CN118269976A - Method for controlling a vehicle traffic control section, vehicle and storage medium - Google Patents

Abstract

The invention discloses a method for controlling a vehicle to pass through a control road section, a vehicle and a storage medium, wherein the method for controlling the vehicle to pass through the control road section comprises the following steps: acquiring road perception information; determining the lane position of the own vehicle when entering the control road section according to the road perception information, and identifying scene conditions in the control road section area according to the road perception information; and controlling the self-vehicle to pass through the control road section according to the lane position and the scene condition in the control road section area. The method can control the vehicle to pass through the control road section by itself without depending on high-precision map data, thereby meeting the applicability of the vehicle in the scene of the control road section.

Description

Method for controlling a vehicle traffic control section, vehicle and storage medium

Technical Field

The present invention relates to the technical field of driving assistance, and in particular, to a method for controlling a vehicle to pass through a control section, a vehicle, and a storage medium.

Background

At present, when a vehicle passes through a control road section, high-precision map data is needed to be relied on, a target track is formed based on a road junction target and a current position, and the self-vehicle is finally finished to travel to the target, or the track is planned based on the current position and the target road junction by means of self hardware and software capabilities at the control road section. Therefore, under the condition of no high-precision map data, lane-level positioning is difficult to achieve depending on the current positioning technology, the situation in the controlled road section area is complex, and the intelligent passing requirement cannot be met based on the current passing strategy.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, a first object of the present invention is to provide a method for controlling a vehicle to pass through a controlled road section, which can control the vehicle to pass through the controlled road section independently of high-precision map data, thereby meeting the requirement of the vehicle to pass through the controlled road section automatically.

A second object of the invention is to propose a vehicle.

A third object of the invention is to propose a vehicle.

A fourth object of the present invention is to propose a computer readable storage medium.

To achieve the above object, a method for controlling a vehicle traffic control section according to an embodiment of the first aspect of the present invention includes: acquiring road perception information; determining the lane position of the own vehicle when entering the control road section according to the road perception information, and identifying the scene condition in the control road section area according to the road perception information; and controlling the self-vehicle to pass through the control road section according to the lane position and the scene condition in the control road section area.

According to the method for controlling the traffic control road section of the vehicle, disclosed by the embodiment of the invention, the lane position of the vehicle in the control road section area can be accurately positioned by analyzing and processing the road perception information, the specific scene condition in the control road section area is identified, and the traffic control road section of the vehicle is controlled by combining the lane position and the scene condition in the control road section, namely the traffic control road section of the vehicle is controlled by the road perception information, so that the requirement of the vehicle on the traffic control road section of the vehicle can be met without depending on high-precision map data.

In some embodiments, determining a lane position of the host vehicle upon entering the regulated section from the road awareness information includes: identifying the road edge of the driving side of the own vehicle on the current road where the own vehicle is located according to the road perception information; obtaining a relative distance value between the self-vehicle and the road edge; and determining the lane position of the self-vehicle when entering the control road section according to the relative distance value and the single-lane transverse judgment value.

In some embodiments, determining the lane position of the host vehicle upon entering the regulated road segment area from the relative distance value and the single lane lateral determination value comprises: if the relative distance value is greater than or equal to the single-lane transverse judgment value, determining that the own vehicle is in a non-most main driving side lane when entering the control road section; or if the relative distance value is smaller than the single-lane transverse judgment value, determining that the own vehicle is positioned in the lane at the most main driving side when entering the control road section.

In some embodiments, the single lane lateral determination value = (single lane width-vehicle width)/2.

In some embodiments, the entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and the scene condition in the control section area, including: determining that the own vehicle is in a lane at the most main driving side when entering the control road section area; and controlling the self-vehicle to travel to the front of the road gate along the main driving side road edge of the most main driving side lane.

In some embodiments, controlling the host vehicle to travel along a host side road edge of the most host side lane before the barrier gate comprises: acquiring positioning information of the own vehicle; determining the relative distance between the host vehicle and the main driving side road edge of the most main driving side lane according to the positioning information; controlling the relative distance between the host vehicle and the main driving side road edge of the most main driving side lane to be in the tolerance range of a single-lane transverse judgment value in the transverse direction of the most main driving side lane; and in the longitudinal direction of the lane at the most main driving side, controlling the self-vehicle to run at a preset cruising speed in a decelerating way until the self-vehicle is in front of the barrier gate.

In some embodiments, the entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and the scene condition in the control section area, including: determining that the own vehicle is in a non-most main driving side lane when entering the control road section area, and identifying that a ground lane line is arranged in the control road section area according to the road perception information; and controlling the self-vehicle to move in front of the barrier gate according to the type of the ground lane line.

In some embodiments, controlling the travel of the host vehicle to the front of the barrier according to the type of the ground lane line comprises: determining the ground lane lines as double-sided lane lines; obtaining the relative distance between the self-vehicle and the ground lane line according to the positioning information of the self-vehicle; controlling the self-vehicle to be positioned at the central position of the ground lane line according to the relative distance between the self-vehicle and the ground lane line; and determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

In some embodiments, controlling the travel of the host vehicle to the front of the barrier according to the type of the ground lane line comprises: determining the ground lane line as a single-side lane line; determining the relative distance between the self-vehicle and the ground lane line according to the positioning information of the self-vehicle; controlling the relative distance between the self-vehicle and the ground lane line to be in the tolerance range of the single-lane transverse judgment value; and determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

In some embodiments, before determining the relative distance of the own vehicle from the ground lane line according to the positioning information of the own vehicle, controlling the own vehicle to travel to the road gate according to the type of the ground lane line further comprises: and determining the lane position of the non-most main driving side lane where the ground lane line is positioned relative to the most main driving side lane according to the road perception information.

In some embodiments, the entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and the scene condition in the control section area, including: determining that the own vehicle is in a non-most driving side lane when entering the control road section area; identifying no ground lane line in the controlled road section area according to the road perception information and having an isolated guide roadblock line; obtaining a virtual lane line corresponding to the isolation guide barrier line; and controlling the self-vehicle to move in front of the barrier gate according to the type of the virtual lane line.

In some embodiments, controlling the travel of the host vehicle to the front of the barrier according to the type of the virtual lane line comprises: determining the virtual lane lines as double-sided lane lines; obtaining the relative distance between the self-vehicle and the virtual lane line according to the positioning information of the self-vehicle; controlling the self-vehicle to be positioned at the central position of the virtual lane line according to the relative distance between the self-vehicle and the virtual lane line; and determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

In some embodiments, controlling the travel of the host vehicle to the front of the barrier according to the type of the virtual lane line comprises: determining the virtual lane line as a single-side lane line; determining the relative distance between the self-vehicle and the virtual lane line according to the positioning information of the self-vehicle; controlling the relative distance between the vehicle and the virtual lane line to be in the tolerance range of the single-lane transverse judgment value; and determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

In some embodiments, before determining the relative distance of the host vehicle from the virtual lane line according to the location information of the host vehicle, the vehicle control method further includes: and determining the lane position of the non-most main driving side lane where the virtual lane line is positioned relative to the most main driving side lane according to the road perception information.

In some embodiments, the entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and the scene condition in the control section area, including: identifying no ground lane lines and isolation guide roadblock lines in the controlled road section area according to the road perception information, and enabling a front vehicle positioned in front of the vehicle to exist; and controlling the self-vehicle to move in front of the barrier gate according to the transverse and longitudinal states of the front vehicle.

In some embodiments, controlling the travel of the host vehicle to the front of the barrier gate according to the transverse and longitudinal states of the front vehicle comprises: obtaining the relative distance between the own vehicle and the front vehicle according to the positioning information of the own vehicle; and controlling the relative distance between the self vehicle and the front vehicle to be within a preset distance range.

In some embodiments, controlling the travelling of the host vehicle to the front of the barrier gate according to the transverse and longitudinal states of the front vehicle further comprises: determining the overlapping degree of the self-vehicle and the front vehicle in the transverse direction of the road according to the positioning information of the self-vehicle; controlling the overlapping degree of the self vehicle and the front vehicle in the transverse direction of the road to be larger than a preset overlapping value; and controlling the difference value of the course angle of the front vehicle and the course angle of the own vehicle to be smaller than a preset angle value.

In some embodiments, after the self-vehicle travels to the front of the barrier gate, the method further comprises: the method comprises the steps of pre-judging whether a lane where the self-vehicle is located is an electronic toll collection lane according to an electronic toll collection system identification model; and if the lane where the self-vehicle is located is judged to be the electronic toll collection lane, and the self-vehicle is provided with a payment function of the electronic toll collection system, controlling the self-vehicle to continue to travel along the lane.

In some embodiments, the electronic toll collection system identification pattern comprises at least one of an electronic toll collection system door frame model, an electronic toll collection system sign identification model, a ground electronic toll collection system indication model, and an electronic toll collection system electronic screen identification model.

In some embodiments, the method further comprises: when the self-vehicle travels to the front of the road gate along the lane where the self-vehicle is located, controlling the self-vehicle to travel at a first vehicle speed; identifying that the barrier gate is lifted in a preset time according to the road perception information, and determining that the lane where the self-vehicle is located is an electronic toll collection lane; controlling the host vehicle to slow down to a second vehicle speed and to pass through the barrier gate at the second vehicle speed.

