Traffic directing method and device, vehicle-mounted equipment and vehicle

文档序号：1964969 发布日期：2021-12-14 浏览：23次中文

阅读说明：本技术 一种指挥交通的方法、装置、车载设备及车辆 (Traffic directing method and device, vehicle-mounted equipment and vehicle ) 是由颜敏刘祖齐黄雪妍于 2021-08-06 设计创作，主要内容包括：本申请实施例公开了一种指挥交通的方法、装置、车载设备及车辆,用于对发生的交通意外情况做出快速响应,从而及时指挥交通。本申请实施例方法包括：确定当前车所在的目标区域内出现目标交通情况,然后从目标区域内的多辆车中,确定当前车为用于指挥交通的车,最后通过当前车指挥交通。(The embodiment of the application discloses a method and a device for commanding traffic, vehicle-mounted equipment and a vehicle, which are used for making quick response to the occurrence of traffic accident conditions so as to command traffic in time. The method in the embodiment of the application comprises the following steps: determining that a target traffic condition occurs in a target area where the current vehicle is located, then determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area, and finally directing the traffic through the current vehicle.)

1. A method of directing traffic, comprising:

determining that a target traffic condition occurs in a target area where a current vehicle is located;

determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle;

and directing traffic through the current vehicle.

2. The method of claim 1, wherein the determining, from among a plurality of vehicles within the target area, that the current vehicle is a vehicle for directing traffic comprises:

acquiring a score of the current vehicle based on a target factor, wherein the target factor is used for expressing the understanding degree of the current vehicle on the target traffic condition;

obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles;

and determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of the other vehicles.

3. The method of claim 2, wherein the target factor comprises at least one of a distance of the current vehicle from a target location and a time at which the current vehicle determines the target traffic condition within the target area, the target location being a location within the target area at which the target traffic condition is induced.

4. The method of claim 3, wherein the objective factors further include at least one of a field of view of the current vehicle and a status of the current vehicle, the status of the current vehicle including at least one of a perception capability, a computing capability, a communication capability, and a movement capability of the current vehicle.

5. The method of any one of claims 1 to 4, wherein the determining that the target traffic condition occurs within the target area in which the current vehicle is located comprises:

acquiring an image of the environment where the current vehicle is located;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

6. The method of claim 5, wherein the number of the images of the environment is plural, and the plural images of the environment include two images of the environment having a time interval larger than a target interval;

the determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment comprises:

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold value is larger than the target similarity.

7. The method of any one of claims 1 to 4, wherein the determining that the target traffic condition occurs within the target area in which the current vehicle is located comprises:

acquiring an image of the environment where the current vehicle is located;

sending an image of the environment to a server to cause the server to identify the image of the environment;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

8. The method of any one of claims 1 to 7, wherein said directing traffic by said current vehicle comprises:

transmitting an indication message to at least one of the other vehicles except the current vehicle among the plurality of vehicles so that the other vehicles travel based on the indication message;

or sending an indication message to a traffic device to cause the traffic device to direct traffic based on the indication message.

9. The method of any one of claims 1 to 8, wherein said directing traffic by said current vehicle comprises:

generating a second map of the target area based on the target traffic condition on the basis of the first map of the target area;

transmitting the second map to at least one of the other vehicles except the current vehicle among the plurality of vehicles so that the other vehicles travel based on the second map.

10. The method of any one of claims 1 to 9, wherein after said determining that the current vehicle is a vehicle for directing traffic from among a plurality of vehicles within the target area, the method further comprises:

and sending a command right transfer instruction to the other vehicles, wherein the command right transfer instruction is used for indicating one of the other vehicles as a vehicle for commanding traffic.

11. A method of directing traffic, comprising:

determining that a target traffic condition occurs in a target area where a current vehicle is located;

determining one of other vehicles except the current vehicle in the plurality of vehicles in the target area as a vehicle for directing traffic based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle;

and controlling the current vehicle to run based on the command of the vehicle for commanding traffic.

12. The method of claim 11, wherein the determining, from among a plurality of vehicles within the target area, one of the plurality of vehicles other than the current vehicle as a vehicle for directing traffic comprises:

acquiring a score of the current vehicle based on a target factor, wherein the target factor is used for expressing the understanding degree of the current vehicle on the target traffic condition;

obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles;

and determining one of the other vehicles except the current vehicle from the vehicles in the target area as a vehicle for directing traffic based on the score of the current vehicle and the scores of the other vehicles.

