better experience treatment method is not provided at present, if a corresponding accurate logic strategy is not performed in the activation process of the navigation assistance driving function, the user is very likely to enter an incorrect driving lane to cause the lane to be unable to change to the correct lane, and the experience is poor.

The embodiment provides a track planning strategy aiming at a directional lane, wherein the information about the directional lane in a high-precision map is acquired, whether the navigation route is consistent with the directional lane or not is detected in the process of path planning, a drivable zone bit of the directional lane is established, and if the direction is consistent with the direction, the zone bit is 'drivable in'; if the mark positions are inconsistent, the mark positions are not capable of entering, and then local path planning is carried out when the mark position information approaches to a certain position of the starting point, so that the traffic efficiency is used for automatically changing lanes. In addition, the invention also provides a passing strategy when the high-precision map has no directional lane information.

The following table 1 is specifically referred to for a description of some of the components included in the driving support system.

Table 1 example of the driving support system part components

Part name	Quantity of bicycles	Description of the parts
			Forward-looking intelligent camera group	1	120 wide angle camera, 30 long burnt cameras
Side view camera	4	100-degree wide-angle camera
			All-round camera	4	190 wide-angle camera
Front millimeter wave radar module	1	77GHz millimeter wave radar
			Rear angle millimeter wave radar	2	77GHz millimeter wave radar
Automatic driving controller	1	Automatic driving controller module assembly

The mounting locations of the components in table 1 may include those shown in fig. 9.

Referring to the content shown in fig. 9, a front view camera (C9 & C10) is mounted on a front windshield of the vehicle; the side view cameras (C5-C8) are respectively arranged around rearview mirrors on two sides of the vehicle; the looking-around cameras (C1-C4) are respectively arranged in the front, back, left and right directions of the vehicle; a front millimeter wave radar (R1) is mounted on the front side of the vehicle; the angle millimeter wave radars (R2-R3) are respectively arranged at two sides of the rear edge of the vehicle; the automatic driving controller is installed on the front side of the co-driver of the vehicle. In particular, the method comprises the steps of,

angular millimeter wave radar: the 77GHz millimeter wave radar is arranged at the left and right sides of the rear guard, and the detection distance can reach about 80 m.

Front millimeter wave radar: the 77GHz millimeter wave radar is arranged right in front of the vehicle, and the detection distance can reach about 160 m.

Side view camera: the 100-degree wide-angle two-megapixel camera is arranged in the rearview mirror in a side front view mode, and the side rear view mode is arranged above the fender, and the detection distance can reach about 70 m.

Intelligent camera group: the two cameras are respectively arranged, the visual field range is divided into small, medium and large angles, and the furthest detectable distance can reach about 200 m.

An autopilot controller: can be arranged at any position of the whole vehicle which meets the waterproof requirement.

Vehicle equipment in this embodiment of the present application may perform functions including, but not limited to: adaptive cruising, integrated cruising, pilot assisted driving, front collision early warning, automatic emergency braking, lane departure, lane keeping, driving lever lane changing, autonomous lane changing and the like.

The operating principle of the auxiliary driving system comprises the following steps:

the auxiliary driving system comprises 3 millimeter wave radars, 10 cameras, an automatic driving controller, a vehicle body stabilizing system, an electric power steering system, a vehicle body controller, an instrument, a central control screen, a steering lamp and other systems, wherein the sensor unit is communicated with the automatic driving controller through a local area network control bus (CANFD) network with a private variable baud rate, and other related communication systems are communicated with the automatic driving controller through the CANFD.

The angle millimeter wave radar is arranged at the left side and the right side of the rear guard, and is used for sending out radio waves (radar waves) and then receiving echoes, and measuring the position data of the target according to the time difference between the receiving and the transmitting, wherein the detection distance can reach 80m, and parameters such as the time distance and the relative speed of the obstacle from the vehicle can be accurately detected through millimeter waves.