In some embodiments, the method further comprises: and if the lane where the self-vehicle is located is judged to be a non-electronic toll collection lane or the road brake is not recognized to be lifted in the preset time according to the road perception information, controlling the self-vehicle to stop at a preset distance from the road brake and reminding payment.

In some embodiments, the method further comprises: and after the self-vehicle passes through the barrier gate, controlling the self-vehicle to enter a main road of the high-speed lane according to the lane position of the lane where the self-vehicle is located.

In some embodiments, controlling the host vehicle to enter a high-speed lane main road according to a lane position of a lane in which the host vehicle is located includes: if the lane where the self-vehicle is located is the most main driving side lane, identifying a main driving side road edge of the most main driving side lane according to the road perception information, and controlling the self-vehicle to enter a main high-speed lane road of the control section along the main driving side road edge of the most main driving side lane; and if the lane where the self-vehicle is located is a non-main driving side lane, controlling the self-vehicle to enter a main road of the high-speed lane of the control road section according to the scene condition of the lane where the self-vehicle is located.

In some embodiments, prior to determining the lane position of the host vehicle upon entering the regulated section from the road awareness information, the method further comprises: obtaining navigation information of a self-vehicle; and determining that the vehicle enters the controlled road section area according to the navigation information.

In some embodiments, the method further comprises: responding to a starting instruction of a driving mode of the memory route, and acquiring memory track data of the memory route; performing path matching according to the memory track data and the road perception information of the own vehicle, and determining that the memory route comprises a traffic control road section scene; and controlling the self-vehicle to travel along the tracking of the memory track of the memory route and pass through the control road section through which the memory route passes.

In order to achieve the above object, a vehicle according to a second aspect of the present invention includes: at least one processor; a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the at least one processor implementing the method of controlling a traffic control section as described in the above embodiment when the computer program is executed.

According to the vehicle provided by the embodiment of the invention, by adopting the method for controlling the traffic control road section of the vehicle, the lane position of the vehicle in the control road section area can be accurately positioned, the specific scene condition in the control road section area can be identified, and the traffic control road section of the vehicle is controlled by combining the lane position and the scene condition in the control road section, namely, the traffic control road section of the vehicle is controlled by the road perception information, the high-precision map data is not relied on, and the requirement of the automatic traffic control road section of the vehicle can be met.

In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes: the sensing system is used for collecting road sensing information; and the controller is connected with the sensing system and is used for executing the method for controlling the traffic control road section.

According to the vehicle provided by the embodiment of the invention, the sensing system is used for acquiring various road sensing information, the controller receives various road sensing information from the sensing system and processes and decides in real time based on the information, the lane position of the vehicle can be accurately positioned by adopting the method for controlling the traffic control road section of the vehicle, the scene condition in the area of the traffic control road section is identified, the vehicle can be controlled to automatically pass through the traffic control road section without depending on high-precision map data, and therefore the requirement of the scene of the traffic control road section of the vehicle is met.

In order to achieve the above object, a computer-readable storage medium of a fourth aspect of the present invention has stored thereon a computer program which, when executed, implements the method of controlling a traffic control section of a vehicle described in the above embodiment.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a flow chart of a method of controlling a vehicle traffic control segment according to one embodiment of the invention;

FIG. 2 is a control logic diagram for controlling a vehicle traffic control segment according to one embodiment of the present invention;

FIG. 3 is a control logic diagram for controlling a vehicle traffic control segment based on a memorized route according to one embodiment of the present invention;

FIG. 4 is a block diagram of a vehicle according to one embodiment of the invention;

fig. 5 is a block diagram of a vehicle according to another embodiment of the invention.

Reference numerals:

A vehicle 100;

A perception system 10; a controller 20;

a processor 101; a memory 102.

Detailed Description

Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.

A method of controlling a vehicle passing control section according to an embodiment of the present invention is described below with reference to fig. 1.

Fig. 1 is a flowchart of a method of controlling a vehicle traffic control section according to an embodiment of the present invention, and as shown in fig. 1, the method of controlling a vehicle traffic control section includes at least steps S1 to S3, as follows.

S1, obtaining road perception information.

The road sensing information may be vehicle sensing information and external device sensing information. The vehicle sensing information may be implemented by a sensor system (e.g., camera, lidar, infrared sensor, ultrasonic sensor, etc.) mounted on the vehicle. Specifically, the vehicle may be equipped with a plurality of wide angle cameras, including a pan-around camera, a side-view camera, and the like. The panoramic camera can provide a panoramic view angle, and can capture the scenes of surrounding roads, including lane lines, traffic signs, obstacles and the like. The side view camera is mainly used for side view sensing, and can detect the distance between the vehicle and the main driving side road edge, surrounding traffic signs, guide arrows and the like. By processing and analyzing the image data of these cameras, the system is able to extract both ground and ground visual information.

In addition, lidar may also be used to obtain visual information from the perception of the vehicle. Lidar can provide highly accurate point cloud data for building three-dimensional models of the surrounding environment. By analyzing and processing the point cloud data, the system can extract the information such as the geometric structure, lane lines, obstacles and the like of the road. The use of lidar can compensate for the limitations of cameras in certain situations, such as low light conditions or when high light contrast is encountered.

In some embodiments, the infrared sensor may detect thermal radiation, which may be used in some cases to identify the location and shape of the object. The road perception information obtained by the infrared sensor information can supplement visual information, and is particularly helpful for perceiving the road environment at night or under severe weather conditions.

In some embodiments, the ultrasonic sensor may measure the distance between the object and the vehicle for detecting an obstacle or parking assistance. Such information can be used to determine the surrounding environment, especially at low speeds or when parking.

In some embodiments, the external device awareness information may include using unmanned aerial vehicle devices to assist in awareness of road information, and may also be included in a co-driving or inter-vehicle communication environment where other vehicles may share their awareness information. Such information may be transmitted to the host vehicle via the communication system to assist the host vehicle in making better decisions.

In some embodiments, the road awareness information may include visual information. Visual information can be classified into ground visual information and ground visual information. In an embodiment, for ground visual information, the discrete objects may include guide arrows, diversion areas, text, ground speed limits, deceleration marks, stop lines, zebra stripes, and the like. The continuous objects may include lane lines, road boundaries, static obstacles (e.g., isolation islands, safety islands, water horses, sentry boxes), etc. For above-ground visual information, light poles, traffic signs, traffic lights, etc. may be included.

S2, determining the lane position of the own vehicle when entering the control road section according to the road perception information, and identifying the scene condition in the control road section area according to the road perception information.

In some embodiments, the regulated segments may include, but are not limited to, a toll booth, an entrance/exit of a mall parking lot, a vehicle boarding point, etc. that requires a vehicle to be queued, a license plate number to be identified for payment, or other operations.

In some embodiments, the lane position may be determined by common short range positioning means, such as UWB (Ultra-wide band) technology or bluetooth technology. UWB technology can provide high-precision short-range positioning, suitable for accurate positioning of vehicles within regulated segments. Bluetooth technology may also be used for near field communication and positioning. In some scenarios, such as parking lots or malls, bluetooth beacons may be used to determine vehicle location.

In some embodiments, based on the acquired road awareness information, image processing and computer vision techniques may also be utilized to determine the lane position of the host vehicle upon entering the regulated road segment area and identify specific scene conditions within the regulated road segment area.

Specifically, by using image processing algorithms such as edge detection and hough transform, it is possible to extract the characteristics of the lane lines and determine the lane positions where the vehicle is located using the geometric properties of the lane lines. Meanwhile, the scene condition in the controlled road section area can be identified according to the road perception information through a target detection and classification algorithm. For example, by training a deep learning model, key scene elements such as entrance, exit, gate and the like of a toll station can be identified. These models may be categorized according to predefined scene categories to enable the identification and understanding of scene conditions.

In addition, the method of the present invention may also incorporate other road-aware information, such as positioning information and navigation information, in order to more accurately determine the lane position of the vehicle and identify scene conditions. The positioning information can provide current position and attitude information of the vehicle, and help to more accurately position the lane position. The navigation information can provide navigation guidance of the target path and the control road section, and is helpful for the identification of scene conditions and the formulation of control strategies.

And S3, controlling the self-vehicle to pass through the control road section according to the lane position and the scene condition in the control road section area.

Specifically, the system can determine a proper traveling path according to the lane position of the own vehicle and perform corresponding control according to scene conditions in the controlled road section area so as to ensure that the own vehicle safely and efficiently passes through the controlled road section. Specific control measures may include longitudinal control (e.g., speed adjustment, distance control, etc.) and lateral control (i.e., keeping the vehicle running in the correct lane, etc.) of the vehicle.

According to the method for controlling the traffic control road section of the vehicle, disclosed by the embodiment of the invention, the lane position of the vehicle in the control road section area can be accurately positioned by analyzing and processing the road perception information, the specific scene condition in the control road section area is identified, and the traffic control road section of the vehicle is controlled by combining the lane position and the scene condition in the control road section, namely the traffic control road section of the vehicle is controlled by the road perception information, so that the requirement of the vehicle on the traffic control road section of the vehicle can be met without depending on high-precision map data.