13. The method of claim 12, wherein the target factor comprises at least one of a distance of the current vehicle from a target location and a time at which the current vehicle determines the target traffic condition within the target area, the target location being a location within the target area at which the target traffic condition is induced.

14. The method of claim 13, wherein the objective factors further include at least one of a field of view range of the current vehicle and a status of the current vehicle, the status of the current vehicle including at least one of a perception capability, a computing capability, a communication capability, and a movement capability of the current vehicle.

15. The method of any one of claims 11 to 14, wherein the determining that the target traffic condition occurs within the target area in which the current vehicle is located comprises:

acquiring an image of the environment where the current vehicle is located;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

16. The method of claim 15, wherein the number of the images of the environment is plural, and the plural images of the environment include two images of the environment having a time interval larger than a target interval;

the determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment comprises:

17. The method of any one of claims 11 to 14, wherein the determining that the target traffic condition occurs within the target area in which the current vehicle is located comprises:

acquiring an image of the environment where the current vehicle is located;

sending an image of the environment to a server to cause the server to identify the image of the environment;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

18. The method of any one of claims 11 to 17, wherein said controlling the current vehicle travel based on the command of the vehicle for commanding traffic comprises:

receiving an indication message from the vehicle for directing traffic;

and controlling the current vehicle to run based on the indication message.

19. The method of claim 18, wherein after said receiving an indication message from said vehicle directing traffic, said method further comprises:

and displaying the indication message on a human-computer interaction interface.

20. The method of any one of claims 11 to 19, wherein said controlling the current vehicle travel based on the command of the vehicle for commanding traffic comprises:

receiving a second map from the vehicle for directing traffic, the second map generated based on the target traffic condition by the vehicle for directing traffic on the basis of the first map of the target area;

and controlling the current vehicle to run based on the second map.

21. The method of any one of claims 11 to 20, wherein after determining one of the vehicles other than the current vehicle among the plurality of vehicles within the target area as a vehicle for directing traffic, the method further comprises:

receiving a command right transfer instruction from the vehicle for commanding traffic, wherein the command right transfer instruction is used for indicating that the current vehicle is the vehicle for commanding traffic;

and directing traffic through the current vehicle.

22. An apparatus for directing traffic, comprising:

the first determining unit is used for determining that a target traffic condition occurs in a target area where the current vehicle is located;

a second determining unit, configured to determine, based on occurrence of the target traffic condition in the target area, that the current vehicle is a vehicle for directing traffic from among multiple vehicles in the target area, where the multiple vehicles include the current vehicle;

and the first command unit is used for commanding traffic through the current vehicle.

23. An apparatus for directing traffic, comprising:

the third determining unit is used for determining that the target traffic condition occurs in the target area where the current vehicle is located;

a fourth determining unit, configured to determine, based on the target traffic condition occurring in the target area, one of other vehicles except the current vehicle among the multiple vehicles in the target area as a vehicle for directing traffic, where the multiple vehicles include the current vehicle;

and the second commanding unit is used for controlling the current vehicle to run based on the command of the vehicle for commanding traffic.

24. An in-vehicle apparatus, characterized by comprising: a memory and a processor, wherein the memory is to store computer readable instructions; the processor is configured to read the computer readable instructions and implement the method of any one of claims 1-21.

25. A vehicle characterized by comprising the in-vehicle apparatus according to claim 24.

26. A computer storage medium having computer readable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1-21.

27. A computer program product comprising computer readable instructions which, when executed by a processor, implement the method of any one of claims 1 to 21.

Technical Field

The embodiment of the application relates to the technical field of vehicle networking, in particular to a method and device for commanding traffic, vehicle-mounted equipment and a vehicle.

Background

With the development of the automatic driving technology, the automatic driving technology is more widely used. In the process of using the automatic driving technique, the vehicle can automatically travel according to the destination information, and also has a function of analyzing a road surface obstacle to avoid a collision.

However, during autonomous driving, traffic accidents (e.g., traffic accidents, unexpected obstacles, traffic jams, emergency situations) may occur that may affect the proper use of autonomous driving techniques.

At this time, an unmanned vehicle for directing traffic is generally added, but the cost is high, and since a certain time is required for arranging the unmanned vehicle to a site where a traffic accident occurs, the method cannot achieve quick response, that is, cannot direct traffic in time.