The front millimeter wave radar is arranged under the license plate of the vehicle, and is used for sending out radio waves (radar waves) and then receiving echoes, and measuring position data of a target according to time difference between receiving and transmitting, wherein the detection distance can reach 160m, and parameters such as the time distance and the relative speed of an obstacle from the vehicle can be accurately detected through millimeter waves.

The intelligent camera group is a camera combination of 2 high pixels with different visual angles, can detect obstacles with the distances of about 200m at the farthest positions in front of the outside, can identify lane line information, and can identify the cut-in and cut-out of a close-range vehicle;

the side view camera can make up for the problem of poor recognition rate of the angular radar in a low-speed scene, and can quickly and early capture the cutting trend of other vehicles and the short-distance cutting scene, so that the automatic driving controller can early process the cutting scene;

an automatic driving controller (ADC module for short) recognizes lane lines, vehicles running on roads, road edges, obstacles and the like through an algorithm by acquiring a sensing module (the sensing module comprises a millimeter wave radar, an intelligent camera group, a side view camera, an IMU integrated in the interior and the like), reasonably plans the track planning of driving assistance, controls the transverse direction and the longitudinal direction of the vehicles, realizes the functions of constant-speed cruising, avoiding rear collision vehicles, stopping and automatically starting when the vehicles are in obstacle, and can send corner requests, deceleration requests, torque requests and the like to each associated system in the control process.

The vehicle body stabilizing system (ESC) is used for receiving a deceleration request instruction sent by the automatic driving controller and feeding back vehicle body data such as deceleration, yaw angle, vehicle speed, wheel speed and the like of the vehicle at the same time for the ADC to carry out longitudinal control calculation of the vehicle.

The electric power steering (EPS for short) is used for executing the steering angle and the steering angle acceleration request sent by the autopilot controller, controlling the steering wheel to steer to the angle instructed by the autopilot controller, and if the EPS fails or the driver intervenes in parking, feeding back the reason for exiting the control to the autopilot controller.

The whole Vehicle Controller (VCU) is used for receiving a torque request of the automatic driving controller, executing acceleration control, feeding back a gear position of the vehicle in real time, responding to the torque and the like.

The car body controller (BCM for short) is used for receiving control requests of steering lamps, danger alarm lamps, wipers, lamplight and the like for automatic driving control.

The instrument (IC for short) is used for displaying a man-machine interaction interface, characters, pictures and sound reminding in the process of activating the auxiliary driving function.

A user of a central control screen (HU for short) displays a scene reconstruction interface in the activation process of the pilot auxiliary function, a user self-defined setting entry and the like.

The steering lamp is used for responding to the lighting request of the vehicle body controller in the automatic driving process to remind other vehicles of driving safety.

For example, the driving assistance system may refer to the content shown in fig. 10, where the automatic driving controller cooperates with each module to perform the automatic driving assistance function.

Comprising the following steps: driving support function hardware 1001, rear-angle millimeter wave radar 1002, front millimeter wave radar 1003, forward-looking binocular camera 1004, side-view camera 1005, look-around camera 1006, ultrasonic probe 1007, laser radar 1008, autopilot controller 1009, body stabilization system 1010, electric steering system 1011, whole vehicle controller 1012, body controller 1013, meter 1014, center control 1015, remote monitoring module 1016, mobile phone Application (APP) 1017, and cloud car remote service provider (Telematics Service Provider, TSP) 1018.

Next, a traffic policy of the directional lane when the navigation assist driving function is activated will be described.

The information source of the directional lane can be based on a high-precision map (corresponding to the map information) or a perception recognition (corresponding to the sensor recognition). The directional lane related attribute information includes, but is not limited to: the lane number, i.e. the position of the lane, the starting point and the ending point of the directional lane, the direction and the length information of the traffic destination, etc., because the information of the high-precision map may be insufficient in freshness or data is missing, and also some scene maps have no relevant information. The embodiment comprises 1, obtaining a route planning strategy of directional lane information from a map; 2. and (5) perceiving and identifying a route planning strategy and data return definition of the directional lane.