In some embodiments, the system adopts a corresponding lateral control strategy according to the lane position of the own vehicle in the controlled road section area. For example, if the host vehicle is located in the most-driving side lane, the system will ensure that the host vehicle is kept a safe distance from the driving side lane by controlling the vehicle to travel along the most-driving side lane. If the vehicle is on a non-most driving side lane, the system adjusts the transverse position of the vehicle according to the lane position and the sensing result of the front obstacle so as to keep safe passing.

In some embodiments, the system performs longitudinal control based on scene conditions within the regulated segment area. For example, if the system recognizes that a scene condition such as a deceleration mark or a stop line exists on the road ahead, the system controls the own vehicle to approach the road gate at a proper speed by adjusting the speed and the acceleration and deceleration of the vehicle so as to ensure safe parking or timely passing.

In some embodiments, the system not only considers lane positions and scene conditions, but also dynamically adjusts according to real-time traffic conditions. The system can acquire real-time data such as traffic lights, information of vehicles ahead and the like, and adjust the travelling strategy of the vehicle according to the information. For example, if the system detects a dense front vehicle or road congestion, the system may control the vehicle to slow down or change the travel path accordingly to avoid vehicle congestion or dangerous situations.

Thus, the method of the present invention controls the vehicle traffic control section. By formulating corresponding control strategies, such as speed adjustment, lane selection, interaction with other vehicles, etc., vehicles can safely and efficiently pass in front of the barrier gate.

According to the method for controlling the traffic control road section of the vehicle, the lane position of the vehicle in the control road section area can be accurately positioned by analyzing and processing the acquired road perception information, and specific scene conditions in the control road section area, such as key scene elements of entrance, exit, road gate, charging area and the like of the control road section, are identified. Based on the determined lane position and the identified scene condition, the method controls the self-vehicle to pass through the control road section, namely, by formulating corresponding control strategies such as speed regulation, lane selection, interaction with other vehicles and the like, the safe and efficient passing of the vehicles in the control road section can be ensured, the passing efficiency of the control road section is further improved, the passing safety is enhanced, the driving experience of a user is optimized, and the limitation of lack of high-precision map data is made up, so that the performance and applicability of the vehicles in the scene of the control road section are improved.

In some embodiments, determining the lane position of the host vehicle upon entering the regulated road segment area from the road awareness information includes: identifying the road edge of the driving side of the own vehicle on the current road where the own vehicle is located according to the road perception information; obtaining a relative distance value between the self-vehicle and the road edge; and determining the lane position of the vehicle when entering the control road section according to the relative distance value and the single lane transverse judgment value.

Specifically, the system can sense and analyze the surrounding environment of the vehicle by using sensors, such as a look-around camera, a side-looking camera and a side-looking angle radar, so as to identify the main driving side road edge on the current road where the vehicle is located. The system may utilize image processing and computer vision algorithms to detect and extract road boundary information and further determine the location of the leading side road edge.

Further, after identifying the road edge from the main driving side, the system calculates a relative distance value between the host vehicle and the main driving side road edge by using a measurement result in the road perception information, for example, a perception distance of the camera to the main driving side road edge. The relative distance value indicates a horizontal position offset of the host vehicle relative to the main drive side road edge.

Further, the system compares the relative distance value with a preset single-lane transverse judgment value to determine the lane position of the own vehicle when entering the controlled road section area. In an embodiment, the single lane lateral determination value may be a preset parameter, which indicates a tolerance of the vehicle in a horizontal position near the main driving side road. The single-lane transverse judgment value can be flexibly adjusted according to specific scenes and requirements. For different vehicle sizes, road standards and traffic rules, different single-lane lateral judgment values can be set to adapt to different situations. For example, for large vehicles or wide lanes, the single lane lateral determination may be increased accordingly to accommodate different road conditions.

In some embodiments, the lane position of the own vehicle when entering the regulated section is determined according to the relative distance value and the single lane transverse judgment value, including the following two cases:

If the relative distance value is greater than or equal to the single-lane transverse judgment value, the relative distance between the host vehicle and the main driving side road edge is greater than the preset transverse tolerance, namely the width of the single lane is exceeded. In this case, the system determines that the own vehicle is in the non-most driving side lane when entering the controlled road section area. This means that the host vehicle is not traveling on the most main driving side lane, and there may be space for other lanes or road edges.

If the relative distance value is smaller than the single-lane transverse judgment value, the relative distance between the host vehicle and the main driving side road edge is smaller than the preset transverse tolerance, namely the relative distance is within the width range of the single lane. In this case, the system determines that the own vehicle is in the most main driving side lane. This means that the own vehicle travels on the lane on the most main driving side when entering the controlled road section area.

Therefore, according to the relative distance value and the single-lane transverse judgment value, the lane position of the own vehicle when entering the control road section area can be accurately judged, and the situation of the non-most driving side lane and the most driving side lane is included. The judging method can provide accurate lane position information for subsequent control strategies and operations so as to ensure safe traffic of vehicles in the controlled road section.

In some embodiments, the single lane lateral determination value= (single lane width-vehicle width)/2. This calculation formula may be used to determine the lane position of the vehicle when entering the regulated section.

The single lane width may refer to a width of each lane within the regulated section area. This value may be based on road design criteria or actual measurements. Different road widths may exist for different road segments, so that the single lane width may be a fixed calibration or dynamically derived from road criteria specific to the road segment. The own vehicle width may refer to the width of the current vehicle, i.e., the dimension of the vehicle in the lateral direction. This value may be obtained by measurement of the vehicle size or may be obtained based on the vehicle model and vehicle parameters.

In some embodiments, the entrance of the regulated section is provided with a barrier gate. After determining that the own vehicle is in the lane at the most main driving side when entering the controlled road section area according to the relative distance value and the single-lane transverse judgment value, the system controls the vehicle to run along the lane at the most main driving side and keeps a certain distance from the road edge at the main driving side. The system can measure the relative distance between the vehicle and the main driving side road edge through sensing equipment such as a laser radar and a camera, and can perform transverse control based on the distance so as to keep the vehicle to travel to the front of the road gate along the main driving side road edge of the lane at the most main driving side.

In addition, in addition to lateral control, the system may also perform longitudinal control to adjust the speed of the vehicle and the position of the barrier. By using an Inertial Measurement Unit (IMU) or other sensor of the vehicle, the system can measure the speed and acceleration of the vehicle and control the speed of travel and distance to the road gate according to set speed requirements and safety spacing.

In some embodiments, determining a relative distance between the host vehicle and a main driving side road edge of the most main driving side lane according to the positioning information, and controlling the host vehicle along the main driving side road edge of the most main driving side lane in the transverse direction and the longitudinal direction of the most main driving side lane to travel to a charging area in front of a road gate, wherein the method specifically comprises the following steps: the system obtains the positioning information of the vehicle by using the technologies of a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), an on-vehicle sensor, the wheel speed of the vehicle, a gear and the like. Such information may include parameters such as the current longitude, latitude, heading angle, speed, etc. of the vehicle.

Further, with onboard sensors and sensing devices (e.g., cameras or lidars), the system may obtain the relative distance between the host vehicle and the main drive side road edge of the most main drive side lane. This may be accomplished by calculating the lateral offset of the vehicle from the road edge.

Further, in the transverse direction of the lane at the most main driving side, the relative distance between the vehicle and the main driving side road edge of the lane at the most main driving side is controlled by a vehicle control system, such as a transverse control system, to be in the tolerance range of the single-lane transverse judgment value so as to ensure that the vehicle travels along the lane at the most main driving side. In the longitudinal direction of the lane at the most main driving side, the system controls the speed of the self-vehicle to be reduced according to the preset cruising speed through a vehicle control system, such as a longitudinal control system, so as to adapt to the front of the road gate. This can be achieved by adjusting the acceleration or braking force of the vehicle to slow down the vehicle smoothly and maintain a suitable distance to cope with the opening of the road gate and the demand for payment of the vehicle, so that it can be ensured that the host vehicle is ready to pay and smoothly pass the road gate before entering the road gate at a suitable speed.

In some embodiments, after determining that the host vehicle is in a non-most driving side lane when entering the controlled road segment area according to the relative distance value and the single lane transverse judgment value, the ground lane line in the controlled road segment area is identified according to the road perception information. The travel of the host vehicle to the front of the road gate is controlled by vehicle control systems, such as a lateral control system and a longitudinal control system, depending on the type of ground lane line identified.

In some embodiments, to identify and classify ground lane lines within a regulated road segment region, the system may apply computer vision techniques and deep learning algorithms. By training the model, the system can learn the characteristics of the lane lines and accurately identify and classify the lane lines. Meanwhile, the system can also track the lane lines in real time so as to adapt to the movement and position change of the vehicle. Wherein the types of the ground lane lines can be divided into a double-sided lane line and a single-sided lane line,

In addition to controlling according to the type of ground lane, the system may also apply lane assist control functions. The system monitors the position relationship between the vehicle and the lane line in real time through sensing equipment such as a vehicle-mounted camera or a laser radar and provides corresponding auxiliary control such as lane keeping, lane departure early warning and the like. This can help the driver keep the vehicle traveling on the correct lane and improve traveling safety.

In some embodiments, the system identifies ground lane lines within the exit road segment area by way of road awareness information and determines these lane lines as double sided lane lines, which may refer to having two lane lines on the left and right sides for guiding the vehicle to travel. The system is derived from the relative distance between the vehicle and the ground lane line by a positioning system of the vehicle (e.g., GPS) or other positioning technology. This can help determine the degree of positional offset of the host vehicle in the lane lines, thereby making corresponding adjustments and controls.