Disclosure of Invention

The embodiment of the application provides a traffic directing method, a traffic directing device, vehicle-mounted equipment and a vehicle.

In a first aspect, the present application provides a method of directing traffic, comprising:

determining that a target traffic condition occurs in a target area where a current vehicle is located; the target area can be understood as a certain area including the position of the current vehicle, and the size, the shape and the like of the target area can be set according to actual needs; for example, the target area may include one road on which the target traffic condition occurs, and may also include other roads connected to the one road; for another example, the target area may also include a circular area centered at the origin (i.e., the primary location where the target traffic condition is initiated); the target traffic conditions include various conditions, which are not specifically limited in the embodiment of the present application; for example, the target traffic situation may include a traffic accident, an unexpected obstacle, an emergency situation (e.g., road closure or maintenance), etc.; determining a current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle, and the vehicle for directing traffic is a vehicle with better understanding of the target traffic condition under the normal condition; and directing traffic through the current vehicle.

When the target traffic condition is determined to occur in the target area, the current vehicle is determined as the vehicle for commanding traffic, and then the current vehicle commands traffic, so that not only is no additional unmanned vehicle required to command traffic, but also the current vehicle is positioned in the target area where the target traffic condition occurs, and the time for transporting the vehicle for commanding traffic to the target area is saved.

As one way of accomplishing this, determining, from among a plurality of vehicles within the target area, that the current vehicle is a vehicle for directing traffic comprises: the method comprises the steps of obtaining a score of a current vehicle based on target factors, wherein the target factors are used for expressing the understanding degree of the current vehicle on target traffic conditions, the types of the target factors are various, and the method is not specifically limited in the embodiment of the application; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles, wherein the calculation method of the scores of the other vehicles can be the same as that of the current vehicle; and determining the current vehicle as the vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of other vehicles.

The target factors are used for representing the degree of understanding of the current vehicle on the target traffic condition, so that the score of the current vehicle is obtained based on the target factors, and then the current vehicle is determined to be the vehicle for directing traffic based on the score of the current vehicle and the scores of other vehicles, so that the vehicle for directing traffic can be guaranteed to know the target traffic condition relatively, and correct and targeted directing for the target traffic environment is facilitated.

In one implementation, the target factor includes at least one of a distance between the current vehicle and a target location, and a time at which the current vehicle determines that the target traffic condition occurs within the target area, the target location being a location within the target area at which the target traffic condition is induced.

The realization mode provides two specific factors of the target factor, and under the general condition, the closer the distance between the current vehicle and the target position is, the higher the understanding degree of the current vehicle on the target traffic condition is; the earlier the current vehicle determines that the target traffic condition occurs in the target area, the higher the understanding degree of the previous vehicle on the target traffic condition is; therefore, based on any one of the two target factors, the vehicle for directing traffic can be guaranteed to have a higher understanding degree of the target traffic condition.

As one implementable manner, the objective factors further include at least one of a field of view of the current cart and a state of the current cart, the state of the current cart including at least one of a perception capability, a computing capability, a communication capability, and a movement capability of the current cart.

This implementation provides several additional specific factors of the target factor that determine the vehicle's command capabilities; under the general conditions, the better the sensing capability, the computing capability, the communication capability and the moving capability are, the stronger the command capability of the vehicle is; therefore, the current vehicle is determined to be the vehicle for directing traffic based on the factors, and the vehicle for directing traffic can be ensured to have better directing capability.

As one way of accomplishing this, determining that the target traffic situation occurs in the target area in which the current vehicle is located includes: acquiring an image of the environment where the current vehicle is located, wherein the image can be understood as an image of the environment around the current vehicle; the method for determining the target traffic condition in the target area where the current vehicle is located includes multiple methods, which are not specifically limited in this embodiment of the present application, for example, the image of the environment may be identified by using an image identification technology to determine the target traffic environment in the target area.

The image of the environment of the current vehicle position can truly reflect the condition of the environment around the current vehicle, so that the target traffic condition in the target area can be accurately determined.

As an achievable way, the number of the images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval larger than the target interval; determining that a target traffic condition occurs in a target area where a current vehicle is located based on the image of the environment comprises: and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold is larger than the target similarity, wherein the target similarity can be set according to actual needs.

For the images of the two environments, the time interval is greater than the threshold, but the similarity is greater than the target similarity, which indicates that the similarity is one hundred percent when the front of the vehicle is in a static state, or the similarity is higher when the current vehicle is in a quasi-static state; wherein quasi-static state can be understood as that the current vehicle moves slowly and is close to static state, for example, the current vehicle does not travel more than 5 kilometers per hour; based on the method, the target traffic condition in the target area can be determined, and the determination method is simple and practical.