Next, a procedure of a route planning strategy for acquiring directional lane information from a map in 1 will be described.

1) When the navigation assistance function (corresponding to the navigation assistance driving function) is activated, the system acquires directional lane information (corresponding to the attribute information of the directional lanes) from the high-precision map, detects whether the directional lanes exist in the navigation path, sets a flag bit for each directional lane in the navigation path, and can pass (corresponding to the driving-in) or can not pass (corresponding to the driving-in).

2) And the system detects whether the navigation path planning direction is consistent with the direction of the directional parking space or not according to the directional lane attribute information acquired from the high-precision map by the system. If the detection is consistent, the system sets the traffic mark position of the directional lane as 'passable', and the system performs path planning by taking the traffic efficiency as the first time when controlling the vehicle to pass through the directional lane area; if the detection is inconsistent, the mark position is marked as 'no-passable'. For non-passable roads, the system passes xx meters (calibratable, for example, 300 meters) before the starting point, the system automatically gives related reminding, and prompts the user to change the road to a directional lane in a voice or text mode, for example: the system does not plan automatic lane changing to the directional lane, but if the user performs the driving lever operation (corresponding to the first operation) to perform lane changing action, the system can give secondary reminding and needs user confirmation, and after the user confirmation, the system controls the lane to change to the target lane by taking the user instruction as high priority. The planning strategy can avoid entering a wrong lane and a driving direction due to misoperation of a user in advance, and the risk of the automatic avoidance system to walk the wrong lane is also detected through the system.

The following describes the process of the route planning strategy and data feedback definition of the perception and identification directional lane in the step 2.

1) When the navigation auxiliary function is activated, the system acquires directional lane information through visual perception, detects whether a directional lane exists in a navigation path, sets a marker bit for each directional lane in the navigation path, and can pass or not pass.

2) When the system recognizes that the front 200 meters enter the identification row of the directional lane, the system judges that the directional lane is about to enter, and when the condition is met, the system automatically enters a data return mode, automatically returns information such as an advance notice sign board, a directional lane starting point position, a directional lane direction, a directional lane length, a lane where the directional lane is located, a directional lane end point and the like to a intelligent driving cloud (which is equivalent to the processing end), and adds the information to map information of the road section.

3) When a vehicle passes through, a voice prompt is given out that the front passes through the directional lane, the running direction is xx direction, a driver is required to carefully change the lane to drive in, the vehicle is controlled not to automatically drive into the directional lane, and because the system firstly enters the road section, whether the terminal point is in the planned navigation track range is unclear, the system automatically sets the directional parking space identification position of the road section to be 'non-passable', the system does not actively drive into the road section, if the user actively dials a lever to change the lane to enter the directional lane, the user has high priority, and the user responds to change the lane to the directional lane by changing the lane by the user.

According to the embodiment, on the basis of driving assisting hardware, hardware cost is not increased, identification (including but not limited to characters, time and the like) and information acquisition of the identification of the directional lane are increased, so that error avoidance is carried out on the intelligent driving system level in advance to get into the directional lane, a user is reminded before entering to avoid unclear error entering into the directional lane, and map missing information is supplemented in real time by sensing a data identification definition data returning mechanism so as to facilitate subsequent use, and the intelligent degree of the system is greatly improved.

In brief, the control procedure may include implementation 1 or implementation 2.

Wherein implementation 1 may include, but is not limited to, S1101 to S1112 shown in fig. 11.