Specifically, the system ensures that the vehicle stably runs in the center position of the ground lane line by lateral control of the vehicle, including adjustment of the steering angle or the vehicle position, according to the relative distance between the host vehicle and the ground lane line. The system then uses the positioning information of the vehicle to determine the relative distance of the vehicle from the barrier, i.e., the position of the vehicle from the barrier. By longitudinally controlling the travel speed of the host vehicle, depending on its relative distance from the road gate, the system may require the host vehicle to slow down or maintain a suitable cruising speed as it approaches the road gate to ensure safe passage through the regulated section.

In some embodiments, the system may implement an automatic deviation correction function when the control host vehicle is in a central position of the ground lane line. By monitoring the relative positional offset between the host vehicle and the ground lane, the system can adjust the steering angle of the vehicle in real time so that it returns to the center of the ground lane again to maintain driving stability and comfort.

In some embodiments, by analysis and processing of the road awareness information, the ground lane lines within the pipe section area are identified and determined to be single-sided lane lines, i.e., where there is only one side lane line. For example, in some regulated road segment areas, only left or right lanes are present. The relative distance between the host vehicle and the ground lane is determined by using positioning information of the vehicle, such as a global positioning system or an inertial measurement unit.

Further, according to the single-lane transverse judgment value, namely the preset transverse distance tolerance range. And the position of the vehicle is adjusted through transverse control, so that the relative distance between the vehicle and the single-side lane line is kept within a tolerance range. If the relative distance between the vehicle and the single-sided lane line is out of the tolerance range, the system may take corresponding control measures, such as adjusting the steering angle or the vehicle position, to bring the vehicle back into the tolerance range. The transverse judgment value can be calculated according to the width of the vehicle and the lateral redundancy. Specifically, the width of the vehicle may be used as a reference, and the lateral redundancy is an additional distance added on the basis of the width for ensuring a sufficient space between the vehicle and the ground lane line. This lateral determination may be adapted and modified according to the characteristics and design requirements of the vehicle. By adjusting the transverse judgment value, the system can adapt to control requirements under different vehicle widths and specific road conditions.

Further, the relative distance between the vehicle and the road gate is determined according to the positioning information of the vehicle, and the traveling speed of the vehicle is longitudinally controlled according to the relative distance value, so that the system can require the vehicle to decelerate or maintain proper cruising speed when approaching the road gate so as to ensure that the vehicle passes through the regulated road section safely.

In order to accurately obtain the relative distance between the self-vehicle and the ground lane line and the road gate, the system can use various positioning technologies and sensor data fusion methods so as to improve the accuracy and stability of positioning information. For example, in combination with data from multiple sensors such as GPS, IMU, onboard camera, and lidar, a more accurate position fix may be achieved.

In some embodiments, before determining the relative distance between the vehicle and the ground lane line according to the positioning information of the vehicle, controlling the vehicle to travel to the road gate according to the type of the ground lane line, and determining the lane position of the non-most driving side lane where the ground lane line is located relative to the most driving side lane according to the road sensing information.

Specifically, the system may determine a lane position of the non-most dominant side lane where the ground lane line is located relative to the most dominant side lane using the road perception information. The road sensing information may include data collected by cameras, lidar, etc. sensors for identifying and analyzing the location and type of lane lines. By acquiring the lane line position information in the road perception information, the system can determine the lane position of the non-most main driving side lane relative to the most main driving side lane. Such information is important for subsequent relative distance calculation and lateral control, and can help the system to more accurately locate the lane position of the own vehicle at the toll station and perform corresponding control strategies.

In some embodiments, controlling travel of the host vehicle to the barrier in accordance with the lane location and scene conditions within the regulated segment area includes: and determining that the own vehicle is in a non-most driving side lane when entering the controlled road section area. And analyzing the road sensing information to control the road section area, identifying the condition that no ground lane lines exist in the area, and simultaneously detecting the existence of the isolated guide roadblock lines which can be used for guiding vehicles to pass. Based on the identified isolated guide barrier lines, the system may generate corresponding virtual lane lines for assisting in vehicle travel and control. According to the type of the virtual lane line, the system can make corresponding control strategies including the running speed, the transverse position and the like of the vehicle so as to ensure the safe passing of the self-vehicle in the controlled road section area and control the self-vehicle to run along the virtual lane line to the front of the road gate.

In some embodiments, controlling travel of the host vehicle to the barrier ahead of the barrier according to the type of virtual lane line comprises: and determining the virtual lane line as a double-sided lane line. And obtaining the relative distance between the vehicle and the virtual lane line according to the positioning information of the vehicle. And controlling the self-vehicle to be positioned at the central position of the virtual lane line according to the relative distance between the self-vehicle and the virtual lane line. And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

Specifically, by identifying and analyzing the attributes and features of the virtual lane lines, the system may determine that the virtual lane lines are double sided lane lines, i.e., include left and right lane lines. By using the positioning information of the own vehicle, the system can calculate the relative distance between the own vehicle and the virtual lane line. This may be achieved by comparing the distance of the vehicle location from the virtual lane line. Depending on the relative distance between the host vehicle and the virtual lane line, the system may perform lateral control such that the host vehicle remains in the center position of the virtual lane line. This can be achieved by adjusting the steering angle of the vehicle, ensuring that the vehicle remains aligned with the virtual lane line during transit. And the system can determine the relative distance between the self-vehicle and the barrier gate through the positioning information of the self-vehicle. According to the relative distance, the system can control the travelling speed of the self-vehicle, ensure that the self-vehicle travels in front of the barrier gate at a proper speed, and realize safe and smooth passing.

In some embodiments, controlling travel of the host vehicle to the barrier ahead of the barrier according to the type of virtual lane line comprises: and determining the virtual lane line as a single-side lane line. And determining the relative distance between the vehicle and the virtual lane line according to the positioning information of the vehicle. And controlling the relative distance between the vehicle and the virtual lane line to be in the tolerance range of the single-lane transverse judgment value. And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the advancing speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

Specifically, by identifying and analyzing the attributes and features of the virtual lane lines, the system may determine that the virtual lane lines are single-sided lane lines, i.e., include only left or right lane lines. By using the positioning information of the own vehicle, the system can calculate the relative distance between the own vehicle and the virtual lane line. This may be achieved by comparing the distance of the vehicle location from the virtual lane line. And the system determines whether the relative position of the vehicle and the virtual lane line is within a tolerable range according to the single-lane transverse judgment value. If the relative distance is within the tolerance range, the system will maintain the current relative position, ensuring that the vehicle maintains a proper distance from the virtual lane line. And the system can determine the relative distance between the self-vehicle and the barrier gate through the positioning information of the self-vehicle. According to the relative distance, the system can control the travelling speed of the self-vehicle, ensure that the self-vehicle travels in front of the barrier gate at a proper speed, and realize safe and smooth passing.

Thus, depending on the type and location of the virtual lane line, the system may make lateral adjustments so that the relative distance of the host vehicle from the single-sided lane line remains within an acceptable range at all times. In addition, the travelling speed can be dynamically adjusted according to the relative distance between the self-vehicle and the road gate so as to adapt to different road conditions and traffic requirements.

In some embodiments, the vehicle control method further comprises, prior to determining the relative distance of the host vehicle from the virtual lane line based on the location information of the host vehicle: and determining the lane position of the non-most main driving side lane where the virtual lane line is positioned relative to the most main driving side lane according to the road perception information.

Specifically, by analyzing perceived road perception information, such as image data of a camera, it is possible to identify a non-most driving side lane within the management road section area and determine its position relative to the most driving side lane. Such information may provide a reference for subsequent steps, particularly when determining the relative distance of the host vehicle from the virtual lane line. By combining the visual information and the positioning information, the relative position between the vehicle and the virtual lane line can be more accurately determined, and the control of the vehicle running is further realized.

In some embodiments, the entrance of the regulated section is provided with a barrier gate, and controlling the traveling of the self-vehicle to the barrier gate according to the lane position and the scene condition in the regulated section area comprises: and identifying no ground lane lines and isolation guide roadblock lines in the controlled road section area according to the road perception information, and enabling a front vehicle positioned in front of the vehicle to exist. And controlling the self-vehicle to move to the front of the barrier gate according to the transverse and longitudinal states of the front vehicle.

Specifically, by analyzing and processing the road perception information, the system can identify whether a ground lane line and an isolated guidance barrier line exist within the regulated road section area, and detect whether other vehicles exist in front. This may help the system determine the driving environment and conditions in the current scenario. If the ground lane line and the isolation guide barrier line are absent in the exit road section area, and the presence of other vehicles (i.e., preceding vehicles) in front of the vehicle is detected. The system controls the self-vehicle to travel to the front of the barrier gate according to the transverse and longitudinal states of the front vehicle. The lateral state may include, among other things, the lateral distance and relative positional relationship of the lead vehicle to the host vehicle, as well as the lateral motion state of the lead vehicle (e.g., offset, lane change, etc.). The longitudinal state may include a longitudinal distance and relative speed relationship of the lead vehicle to the host vehicle, as well as a longitudinal movement state of the lead vehicle (e.g., slowing, stopping, etc.). And controlling the vehicle to travel to the front of the barrier gate through a corresponding control strategy. These strategies may include speed adjustment, maintaining a safe distance, interaction with a lead vehicle, etc. to ensure safe, efficient passage of vehicles within the regulated section.