As one way of accomplishing this, determining that the target traffic situation occurs in the target area in which the current vehicle is located includes: acquiring an image of an environment where a current vehicle is located; sending an image of the environment to a server to enable the server to identify the image of the environment; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

The identification process of the server is similar to that of the current vehicle in the previous embodiment, and the identification result may include multiple forms, specifically, related to the identification process of the server; for example, the occurrence of the target traffic condition may be determined directly from the scene in the image of the environment, and accordingly, the recognition result may be a message indicating the occurrence of the target traffic condition in the target area; the similarity of the images of the two environments with the time interval larger than the threshold value can also be calculated, correspondingly, the recognition result can be the similarity, and then the target traffic condition in the target area is determined by the current vehicle based on the similarity.

Because the processing capacity of the server to the image is usually stronger than that of the vehicle-mounted equipment, the server identifies the image of the environment, so that the identification result can be ensured to be more accurate, and the requirement on the vehicle-mounted equipment can be reduced, so that the method provided by the embodiment of the application can be applied to more vehicles, and the application range is further widened.

As one way of accomplishing this, directing traffic by the current vehicle includes: transmitting an indication message to at least one of the other vehicles except the current vehicle among the plurality of vehicles so that the other vehicles travel based on the indication message; for example, the information of the position, speed, size, etc. of the obstacle or roadblock can be judged by the sensor, and then an indication message is sent to other vehicles to indicate the other vehicles to avoid or change lanes in advance, wherein the indication message may be "traffic accident happens to the left lane 200 meters ahead, please change lanes in advance", or "a vehicle occupies the lane temporarily in the right lane 100 meters ahead"; or sending an indication message to a traffic device to cause the traffic device to direct traffic based on the indication message, wherein the traffic device refers to a device for directing traffic or assisting communication, for example, the traffic device may be a traffic light; for example, by judging that the slow speed is caused by large traffic flow, an indication message is sent to the traffic lights to enable the traffic lights to jump out of a conventional mode and enter an emergency mode, the green light time of a lane with large traffic flow is prolonged, and the green light time of lanes in other directions is shortened.

Because the human gesture may not be accurately recognized by the vehicle, when a target traffic condition occurs, if the vehicle is commanded to run by the human gesture, the vehicle cannot continue to run by the unmanned technology; compared with the mode of commanding the vehicle to run through human gestures, the method and the device for commanding other vehicles to run based on the indication message through the indication message are more accurate and efficient; and because the indication message is accurately identified, the embodiment of the application can enable the vehicle to continue to run by the unmanned technology when the target traffic condition occurs.

As one way of accomplishing this, directing traffic by the current vehicle includes: generating a second map of the target area based on the target traffic condition on the basis of a first map of the target area, wherein the first map can be understood as a basic static map of the target area, and the first map can be downloaded from a server; and sending the second map to at least one of the other vehicles except the current vehicle so that the other vehicles run based on the second map.

Since the second map is generated based on the target traffic situation, the current situation of the target area can be more accurately reflected compared with the first map, and the second map is sent to other vehicles, so that the other vehicles can better travel according to the second map.

As one way of accomplishing this, after determining, from among a plurality of vehicles within the target area, that the current vehicle is a vehicle for directing traffic, the method further comprises: and sending a command right transfer instruction to other vehicles, wherein the command right transfer instruction is used for indicating one of the other vehicles as a vehicle for directing traffic.

In some scenarios, the current vehicle may not be better suited for traffic guidance than other vehicles, for example, after the current vehicle has left the target area, the current vehicle is not suitable for continuing to direct traffic; at the moment, the command right transfer instruction is sent to other vehicles, so that the transfer of the traffic command right can be realized, and the traffic can be continuously and well commanded by other vehicles.

In a second aspect, an embodiment of the present application provides a method for directing traffic, including: determining that a target traffic condition occurs in a target area where a current vehicle is located; the target area can be understood as a certain area including the position of the current vehicle, and the size, the shape and the like of the target area can be set according to actual needs; for example, the target area may include one road on which the target traffic condition occurs, and may also include other roads connected to the one road; for another example, the target area may also include a circular area centered at the origin (i.e., the primary location where the target traffic condition is initiated); the target traffic conditions include various conditions, which are not specifically limited in the embodiment of the present application; for example, the target traffic situation may include a traffic accident, an unexpected obstacle, an emergency situation (e.g., road closure or maintenance), etc.; determining one of other vehicles except the current vehicle in the plurality of vehicles as a vehicle for directing traffic from the plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle; the current vehicle is controlled to travel based on the command of the vehicle for commanding traffic.