Starting;

s1101, acquiring attribute information of a directional lane from a map by the system;

s1102, the system judges whether the path information of the self-vehicle navigation planning is consistent with the direction of the directional lane;

if the direction of the directional lane is consistent with the direction of the directional lane, the following S1103 is executed, and if the direction of the directional lane is not consistent with the direction of the directional lane, the following S1105 is executed;

s1103, the position of the directional lane passing mark is 'passable';

s1104, when the vehicle passes through, taking the passing efficiency as the priority, all lanes can run;

S1105, the position of the directional lane passing mark is 'non-passing';

s1106, setting the lane to be in a state of stopping driving in when the system plans a path;

s1107, when the vehicle is about to arrive at the directional lane by 200 meters, prompting by voice that the direction of the front vehicle passing through the directional lane is not consistent with the navigation direction of the vehicle, and not driving in by changing the driving lever;

s1108, whether a user dials a lever to change the lane to a directional lane;

if yes, the following S1109 is executed; if not, ending;

s1109, reminding again and requiring a user to confirm whether to drive in by a secondary key;

s1110, determining whether a user confirms entering;

if yes, the following S1111 is executed, and if no, the following S1112 is executed;

s1111, responding to a user shifting lever track changing instruction, changing tracks to a directional lane, and ending;

s1112, the track change control is not responded to the user shift lever, and the process is finished.

Among them, implementation 2 may include, but is not limited to, S1201 to S1206 shown in fig. 12.

Starting;

s1201, the system recognizes directional lane advance notice information and start point sign information through perception;

s1202, the system automatically carries out data feedback and adds attribute information in the map;

s1203, giving a voice prompt when the vehicle passes by, wherein the front of the vehicle passes through a directional lane, the running direction is xx direction, asking the driver to carefully change the lane to drive in, and controlling the vehicle not to automatically drive in the directional lane;

S1204, judging that the user actively dials the lever to enter a directional lane;

if yes, executing the following S1205; if not, executing the following S1206;

s1205, the user priority is high, the lane change is performed to the directional lane in response to the user lane change instruction, and the process is finished;

s1206, continuously maintaining the existing track planning strategy, and ending without automatically entering the directional lane.

The core of this embodiment of the present application may include, but is not limited to, the following first and second points.

The method comprises the steps of firstly, obtaining directional lane information from a high-precision map, setting a passable zone bit of a directional lane, judging and defining the zone bit of the directional lane by comparing attribute information of the directional lane, and planning a path by the zone bit, wherein when the directional lane is passable, the efficiency is used as a planning first, when a non-passable system automatically does not plan to enter the directional lane, and reminding a user of not entering the directional lane before 200 meters;

and the second point is to acquire directional lane information from perception, automatically set triggering conditions of data return and return related information of the directional lane. And the system is unclear in the end position when planning the road, so that the directional lane is set to be non-passable for the first time, and the entering of the directional lane is not automatically controlled and the user is reminded when planning.

In a third aspect, an embodiment of the present application provides a travel control apparatus, as shown in fig. 13, the travel control apparatus 130 includes: a determination unit 1301, an acquisition unit 1302, and a control unit 1303. Wherein:

a determining unit 1301 configured to determine that a directional lane exists on a navigation route of the vehicle apparatus, in a case where a navigation assistance driving function of the vehicle apparatus is turned on;

an acquisition unit 1302 configured to acquire attribute information of the directional lane;

and a control unit 1303 for controlling the vehicle device to travel based on the attribute information of the directional lane and the navigation route of the vehicle device.

In some embodiments, the determining unit 1301 is further configured to perform:

identifying the detected mark of the vehicle equipment in the navigation driving process in real time through a sensor, and if a first mark for representing a directional lane is identified, determining that the directional lane exists on the navigation route of the vehicle equipment;

or in the map information, determining whether a second identifier for representing a directional lane exists on the navigation route, and if the second identifier exists, determining that the directional lane exists on the navigation route of the vehicle device.

In some embodiments, the control unit 1303 is further configured to perform:

determining whether the directional lane is drivable in based on attribute information of the directional lane and the vehicle equipment navigation route; if the directional lane is determined to be capable of entering, the directional lane is taken as a candidate driving lane, and a navigation path is determined from the candidate driving lane based on a first rule; controlling the vehicle equipment to run according to the navigation path; and if the directional lane is determined to be unable to enter, eliminating the directional lane from the candidate driving lanes, determining a navigation path from the candidate driving lanes with the directional lane eliminated based on a first rule, and controlling the vehicle equipment to drive according to the navigation path.