Thus, by identifying a ground-free lane line and an isolated guide barrier line and detecting a preceding vehicle, the method can adjust the traveling behavior of the vehicle according to the state of the preceding vehicle. This helps ensure that the vehicle makes corresponding control decisions within the regulated road area based on the condition of the preceding vehicle to ensure safe and efficient passage through the barrier.

In some embodiments, controlling travel of the host vehicle to the front of the barrier gate based on the lateral and longitudinal status of the lead vehicle comprises: and obtaining the relative distance between the own vehicle and the front vehicle according to the positioning information of the own vehicle. And controlling the relative distance between the own vehicle and the front vehicle to be within a preset distance range.

Specifically, the relative distance between the own vehicle and the preceding vehicle is calculated by a positioning system of the own vehicle, such as a global positioning system, an inertial measurement unit, or the like, and may be a measure of the longitudinal distance (front-rear distance) or the lateral distance (left-right distance). The relative distance between the self-vehicle and the front vehicle is controlled to be kept within a preset safe distance range. This preset safe distance range may be set according to road traffic regulations and vehicle performance to ensure safe vehicle distance and collision prevention. The system ensures that the relative distance between the self-vehicle and the front vehicle is kept within a preset safe distance range by controlling the acceleration, deceleration, braking force and the like of the self-vehicle and the relative speed relation with the front vehicle. When the relative distance is too close, measures such as deceleration or braking can be taken to maintain the safe distance. When the relative distance is too far, the speed of the own vehicle may be adjusted to maintain the proper distance from the preceding vehicle.

By controlling the relative distance between the own vehicle and the front vehicle within a preset distance range, the method can ensure that the safety distance between the own vehicle and the front vehicle is kept when the own vehicle passes through the control road section, reduce the risk of rear-end collision accidents, and improve the safety and stability of vehicle running.

In some embodiments, controlling travel of the host vehicle to the front of the barrier according to the lateral-longitudinal state of the preceding vehicle further comprises: and determining the overlapping degree of the own vehicle and the front vehicle in the transverse direction of the road according to the positioning information of the own vehicle. The overlapping degree of the control own vehicle and the front vehicle in the transverse direction of the road is larger than a preset overlapping value. And controlling the difference value of the course angle between the course angle of the front vehicle and the course angle of the own vehicle to be smaller than a preset angle value.

Specifically, the system calculates the degree of overlap of the own vehicle and the preceding vehicle in the road transverse direction using the positioning information of the vehicle, including the position information of the own vehicle and the preceding vehicle. This can be achieved by comparing the position coordinates of the own vehicle and the preceding vehicle in the lateral direction of the road or by calculating the degree of overlap of the lane lines in which they are located. And determining the minimum safety interval between the own vehicle and the front vehicle in the transverse direction by setting a preset transverse road overlapping value. The system may monitor the lateral distance between the host vehicle and the lead vehicle, ensuring that the lateral distance between the host vehicle and the lead vehicle is greater than the preset value. When the lateral overlapping degree of the own vehicle and the front vehicle is smaller than the preset overlapping value, the system takes corresponding control measures such as speed reduction, lane changing or braking to increase the lateral distance and keep the safety interval.

Further, by analyzing the heading angles of the own vehicle and the preceding vehicle (i.e., the heading angles of the vehicles), the control system may calculate the heading angle difference therebetween. The preset angle value is used for judging whether an excessive course angle difference exists or not so as to avoid unsafe conditions, such as the vehicle deviating from a lane or transversely colliding. The difference value of the course angle between the course angle of the front vehicle and the course angle of the own vehicle is controlled to be smaller than a preset angle value, so that the safe distance and the azimuth relation between the front vehicle and the own vehicle are maintained.

By controlling the overlapping degree and the course angle difference value of the self-vehicle and the front vehicle in the transverse direction of the road, the method can ensure that the proper transverse distance and direction between the self-vehicle and the front vehicle are maintained, and reduce the occurrence of collision and dangerous situations. In addition, the system can also combine other factors such as vehicle sensing information, lane marks, traffic rules and the like to perform more accurate transverse control and safety judgment so as to improve the efficiency and safety of the vehicle passing control road section.

In some embodiments, after the host vehicle travels to the charging area before the barrier gate, the method of the present invention further comprises: and (3) according to the electronic toll collection system (ETC, electronic Toll Collection) recognition model, judging whether the lane where the own vehicle is located is the electronic toll collection lane or not. If the lane where the own vehicle is located is judged to be the electronic toll collection lane, and the own vehicle is provided with a payment function for the electronic toll collection system, the own vehicle is controlled to continue to travel along the lane.

Specifically, the system analyzes the road scene by using a pre-training model, and acquires road information by using online point cloud sensing equipment such as a binocular camera and a laser radar. From these awareness data, the system can acquire characteristics and structure of the lane. And then, the system pre-judges the lane where the self-vehicle is located by utilizing the electronic toll collection system identification model, and judges whether the lane is an electronic toll collection lane. The electronic toll collection system identification model can be trained and learned to have the capability of identifying the electronic toll collection lane. If the prediction result shows that the lane where the own vehicle is located is an electronic toll collection lane and the own vehicle is provided with a payment function (such as an electronic tag) of the electronic toll collection system, the system indicates the own vehicle to continue to run along the current lane without manual payment or parking and other operations. This means that the own vehicle can directly charge by the electronic toll collection lane, and the passing efficiency and convenience are improved.

In some embodiments, the system may utilize computer vision techniques and machine learning algorithms to build efficient and accurate electronic toll collection system identification models. The model can identify and classify according to the characteristics, traffic signs, image information and the like of the lanes, and accurately predict whether the lanes are electronic toll collection lanes. The system can judge whether the self-vehicle is provided with the payment function of the electronic toll collection system or not through reading ETC device information on the self-vehicle or communicating with an information system of the vehicle. Therefore, the function can be used only by vehicles with the electronic toll collection system, misjudgment or misuse is avoided, the toll collection efficiency is improved, and convenient toll collection experience is provided.

In some embodiments, the electronic toll collection system identification pattern comprises at least one of an electronic toll collection door frame model, an electronic toll collection sign identification model, a ground electronic toll collection indication model, and an electronic toll collection electronic screen identification model.

The electronic toll collection door frame model is used for identifying the electronic toll collection door frame, namely electronic toll collection equipment at the entrance of the control road section. The method can detect and identify the existence of the electronic toll collection door frame by analyzing the image or the perception data so as to confirm whether the electronic toll collection lane is accessed. The electronic toll collection sign identification model is used to identify and analyze electronic toll collection sign identifications that typically contain information about electronic toll collection lanes, such as toll collection manners, lane restrictions, and the like. Through the model, the system can read and understand characters, symbols or images on the indication board, and further confirm the electronic toll collection attribute of the current lane. The ground electronic toll collection indication model is used for identifying electronic toll collection indication marks, such as special marks, marks or signs, on the ground. These ground indicators may be used to identify a starting point, a separation area, or other specific location of an electronic toll collection lane. The system can detect and identify these ground indicators by the model to determine the electronic toll collection attributes of the lane. The electronic toll collection electronic screen recognition model is used for recognizing and reading information displayed on the electronic toll collection electronic screen. In some cases, an electronic toll booth may be equipped with an electronic screen to display relevant toll information, lane guides, or other prompts. Through the model, the system can read and analyze the content on the electronic screen, so that information related to the electronic toll collection lane is acquired.

In some embodiments, the weights of the electronic toll collection system identification model may be set according to specific needs and priorities. This means that when identifying an electronic toll collection lane, the system may first rely on an electronic toll collection door frame model based on deep learning, as the presence of an electronic toll collection door frame is an important indicator for identifying an electronic toll collection lane. Second, the system may rely on the electronic toll collection sign identification model and the ground electronic toll collection indication model to further confirm information and location of the electronic toll collection lane. Finally, the electronic toll collection electronic screen identification model may be given a lower weight because it may not be necessary in identifying electronic toll collection lanes, but may still provide additional information.

It should be noted that the setting of the weights may vary depending on the specific application scenario. According to specific requirements, weight distribution among the models can be adjusted according to the accuracy, reliability and practical application effect of the electronic toll collection identification model. Thus, the deep learning-based electronic toll collection door frame model can be given a higher weight, while other models can adjust their weights accordingly. The weight distribution strategy can improve the performance and accuracy of the system and ensure the normal operation and reliability of the control road section.

In some embodiments, the host vehicle is controlled to slow down to a first vehicle speed when traveling along the lane where the host vehicle is located before the barrier gate, in order to ensure that there is sufficient time to make a corresponding determination and control when approaching the barrier gate. The system uses road sensing information, such as cameras or sensors such as lidar, to identify the status of the barrier. By analyzing the time of the lifting of the barrier gate, the system can determine whether the lane in which the own vehicle is located is an electronic toll collection lane. If the barrier gate is lifted within the preset time, the system confirms that the lane where the own vehicle is located is an electronic toll collection lane. Once the lane in which the own vehicle is located is determined to be an electronic toll collection lane, the system will control the own vehicle to reduce speed to a preset second vehicle speed and pass through the barrier gate. The second vehicle speed may be a safe speed when the electronic toll collection lane is in transit. By slowing down and passing through the aisle gates at the second speed, the system can ensure that the vehicle is safely passing through the electronic toll collection lane of the regulated section.