When the target traffic condition is determined to occur in the target area, one of the other vehicles except the current vehicle is used as the vehicle for commanding traffic, and the current vehicle is controlled to run based on the command of the vehicle for commanding traffic, so that not only is an additional unmanned vehicle not needed to command traffic, but also the time for transporting the vehicle for commanding traffic to the target area is saved when the current vehicle is located in the target area where the target traffic condition occurs.

As one implementation, determining one of the vehicles other than the current vehicle among the plurality of vehicles in the target area as a vehicle for directing traffic includes: the method comprises the steps of obtaining a score of a current vehicle based on target factors, wherein the target factors are used for expressing the understanding degree of the current vehicle on target traffic conditions, the types of the target factors are various, and the method is not specifically limited in the embodiment of the application; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles, wherein the calculation method of the scores of the other vehicles can be the same as that of the current vehicle; and determining the current vehicle as the vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of other vehicles.

As one way of accomplishing this, controlling current vehicle travel based on a command for a vehicle used to command traffic includes: receiving an indication message from a vehicle for directing traffic, wherein the indication message can be 'traffic accidents happen in a left lane 200 meters ahead, please change lanes in advance', or 'vehicles temporarily occupy lanes in a right lane 100 meters ahead'; and controlling the current vehicle to run based on the indication message.

Because the human gesture may not be accurately recognized by the vehicle, when a target traffic condition occurs, if the vehicle is commanded to run by the human gesture, the vehicle cannot continue to run by the unmanned technology; compared with the mode of commanding the vehicle to run through human gestures, the method and the device for controlling the current vehicle to run based on the indication message are more accurate and efficient; in addition, since the indication message is accurately identified by the current vehicle, the embodiment of the application can enable the current vehicle to continue to run through the unmanned technology when the target traffic condition occurs.

As one implementable manner, after receiving the indication message from the vehicle for directing traffic, the method further comprises: and displaying the indication message on the man-machine interaction interface.

And the indication message is displayed on the man-machine interaction interface, so that the driver can check the indication message more conveniently.

As one way of accomplishing this, controlling current vehicle travel based on a command for a vehicle used to command traffic includes: receiving a second map from the vehicle for directing traffic, wherein the second map is generated based on the target traffic condition on the basis of a first map of a target area by the vehicle for directing traffic, the first map can be understood as a basic static map of the target area, and the first map can be downloaded from a server; and controlling the current vehicle to run based on the second map.

As one way to achieve this, after determining, from among a plurality of vehicles within the target area, one of the vehicles other than the current vehicle is a vehicle for directing traffic, the method further includes: receiving a command right transfer instruction from a vehicle for commanding traffic, wherein the command right transfer instruction is used for indicating that the current vehicle is the vehicle for commanding traffic; and directing traffic through the current vehicle.

In some scenarios, the current vehicle may be more suitable for traffic guidance than the previously determined vehicle for traffic guidance, e.g., the vehicle for traffic guidance may not be suitable for continuing to guide traffic after leaving the target area; at the moment, the command right transfer instruction is sent to the current vehicle, so that the transfer of the traffic command right can be realized, and the traffic can be continuously and well directed through the current vehicle.

In a third aspect, an embodiment of the present application provides a device for directing traffic, including: the first determining unit is used for determining that a target traffic condition occurs in a target area where the current vehicle is located; the second determining unit is used for determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle; and the first command unit is used for commanding traffic through the current vehicle.

As an achievable way, the second determining unit is used for acquiring the score of the current vehicle based on the target factor, wherein the target factor is used for representing the understanding degree of the current vehicle on the target traffic condition; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles; and determining the current vehicle as the vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of other vehicles.

As an achievable way, the first determining unit is used for acquiring an image of an environment where the current vehicle is located; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

As an achievable way, the number of the images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval larger than the target interval; correspondingly, the first determining unit is used for determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold value is larger than the target similarity.