In some embodiments, the control unit 1303 is further configured to perform:

determining that the directional lane is not drivable in the case that the attribute information is partial attribute information; in the case that the attribute information is complete attribute information of the directional lane; determining a complete path of the directional lane based on the complete attribute information; if the navigation route comprises a complete path of the directional lane, determining that the directional lane can be driven in; and if the navigation route does not contain the complete path of the directional lane, determining that the directional lane can not enter.

In some embodiments, the travel control device 130 may further include an output unit for performing:

and outputting first information to remind that the directional lane cannot be driven in.

In some embodiments, the control unit 1303 is further configured to perform, if it is determined that the directional lane is not drivable in:

receiving a first operation for indicating to drive into the directional lane; outputting second information and a confirmation request, wherein the second information is used for representing that the directional lane cannot enter; the confirmation request is used for confirming whether to drive into the directional lane; controlling the vehicle device to drive into the directional lane in the event a determination response is received; the determination response is used to characterize a determination to drive into the directional lane.

In some embodiments, the driving control device 130 may further include a reporting unit, where the attribute information is obtained in real time through a sensor, and the reporting unit is configured to perform: reporting the attribute information of the directional lane to a processing end; and the processing end adds a second identifier for representing the directional lane and the attribute information at a position corresponding to the directional lane in the map information.

In a fourth aspect, an embodiment of the present application provides a data processing apparatus, as shown in fig. 14, a data processing apparatus 140 includes: a receiving unit 1401, an adding unit 1402, and a storage unit 1403. Wherein:

a receiving unit 1401, configured to receive at least one attribute information reported by at least one vehicle device;

an adding unit 1402 configured to add, for each of the at least one attribute information, a second identifier for characterizing a directional lane at a position on a map corresponding to the attribute information, respectively;

a storage unit 1403 for storing the attribute information at a position on the map corresponding to the attribute information.

It should be noted that, the lane changing device provided in the embodiment of the present application includes each unit, which may be implemented by a processor in an electronic device; of course, the method can also be realized by a specific logic circuit; in practice, the processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, micro Processor Unit), a digital signal processor (DSP, digital Signal Processor) or a Field programmable gate array (FPGA, field-Programmable Gate Array), or the like.

The description of the apparatus embodiments above is similar to that of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

It should be noted that, in the embodiment of the present application, if the lane changing method is implemented in the form of a software functional module, and is sold or used as a separate product, the lane changing method may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

In a fifth aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory stores a computer program executable on the processor, and the processor implements steps in the running control method or the data processing method provided in the above embodiment when the processor executes the program.

Next, a structural diagram of the electronic device is described with reference to the electronic device 150 shown in fig. 15.

In one example, as shown in fig. 15, the electronic device 150 includes: a processor 1501, at least one communication bus 1502, at least one external communication interface 1503, and memory 1504. Wherein the communication bus 1503 is configured to enable connected communications between these components. The external communication interface 1503 may include a standard wired interface and a wireless interface, among others.

The memory 1504 is configured to store instructions and applications executable by the processor 1501, and may also cache data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or processed by various modules in the processor 1501 as well as the electronic device, which may be implemented by a FLASH memory (FLASH) or a random access memory (Random Access Memory, RAM).

In an example, the electronic device may also be a vehicle device.

In another example, the electronic device may be a processing end device.

In a sixth aspect, the present embodiment provides a storage medium, that is, a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the travel control method or the data processing method provided in the above embodiment.