It should be noted that the specific values of the first vehicle speed and the second vehicle speed may be set according to the actual situation and the safety requirement. These speed settings should take into account the handling performance of the vehicle, road conditions, and system requirements for safety and efficiency. There is no particular limitation herein.

In some embodiments, if the lane where the own vehicle is predicted to be a non-electronic toll collection lane or the road gate is not recognized to be lifted within a preset time according to the road perception information, the own vehicle is controlled to stop at a preset distance from the road gate and payment reminding is performed.

Specifically, the system determines whether the lane where the own vehicle is located is the electronic toll collection lane according to the previous electronic toll collection lane pre-judgment and road perception information identification. If the pre-judging result shows that the lane where the own vehicle is located is a non-electronic toll collection lane, namely, the lane does not have the electronic toll collection payment function, or the road gate cannot be identified to be lifted in the preset time according to the road perception information, the system can execute corresponding operation. The system will control the vehicle to stop at a preset distance from the barrier gate. This predetermined distance may be a fixed distance set before approaching the barrier gate to provide sufficient space for subsequent payment operations. Meanwhile, the system can prompt the user that the vehicle needs to be taken over to finish the payment procedure through a reminding sound, a display screen or other ways.

In some embodiments, after the host vehicle passes through the barrier gate, the host vehicle is controlled to enter the high speed lane main road according to the lane position of the lane in which the host vehicle is located.

Specifically, after the payment procedure is completed, the barrier gate will be lifted, allowing the vehicle to pass. This may be by the electronic toll collection identification system confirming that the payment was successful or by manual operation confirming that the payment was completed. According to the lane position information of the lane where the own vehicle is located, the system can control the own vehicle to enter the main road of the high-speed lane. The determination of the lane position may be obtained by means of road-sensing information or other sensors, such as lane lines, signs, etc. The system can analyze and judge the position of the lane where the own vehicle is located, and ensure that the own vehicle enters the correct lane.

In some embodiments, the purpose of controlling the host vehicle to enter the main highway is to allow the host vehicle to smoothly enter the highway and continue traveling to the destination. In the process, the system can ensure that the vehicle enters correctly and adapts to the running condition of the high-speed lane according to the control of the lane position. Thus, safe passing and smooth flowing of vehicles can be ensured. It should be noted that the specific control strategy and manner may vary depending on the actual situation and system design.

In addition, the system may also consider other factors, such as target speed, lane merge, safe spacing, etc., to ensure that the host vehicle safely blends into the highway traffic stream prior to entering the highway host. These factors may be considered by algorithms and decision logic of the vehicle control system to provide optimal driving experience and traffic safety.

In some embodiments, controlling the host vehicle to enter the high speed lane main road according to a lane position of a lane in which the host vehicle is located includes: and if the lane where the own vehicle is located is the most main driving side lane, identifying the main driving side route edge of the most main driving side lane according to the road perception information, and controlling the own vehicle to enter the main road of the high-speed lane along the main driving side route edge of the most main driving side lane. And if the lane where the self-vehicle is located is a non-main driving side lane, controlling the self-vehicle to enter a main road of the high-speed lane according to the scene condition of the lane where the self-vehicle is located.

Specifically, when the lane in which the own vehicle is located is the most-main driving side lane, the system may identify the main driving side route edge of the most-main driving side lane, i.e., the boundary line or edge mark of the lane, according to the road perception information. By identifying the main driving side road edge, the system can control the main driving side road edge of the lane at the most main driving side of the self-vehicle edge to complete transverse control depending on the edge of a single side road, keep the longitudinal reasonable cruising speed and accelerate into the main lane line of the expressway comfortably, and then rely on high-precision map data to carry out high-speed pilot auxiliary control of the vehicle.

When the lane where the own vehicle is located is the non-main driving side lane, the system can control according to the scene condition of the lane where the own vehicle is located so as to ensure that the own vehicle safely enters the main road of the high-speed lane. And then, carrying out high-speed pilot auxiliary control on the vehicle according to the high-precision map data.

In addition, other factors such as lane merging rules, vehicle speed matching, safety distance and the like can be considered besides the lane position and the scene condition, so that vehicles can enter a high-speed lane main road smoothly, and traffic collision and blockage are reduced. These factors may be considered by intelligent algorithms and decision logic of the vehicle control system to provide optimal driving experience and traffic safety.

In some embodiments, prior to determining the lane position of the host vehicle upon entering the regulated road segment area from the road awareness information, the method of the present invention further comprises: navigation information of the own vehicle is obtained. And determining that the vehicle enters the controlled road section area according to the navigation information.

In particular, the system obtains navigation information from the vehicle, including destination, current location, suggested travel route, etc., via a navigation system or other related device. The navigation information can be obtained by a positioning technology such as a global positioning system and the like, and is processed and displayed by a vehicle navigation system. Based on the acquired navigation information, the system can determine that the vehicle needs to enter the regulated road segment area in order to travel to the destination along a predetermined path. The navigation system may provide location and egress information for the regulated road segments, including the name, number, location coordinates, etc. of the toll station. The system can judge whether the vehicle approaches the controlled road section area or not according to the information and the current position of the vehicle, and make corresponding control decisions.

In some embodiments, the navigation information has an important guiding role on the vehicle traffic control road section. By obtaining navigational information, the system may pre-plan the route and destination of the vehicle, including selecting the appropriate controlled road segment access and providing the driver with the navigational instructions desired. Therefore, the method can help a driver to more accurately determine the time and the lane position of the vehicle entering the control road section, and improve the convenience and the efficiency of driving.

Fig. 2 is a control logic diagram for controlling a vehicle traffic control section according to an embodiment of the present invention, and as shown in fig. 2, the control logic for controlling a vehicle traffic control section according to an embodiment of the present invention includes at least steps S10 to S31, specifically as follows.

S10, a perception module is used for obtaining road perception information perceived by the vehicle in the driving process of the user.

S11, a positioning module is used for acquiring the vehicle related position information in the driving process of the user.

And S12, a navigation module is used for acquiring the working information and the working state of the system navigation module in the driving process of the user. The navigation module may access common navigation map information for global planning. The module mainly provides judgment of entering the control road section area and guiding after exiting the control road section area.

S13, a vehicle bus, wherein the vehicle information which can be acquired through the vehicle bus comprises, but is not limited to, vehicle speed, lateral acceleration, longitudinal acceleration, deceleration, steering wheel rotation angle, gear and the like.

S14, determining the current lane position of the own vehicle, and checking before entering the intersection of the control road section depending on the road edge model in the perception module. The road edge model comprises main road edge definitions in the standard, namely, continuous metal, nonmetal anti-collision guardrails and cement road edge shoulders.

S15, an ADS (ADVANCED DRIVER ASSISTANCE SYSTEM, advanced driving assistance system) control module.

The control algorithm of the traffic control road section is built in the module, and the control output of the corresponding track planning is completed depending on corresponding external input and track control requirements. The method comprises the following steps: acquiring state input of a sensing module, a positioning module, a navigation module and a vehicle bus signal; acquiring an upstream planning demand input; acquiring whole vehicle attitude feedback; and outputting a control instruction to the front of the control vehicle along the main driving side road and the front of the control vehicle along the non-main driving side road.

S16, ground lane lines.

S17, isolating and guiding the roadblock line.

S18, front vehicle.

S19, other scenes.

Wherein, if no ground lane line/no isolation guide barrier line/no front car is perceived, other scenes are classified. The system adjusts the current vehicle course angle to be consistent with the course angle of the lane line just before entering the toll area, completes the cruise forward by transverse and longitudinal control, identifies the key perception target of the toll road junction area in advance, and reduces the speed of the vehicle and adjusts the direction. In the process, the positioning module has no transverse relative positioning input, longitudinally relies on the recognition of a front guide line after entering an intersection for a certain period, and combines a sensing distance result and an own vehicle inertia measurement unit calculation result.

S20, judging whether the own vehicle is in the lane at the most main driving side when entering the controlled road section area, if so, proceeding to step S21, and if not, proceeding to step S22.

S21, the front of the vehicle is controlled along the main driving side road.

S22, advancing along the non-most driving side route.

S23, a toll gate safety island/diversion area.

Based on a pre-training model or on-line point cloud (such as a binocular camera, a laser radar and the like) perception, before the system finishes the transverse and longitudinal control to enter a control road section and approach a toll gate safety island/diversion area, the system adjusts a transverse and longitudinal control instruction in advance, and prepares to enter a lane of a toll gate based on the lane planning of the toll gate corresponding to the double-side lane line, and the system also can finish wall collision operation based on the diversion area and the safety island.

S24, judging whether the lane is an electronic toll collection lane, if so, proceeding to step S25, and if not, proceeding to step S26.

S25, speed-down traffic is performed.

S26, stopping the deceleration and reminding the takeover.

S27, determining the current lane position of the own vehicle.

S28, judging whether the own vehicle is in the most main driving side lane when entering the main road of the high-speed lane, if so, proceeding to step S29, and if not, proceeding to step S30.

S29, the vehicle is controlled to move forward along the main driving side road.

S30, advancing along the non-most driving side route.

S31, ending.