As an achievable way, the first determining unit is used for acquiring an image of an environment where the current vehicle is located; sending an image of the environment to a server to enable the server to identify the image of the environment; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

As an implementable manner, the first commanding unit is used for sending the indication message to at least one of the other vehicles except the current vehicle, so that the other vehicles run based on the indication message; or sending an indication message to the traffic device to cause the traffic device to direct traffic based on the indication message.

As an implementation manner, the first command unit is used for generating a second map of the target area based on the target traffic condition on the basis of the first map of the target area; and sending the second map to at least one of the other vehicles except the current vehicle so that the other vehicles run based on the second map.

As an implementable manner, the apparatus further comprises: the first command right transfer unit is used for sending a command right transfer instruction to other vehicles, and the command right transfer instruction is used for indicating one vehicle in the other vehicles as a vehicle for commanding traffic.

For specific implementation, related descriptions, and technical effects of the above units, please refer to the description of the first aspect of the embodiments of the present application.

In a fourth aspect, an embodiment of the present application provides a device for directing traffic, including: the third determining unit is used for determining that the target traffic condition occurs in the target area where the current vehicle is located; the fourth determining unit is used for determining one of the vehicles except the current vehicle in the target area as a vehicle for directing traffic from the vehicles in the target area based on the target traffic condition in the target area, wherein the vehicles include the current vehicle; and the second commanding unit is used for controlling the current vehicle to run based on the command of the vehicle for commanding traffic.

As an achievable way, the fourth determining unit is used for acquiring the score of the current vehicle based on the target factor, wherein the target factor is used for representing the understanding degree of the current vehicle on the target traffic condition; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles; and determining one of the other vehicles except the current vehicle from the vehicles in the target area as the vehicle for directing traffic based on the score of the current vehicle and the scores of the other vehicles.

As an achievable way, the third determining unit is configured to obtain an image of an environment where the current vehicle is located; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

As an achievable way, the number of the images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval larger than the target interval; and the third determining unit is used for determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold value is larger than the target similarity.

As an achievable way, the third determining unit is configured to obtain an image of an environment where the current vehicle is located; sending an image of the environment to a server to enable the server to identify the image of the environment; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

As an implementable manner, a second command unit for receiving a command message from a vehicle for directing traffic; and controlling the current vehicle to run based on the indication message.

As an implementable manner, the apparatus further comprises: and the display unit is used for displaying the indication message on the human-computer interaction interface.

As an implementation, the second commanding unit is used for receiving a second map from the vehicle for commanding traffic, and the second map is generated based on the target traffic condition on the basis of the first map of the target area by the vehicle for commanding traffic; and controlling the current vehicle to run based on the second map.

As an implementable manner, the apparatus further comprises: the second command right transfer unit is used for receiving a command right transfer instruction from a vehicle for commanding traffic, and the command right transfer instruction is used for indicating that the current vehicle is the vehicle for commanding traffic; and directing traffic through the current vehicle.

For the specific implementation, the related description and the technical effects of the above units, please refer to the description of the second aspect of the embodiment of the present application.

A fifth aspect of the embodiments of the present application provides an onboard apparatus, including: one or more processors and memory; wherein the memory has stored therein computer readable instructions; the one or more processors read the computer readable instructions to cause the vehicle-mounted device to implement the method of any implementation of the first aspect, or to implement the method of any implementation of the second aspect.

A sixth aspect of embodiments of the present application provides a computer-readable storage medium, which includes computer-readable instructions that, when executed on a computer, cause the computer to perform the method according to any one of the implementation manners of the first aspect or the second aspect.

A seventh aspect of embodiments of the present application provides a chip including one or more processors. Part or all of the processor is configured to read and execute the computer program stored in the memory to perform the method in any possible implementation manner of the first aspect or the second aspect.

Optionally, the chip may include a memory, and the memory and the processor may be connected to the memory through a circuit or a wire. Further optionally, the chip further comprises a communication interface, and the processor is connected to the communication interface. The communication interface is used for receiving data and/or information needing to be processed, the processor acquires the data and/or information from the communication interface, processes the data and/or information, and outputs a processing result through the communication interface. The communication interface may be an input output interface.

In some implementations, some of the one or more processors may also implement some of the steps of the above method by means of dedicated hardware, for example, a process involving a neural network model may be implemented by a dedicated neural network processor or a graphics processor.

The method provided by the embodiment of the application can be realized by one chip or by cooperation of a plurality of chips.