It should be noted here that: the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus of the present application, please refer to the description of the method embodiments of the present application for understanding.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

It should be noted that, in this document, 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.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A running control method, characterized in that the method is applied to a vehicle apparatus, the method comprising:

determining that a directional lane exists on a navigation route of the vehicle device under the condition that a navigation auxiliary driving function of the vehicle device is started;

acquiring attribute information of the directional lane;

and controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

2. The method of claim 1, wherein the determining that a directional lane exists on a navigation route of the vehicle device comprises:

identifying the detected mark of the vehicle equipment in the navigation driving process in real time through a sensor, and if a first mark for representing a directional lane is identified, determining that the directional lane exists on the navigation route of the vehicle equipment;

or,

in the map information, determining whether a second identifier for representing a directional lane exists on the navigation route, and if the second identifier exists, determining that the directional lane exists on the navigation route of the vehicle device.

3. The method according to claim 1, wherein the controlling the vehicle device to travel based on the attribute information of the directional lane and the navigation route of the vehicle device includes:

Determining whether the directional lane is drivable in based on attribute information of the directional lane and the vehicle equipment navigation route;

if the directional lane is determined to be capable of entering, the directional lane is taken as a candidate driving lane, and a navigation path is determined from the candidate driving lane based on a first rule; controlling the vehicle equipment to run according to the navigation path;

and if the directional lane is determined to be unable to enter, eliminating the directional lane from the candidate driving lanes, determining a navigation path from the candidate driving lanes with the directional lane eliminated based on a first rule, and controlling the vehicle equipment to drive according to the navigation path.

4. The method of claim 3, wherein the determining whether the directional lane is incorporable based on attribute information of the directional lane and the vehicle device navigation route comprises:

determining that the directional lane is not drivable in the case that the attribute information is partial attribute information;

in the case that the attribute information is complete attribute information of the directional lane; determining a complete path of the directional lane based on the complete attribute information;

if the navigation route comprises a complete path of the directional lane, determining that the directional lane can be driven in;

And if the navigation route does not contain the complete path of the directional lane, determining that the directional lane can not enter.

5. A method according to claim 3, wherein if it is determined that the directional lane is not drivable in, the method further comprises:

and outputting first information to remind that the directional lane cannot be driven in.

6. The method of claim 3 or 4, wherein if it is determined that the directional lane is not drivable in, the method further comprises:

receiving a first operation for indicating to drive into the directional lane;

outputting second information and a confirmation request, wherein the second information is used for representing that the directional lane cannot enter; the confirmation request is used for confirming whether to drive into the directional lane;

controlling the vehicle device to drive into the directional lane in the event a determination response is received; the determination response is used to characterize a determination to drive into the directional lane.

7. The method of claim 1, wherein if the attribute information is obtained by a sensor in real time, the method further comprises:

reporting the attribute information of the directional lane to a processing end; and the processing end adds a second identifier for representing the directional lane and the attribute information at a position corresponding to the directional lane in the map information.

8. A data processing method, wherein the method is applied to a processing end; the method comprises the following steps:

receiving at least one attribute information reported by at least one vehicle device;

for each attribute information in the at least one attribute information, adding a second identifier for representing a directional lane at a position corresponding to the attribute information on a map;

and storing the attribute information at a location on the map corresponding to the attribute information.

9. A travel control apparatus, the apparatus being deployed to a vehicle device, the apparatus comprising:

a determining unit configured to determine that a directional lane exists on a navigation route of the vehicle apparatus, in a case where a navigation assist driving function of the vehicle apparatus is turned on;

an acquisition unit for acquiring attribute information of the directional lane;

and the control unit is used for controlling the vehicle equipment to run based on the attribute information of the directional lane and the navigation route of the vehicle equipment.

10. A data processing device, wherein the device is deployed at a processing end; the device comprises:

the receiving unit is used for receiving at least one attribute information reported by at least one vehicle device;

An adding unit configured to add, for each of the at least one attribute information, a second identifier for characterizing a directional lane at a position on a map corresponding to the attribute information, respectively;

and the storage unit is used for storing the attribute information at a position corresponding to the attribute information on the map.