In some embodiments, the method of controlling a vehicle traffic control segment further comprises: and responding to a starting instruction of the driving mode of the memory route, and acquiring memory track data of the memory route. And carrying out path matching according to the memory track data and the road perception information of the own vehicle, and determining that the memory route comprises a traffic control road section scene. The control road section through which the own vehicle passes through the memory route is controlled to travel along the memory track of the memory route.

Specifically, the system is capable of initiating a memorized route ride mode in response to a user command. The memorized route driving mode can be a special navigation mode, which allows the vehicle to drive according to the memorized route recorded before. In the memory route driving mode, the system can acquire the track data of the memory route recorded before. The trajectory data may include information of the position, speed, direction, etc. of the vehicle as it passes through the regulated road segment. By matching the acquired memory track data with the road perception information of the current own vehicle, the system can determine the matching degree between the current position and the memory route. The system can acquire the current position, lane position, speed and other information of the own vehicle through the road sensing information, and match the current position, lane position, speed and other information with the memory track so as to determine whether the own vehicle is on the memory route and judge whether the own vehicle enters the scene of the controlled road section.

Further, if it is confirmed by the path matching that the own vehicle is on the memorized route and enters the scene of the regulated section, the system will guide the vehicle to travel along the path of the memorized track, i.e., track-travel with the previous travel track as a reference. The system will control the vehicle to pass through the regulated section according to the memorized route and perform necessary driving operations such as deceleration, parking, charge delivery, etc. according to the corresponding traffic rules and scene requirements.

By starting the memory route driving mode, the system can realize automatic navigation and driving according to the track data recorded before. This can greatly reduce the dependence on navigation and high-precision maps for a driver who is familiar with a specific route and wishes to automatically pass through a controlled road section, and even omit the interactive operation of one-step navigation setting, is more convenient and cost-effective, and can thus provide a more convenient and comfortable driving experience. The memorized driving route comprises a learned scene route of the control road section.

It should be noted that the feasibility and accuracy of memorizing the route driving pattern depends on the quality and accuracy of the memory trajectory data. Therefore, the system should ensure the accuracy of the acquisition and storage of the memory track and perform appropriate data processing and matching algorithms to ensure that the vehicle can accurately travel on the memory route and smoothly pass through the regulated road section.

Fig. 3 is a control logic diagram for controlling a vehicle passing control section based on a memory route according to an embodiment of the present invention, and as shown in fig. 3, the control logic for controlling a vehicle passing control section based on a memory route according to an embodiment of the present invention includes at least steps S100 to S110.

S100, a sensing module.

S101, a positioning module.

S102, a navigation module.

S103, a vehicle bus.

S104, an ADS control module.

S105, route learning, wherein on the premise of proving user consent, the system supports and memorizes corresponding road perception information on the commute path and stores the information in the local of the own vehicle to form vectorized memory track data.

S106, route storage and management, namely a corresponding track data route management and storage module, supports corresponding operations such as adding, deleting, changing, searching and the like.

S107, memorizing the route driving.

S108, judging whether the existing memory route exists, if so, proceeding to step S109, otherwise proceeding to step S110.

Specifically, in the memory route driving mode, the system needs to determine whether an existing memory route exists or not, and confirm that a traffic control road section scene exists in the memory route. When the same area is reentered in the memory driving mode and the area is a control road section, the system reads the memory track data and combines the real-time sensing result to perform path matching.

S109, tracking running. After matching is completed, the system supports tracking running strictly according to the memory track and passes through the toll road junction lane through which the memory path passes. Namely, if the original lane is an electronic toll collection lane, the system supports electronic toll collection traffic. If the original lane is a non-electronic toll collection lane, the system supports stopping before the barrier gate and reminds the user to take over payment.

S110, controlling the vehicles to pass through the control road section according to the control logic of the traffic control road section under the common condition.

Based on the method of controlling a vehicle-passing controlled section of the above embodiment, a system of controlling a vehicle-passing controlled section of an embodiment of the present invention is described below with reference to fig. 4.

Fig. 4 is a block diagram of a vehicle according to one embodiment of the invention, as shown in fig. 4, the vehicle 100 includes: at least one processor 101 and a memory 102.

Wherein the memory 102 is communicatively coupled to the at least one processor 101, the memory 102 stores a computer program executable by the at least one processor 101, and in embodiments, the memory 102 may be a solid state memory (e.g., flash memory) or a Random Access Memory (RAM) for storing the program and intermediate computing results.

Processor 101 is a core component of vehicle 100 that is responsible for processing and executing various instructions, as well as computing and controlling data. The processor 101 when executing a computer program implements the method of controlling a vehicle traffic control section described in the above embodiment.

According to the vehicle 100 of the embodiment of the present invention, by adopting the method for controlling the traffic control section of the vehicle according to the above embodiment, by analyzing and processing the road sensing information, the lane position of the vehicle 100 in the control section area can be precisely located, and the specific scene condition in the control section area can be identified, and the traffic control section of the vehicle can be controlled by combining the lane position and the scene condition in the control section, i.e. the traffic control section of the vehicle can be controlled by the road sensing information, so that the requirement of the vehicle 100 for automatically passing the control section can be satisfied without depending on high-precision map data.

Fig. 5 is a block diagram of a vehicle according to another embodiment of the invention, as shown in fig. 5, the vehicle 100 includes: a sensing system 10 and a controller 20.

Wherein the perception system 10 may be used to collect road perception information. The road sensing information can be obtained through communication transmission of cameras, laser radars, infrared sensors, ultrasonic sensors, unmanned aerial vehicles or other vehicles, and is used for sensing the surrounding environment of the vehicle 100, lane lines, road marks, accurate positions and directions of the vehicle 100 and the like

The controller 20 is connected to the perception system 10 for performing the method of controlling a vehicle traffic control section as described in the above embodiments. The controller 20 receives road perception information from the perception system 10 and makes real-time decisions and controls based on the information. It may include various algorithms and logic for processing awareness data, lane recognition, path planning, speed control, etc., to ensure that the vehicle 100 is safely and efficiently traversing the regulated section of road.

It should be noted that the controller 20 may employ a variety of techniques and algorithms, such as machine learning, deep learning, path planning algorithms, etc., to accommodate different scenarios and requirements. In addition, the system can also interface and cooperate with other vehicle control systems and traffic management systems to achieve more advanced autopilot functionality and traffic flow optimization.

According to the vehicle 100 of the embodiment of the invention, the sensing system 10 is used for acquiring various road sensing information, the controller 20 receives various road sensing information from the sensing system 10 and processes and decides in real time based on the information, and by adopting the method for controlling the traffic control road section of the vehicle described in the above embodiment, the lane position of the vehicle 100 can be precisely positioned, the scene condition in the area of the traffic control road section can be identified, and the vehicle 100 can be controlled to pass through the traffic control road section by itself without depending on high-precision map data, so that the requirement of the scene of the traffic control road section of the vehicle 100 can be satisfied.

In some embodiments of the invention, a computer-readable storage medium is also presented, on which a computer program is stored, which when executed implements the method of controlling a traffic control section of any of the above embodiments.

According to the computer readable storage medium provided by the embodiment of the invention, when the computer program is stored on the computer readable storage medium and executed by the processor 101, the method for controlling the traffic control section of the vehicle of the above embodiment can be realized, the lane position of the vehicle 100 in the control section area can be precisely positioned and the specific scene condition in the control section area can be identified by analyzing and processing the road sensing information, and the traffic control section of the vehicle can be controlled by combining the lane position and the scene condition in the control section, namely, the traffic control section of the vehicle is controlled by the road sensing information, so that the requirement of the vehicle 100 for automatically passing the control section can be met without depending on high-precision map data.

The computer readable storage medium according to the embodiments of the present invention may include, but is not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical and magnetic storage media, and will not be described in detail herein.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (28)

1. A method of controlling a vehicle traffic control section, comprising:

Acquiring road perception information;

Determining the lane position of the own vehicle when entering the control road section according to the road perception information, and identifying the scene condition in the control road section area according to the road perception information;

and controlling the self-vehicle to pass through the control road section according to the lane position and the scene condition in the control road section area.

2. The method of controlling a traffic control section according to claim 1, wherein determining a lane position of the own vehicle at the time of entering the traffic control section based on the road perception information comprises:

identifying the road edge of the driving side of the own vehicle on the current road where the own vehicle is located according to the road perception information;

Obtaining a relative distance value between the self-vehicle and the road edge;

and determining the lane position of the self-vehicle when entering the control road section according to the relative distance value and the single-lane transverse judgment value.

3. The method of controlling a vehicle-passing regulated section according to claim 2, wherein determining a lane position of the own vehicle at the time of entering the regulated section from the relative distance value and the single-lane lateral determination value comprises:

if the relative distance value is greater than or equal to the single-lane transverse judgment value, determining that the own vehicle is in a non-most main driving side lane when entering the control road section; or alternatively

And if the relative distance value is smaller than the single-lane transverse judgment value, determining that the own vehicle is positioned in the lane at the most main driving side when entering the control road section.

4. A method of controlling a vehicle traffic control section according to claim 3, wherein the single-lane lateral determination value= (single-lane width-vehicle width)/2.

5. A method of controlling a vehicular traffic control section according to claim 3, wherein an entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and a scene condition within the control section area, comprising:

determining that the own vehicle is in a lane at the most main driving side when entering the control road section area;

and controlling the self-vehicle to travel to the front of the road gate along the main driving side road edge of the most main driving side lane.