An eighth aspect of the present embodiment provides a computer program product, where the computer program product includes computer software instructions, and the computer software instructions may be loaded by a processor to implement the method of any one of the foregoing implementation manners of the first aspect or the second aspect.

A ninth aspect of embodiments of the present application provides a vehicle including the in-vehicle apparatus as in the fifth aspect of embodiments of the present application.

Drawings

FIG. 1 is a schematic diagram of an architecture of an in-vehicle system according to an embodiment of the present application;

fig. 2 is a schematic diagram of an embodiment of a method for directing traffic according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an embodiment of determining occurrence of a target traffic situation in an embodiment of the present application;

FIG. 4 is a schematic diagram of a first embodiment of the present application for determining that a current vehicle is a vehicle for directing traffic;

FIG. 5 is a diagram of a second embodiment of the present application in which a current vehicle is determined to be a vehicle for directing traffic;

fig. 6 is a schematic diagram of another embodiment of a method for directing traffic according to an embodiment of the present application;

FIG. 7 is a diagram of a human-machine interface in an embodiment of the present application;

FIG. 8 is a schematic diagram of an embodiment of a display mode of an indication message in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a first embodiment of a device for directing traffic according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a second embodiment of a traffic directing apparatus according to an embodiment of the present application;

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

Detailed Description

The embodiment of the application provides a traffic directing method, a traffic directing device, vehicle-mounted equipment and a vehicle.

The embodiment of the application can be applied to the vehicle-mounted management system shown in fig. 1, and the vehicle-mounted management system is generally deployed in a vehicle-mounted device and specifically comprises an environment sensing module, a processing decision module, a communication module and a storage module; the environment sensing module may include a variety of modules, for example, the environment sensing module includes, but is not limited to, an Ultra Wide Band (UWB) wireless ranging sensor, a radar, a camera, and the like.

The environment sensing module is used for sensing information of surrounding environment and information of a vehicle; the processing decision module is used for determining a vehicle for commanding traffic based on the information sensed by the environment sensing module, and is also used for generating indication information for commanding traffic when the vehicle for commanding traffic is the vehicle where the vehicle-mounted equipment is located; the communication module is used for sending indication information to other vehicles or traffic equipment; the storage module is used for storing the information sensed by the environment sensing module and processing the indication information generated by the decision module.

The traffic equipment can be equipment such as traffic lights and the like which can play a role of traffic guidance; the indication information may include various information, for example, the indication information may include direction information in which the vehicle travels, range information in which the vehicle can travel, and the like.

The method provided by the embodiment of the application can utilize the car networking technology, and the car networking technology is introduced firstly below.

The concept of the internet of vehicles is derived from the internet of things, namely the internet of vehicles, and the network connection between vehicles and X (namely the vehicles, people, roads and cloud platforms) is realized by taking the vehicles in driving as information perception objects and by means of a new generation of information communication technology, so that the overall intelligent driving level of the vehicles is improved, safe, comfortable, intelligent and efficient driving feeling and traffic service are provided for users, meanwhile, the traffic operation efficiency is improved, and the intelligent level of social traffic service is improved.

The car networking realizes the all-round network link of car and cloud platform, car and car, car and road, car and people, car interior through the information communication technology of new generation, has mainly realized "three nets merge", namely fuses car intranet, intercar network and on-vehicle mobile internet. The car networking senses the state information of the vehicles by using a sensing technology, and realizes intelligent management of traffic, intelligent decision of traffic information service and intelligent control of the vehicles by using a wireless communication network and a modern intelligent information processing technology.

The communication between the vehicle and the cloud platform means that the vehicle realizes information transmission with the cloud platform through wireless communication technologies such as satellite wireless communication or mobile cellular, receives a control instruction issued by the cloud platform, and shares vehicle data in real time.

The communication between vehicles means that information exchange and information sharing are realized between vehicles, and the communication comprises vehicle state information such as vehicle positions, running speeds and the like and can be used for judging road traffic conditions.

The communication between the vehicles and the roads means that the information communication between the vehicles and the roads is realized by the aid of ground road fixed communication facilities, and the information communication is used for monitoring road surface conditions so as to guide the vehicles to select the optimal running path.

The communication between the vehicle and the people means that a user can communicate with the vehicle through wireless communication means such as Wi-Fi, Bluetooth, honeycomb and the like, so that the user can monitor and control the vehicle through corresponding mobile terminal equipment.

The communication among the devices in the vehicle refers to data transmission among the devices in the vehicle, and is used for real-time detection and operation control of the device state and establishment of a digital control system in the vehicle.