6. The method of controlling a vehicular traffic control section according to claim 5, characterized by controlling the travel of the host vehicle along a main driving side road edge of the most main driving side lane before the barrier gate, comprising:

acquiring positioning information of the own vehicle;

Determining the relative distance between the host vehicle and the main driving side road edge of the most main driving side lane according to the positioning information;

Controlling the relative distance between the host vehicle and the main driving side road edge of the most main driving side lane to be in the tolerance range of a single-lane transverse judgment value in the transverse direction of the most main driving side lane;

and in the longitudinal direction of the lane at the most main driving side, controlling the self-vehicle to run at a preset cruising speed in a decelerating way until the self-vehicle is in front of the barrier gate.

7. A method of controlling a vehicular traffic control section according to claim 3, wherein an entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and a scene condition within the control section area, comprising:

Determining that the own vehicle is in a non-most main driving side lane when entering the control road section, and identifying that a ground lane line is arranged in the control road section area according to the road perception information;

And controlling the self-vehicle to move in front of the barrier gate according to the type of the ground lane line.

8. The method of controlling a vehicle traffic control section according to claim 7, wherein controlling the travel of the host vehicle to the front of the barrier according to the type of the ground lane line comprises:

Determining the ground lane lines as double-sided lane lines;

Obtaining the relative distance between the self-vehicle and the ground lane line according to the positioning information of the self-vehicle;

Controlling the self-vehicle to be positioned at the central position of the ground lane line according to the relative distance between the self-vehicle and the ground lane line; and

And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

9. The method of controlling a vehicle traffic control section according to claim 7, wherein controlling the travel of the host vehicle to the front of the barrier according to the type of the ground lane line comprises:

Determining the ground lane line as a single-side lane line;

Determining the relative distance between the self-vehicle and the ground lane line according to the positioning information of the self-vehicle;

controlling the relative distance between the self-vehicle and the ground lane line to be in the tolerance range of the single-lane transverse judgment value;

And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

10. The method of controlling a vehicle traffic control section according to claim 9, wherein before determining a relative distance of the own vehicle from the ground lane line according to the positioning information of the own vehicle, controlling the travel of the own vehicle to the road gate according to the type of the ground lane line, further comprising:

and determining the lane position of the non-most main driving side lane where the ground lane line is positioned relative to the most main driving side lane according to the road perception information.

11. A method of controlling a vehicular traffic control section according to claim 3, wherein an entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and a scene condition within the control section area, comprising:

determining that the own vehicle is in a non-most driving side lane when entering the control road section area;

Identifying no ground lane line in the controlled road section area according to the road perception information and having an isolated guide roadblock line;

obtaining a virtual lane line corresponding to the isolation guide barrier line;

and controlling the self-vehicle to move in front of the barrier gate according to the type of the virtual lane line.

12. The method of controlling a vehicle traffic control section according to claim 11, wherein controlling the travel of the host vehicle to the front of the barrier according to the type of the virtual lane line comprises:

determining the virtual lane lines as double-sided lane lines;

obtaining the relative distance between the self-vehicle and the virtual lane line according to the positioning information of the self-vehicle;

controlling the self-vehicle to be positioned at the central position of the virtual lane line according to the relative distance between the self-vehicle and the virtual lane line; and

And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

13. The method of controlling a vehicle traffic control section according to claim 11, wherein controlling the travel of the host vehicle to the front of the barrier according to the type of the virtual lane line comprises:

determining the virtual lane line as a single-side lane line;

determining the relative distance between the self-vehicle and the virtual lane line according to the positioning information of the self-vehicle;

Controlling the relative distance between the vehicle and the virtual lane line to be in the tolerance range of the single-lane transverse judgment value;

And determining the relative distance between the self-vehicle and the barrier gate according to the positioning information of the self-vehicle, and controlling the travelling speed of the self-vehicle according to the relative distance between the self-vehicle and the barrier gate.

14. The method of controlling a vehicle traffic control section according to claim 13, wherein before determining a relative distance of the own vehicle from the virtual lane line based on the positioning information of the own vehicle, the vehicle control method further comprises:

And determining the lane position of the non-most main driving side lane where the virtual lane line is positioned relative to the most main driving side lane according to the road perception information.

15. A method of controlling a vehicular traffic control section according to claim 3, wherein an entrance of the control section is provided with a barrier gate, and the self-vehicle is controlled to pass through the control section according to the lane position and a scene condition within the control section area, comprising:

identifying no ground lane lines and isolation guide roadblock lines in the controlled road section area according to the road perception information, and enabling a front vehicle positioned in front of the vehicle to exist;

and controlling the self-vehicle to move in front of the barrier gate according to the transverse and longitudinal states of the front vehicle.

16. The method of controlling a traffic control section according to claim 15, wherein controlling the travel of the host vehicle to the front of the barrier according to the lateral-longitudinal state of the preceding vehicle comprises:

obtaining the relative distance between the own vehicle and the front vehicle according to the positioning information of the own vehicle;

And controlling the relative distance between the self vehicle and the front vehicle to be within a preset distance range.

17. The method of controlling a traffic control section according to claim 16, wherein controlling the travel of the host vehicle to the front of the barrier according to the lateral-longitudinal state of the preceding vehicle further comprises:

Determining the overlapping degree of the self-vehicle and the front vehicle in the transverse direction of the road according to the positioning information of the self-vehicle;

controlling the overlapping degree of the self vehicle and the front vehicle in the transverse direction of the road to be larger than a preset overlapping value; and

And controlling the difference value of the course angle of the front car and the course angle of the own car to be smaller than a preset angle value.

18. A method of controlling a vehicle traffic control section according to claim 5 or 7 or 11 or 15, characterized in that after the travelling of the host vehicle to the front of the road gate, the method further comprises:

the method comprises the steps of pre-judging whether a lane where the self-vehicle is located is an electronic toll collection lane according to an electronic toll collection system identification model;

and if the lane where the self-vehicle is located is judged to be the electronic toll collection lane, and the self-vehicle is provided with a payment function of the electronic toll collection system, controlling the self-vehicle to continue to travel along the lane.

19. The method of controlling a vehicular traffic control segment according to claim 18, wherein the electronic toll collection system identification pattern comprises at least one of an electronic toll collection system door frame model, an electronic toll collection system sign identification model, a ground electronic toll collection system indication model, and an electronic toll collection system electronic screen identification model.

20. The method of controlling a vehicular traffic control segment of claim 18, further comprising:

When the self-vehicle travels to the front of the road gate along the lane where the self-vehicle is located, controlling the self-vehicle to travel at a first vehicle speed;

Identifying that the barrier gate is lifted in a preset time according to the road perception information, and determining that the lane where the self-vehicle is located is an electronic toll collection lane;

controlling the host vehicle to slow down to a second vehicle speed and to pass through the barrier gate at the second vehicle speed.

21. The method of controlling a vehicular traffic control segment of claim 20, further comprising:

And if the lane where the self-vehicle is located is judged to be a non-electronic toll collection lane or the road brake is not recognized to be lifted in the preset time according to the road perception information, controlling the self-vehicle to stop at a preset distance from the road brake and reminding payment.

22. The method of controlling a vehicular traffic control segment of claim 21, further comprising:

and after the self-vehicle passes through the barrier gate, controlling the self-vehicle to enter a main road of the high-speed lane according to the lane position of the lane where the self-vehicle is located.

23. The method of controlling a vehicle traffic control section according to claim 22, wherein controlling the own vehicle to enter a high-speed lane main according to a lane position of a lane in which the own vehicle is located, comprises:

If the lane where the self-vehicle is located is the most main driving side lane, identifying a main driving side road edge of the most main driving side lane according to the road perception information, and controlling the self-vehicle to enter a main high-speed lane road of the control section along the main driving side road edge of the most main driving side lane;

and if the lane where the self-vehicle is located is a non-main driving side lane, controlling the self-vehicle to enter a main road of the high-speed lane of the control road section according to the scene condition of the lane where the self-vehicle is located.

24. The method of controlling a vehicular traffic control section according to claim 1, characterized in that before determining a lane position of a host vehicle at which to enter the control section based on the road perception information, the method further comprises:

Obtaining navigation information of a self-vehicle;

and determining that the vehicle enters the controlled road section area according to the navigation information.

25. The method of controlling a vehicular traffic control segment of claim 1, further comprising:

responding to a starting instruction of a driving mode of the memory route, and acquiring memory track data of the memory route;

Performing path matching according to the memory track data and the road perception information of the own vehicle, and determining that the memory route comprises a traffic control road section scene;

And controlling the self-vehicle to travel along the tracking of the memory track of the memory route and pass through the control road section through which the memory route passes.

26. A vehicle, characterized by comprising:

At least one processor;

a memory communicatively coupled to the at least one processor;

Wherein the memory has stored therein a computer program executable by the at least one processor, the at least one processor implementing the method of controlling a vehicle traffic control section according to any one of claims 1-25 when the computer program is executed.

27. A vehicle, characterized by comprising:

the sensing system is used for collecting road sensing information;

a controller coupled to the perception system for performing the method of controlling a vehicular traffic control segment as claimed in any one of claims 1-25.

28. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the method of controlling a vehicle traffic control section according to any one of claims 1-25.