It is understood that under normal traffic conditions, a vehicle may utilize autopilot technology to achieve autopilot, but when traffic accidents occur, complete autopilot may not be achieved using autopilot technology; on this basis, an unmanned vehicle for directing traffic is generally added, but the cost is high, and since it takes a certain time to arrange the unmanned vehicle to a site where a traffic accident occurs, the method cannot direct traffic in time.

To this end, the embodiment of the present application provides a method for directing traffic, which is to select one vehicle from a plurality of vehicles as a vehicle for traffic direction in an area where a traffic accident occurs, and direct the traffic by the vehicle for traffic direction; the method does not need additional unmanned vehicles to command traffic, and vehicles for commanding traffic are located in the area where traffic accidents happen, so that the time for transporting the vehicles for commanding traffic to the area where traffic accidents happen is saved.

It should be noted that the method provided by the embodiment of the present application is not only applicable to a vehicle that is being automatically driven by using the unmanned technology, i.e., the vehicle using the unmanned technology can continue to realize automatic driving based on the command of the vehicle of traffic guidance; the method provided by the embodiment of the application is also suitable for the vehicle which is not automatically driven by using the unmanned technology, namely, the driver of the vehicle which is not automatically driven by using the unmanned technology can drive the vehicle based on the command of the vehicle commanded by traffic.

It should be understood that when a traffic accident occurs, all vehicles located on site, as long as the method provided by the embodiment of the present application is deployed, will select a vehicle for traffic guidance according to the method provided by the embodiment of the present application; for ease of understanding, the method for directing traffic provided by the present application will be specifically described below by taking a vehicle (hereinafter referred to as a current vehicle) in which the method provided by the embodiments of the present application is deployed as an example.

For the current vehicle, the situation of selecting the vehicle for directing traffic is divided into two cases; the first situation is that the current vehicle is selected as the vehicle for directing traffic, and at this time, the current vehicle is required to direct traffic; in the second case, a certain vehicle other than the current vehicle is selected as the vehicle for traffic guidance, and at this time, the current vehicle needs to travel according to the guidance of the other vehicle.

The first case will be explained first.

Specifically, as shown in fig. 2, an embodiment of the present application provides an embodiment of a method for directing traffic, where the embodiment includes:

step 101, determining that a target traffic condition occurs in a target area where a current vehicle is located.

The target area can be understood as a certain area including the position of the current vehicle, and the size, the shape and the like of the target area can be set according to actual needs; for example, the target area may include one road on which the target traffic condition occurs, and may also include other roads connected to the one road; as another example, the target area may also include a circular area centered at the center of the incident (i.e., the primary location where the target traffic condition is initiated).

The target traffic conditions include various conditions, which are not specifically limited in the embodiment of the present application; for example, the target traffic condition may include a traffic accident, an unexpected obstruction, an emergency condition (e.g., road closure or maintenance), and so forth.

There are various methods for determining the occurrence of the target traffic condition in the target area, and this is not specifically limited in the embodiment of the present application.

As one way of implementation, as shown in fig. 3, step 101 includes:

step 201, obtaining an image of an environment where a current vehicle is located.

Specifically, the image of the environment of the current vehicle position can be shot through the camera on the vehicle, and the image of the environment can be an image of the current vehicle in any direction of front, back, left and right.

Step 202, determining that a target traffic condition occurs in a target area where the current vehicle is located based on the image of the environment.

Specifically, an image recognition algorithm may be employed to process images of the environment to determine the occurrence of a target traffic condition; for example, if the image of the environment includes a scene where two vehicles collide, the scene can be directly recognized from the image of the environment, so as to determine that the target traffic condition occurs.

If the target traffic situation cannot be determined directly from the scene in the image of the environment, the following method may also be used to determine the target traffic situation.

Specifically, the number of images of the environment is multiple, and the multiple images of the environment include two images of the environment with a time interval larger than a target interval, where the target interval may be set according to actual needs, for example, the target interval is 10s, 20s, or the like.

Accordingly, step 202 includes: and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold value is larger than the target similarity.

The target similarity can be set according to actual needs, and the embodiment of the application is not particularly limited; the similarity between the images of two environments is a mature technology and will not be described in detail here.

For the images of the two environments, the time interval is greater than the threshold, but the similarity is greater than the target similarity, which indicates that the similarity is one hundred percent when the front of the vehicle is in a static state, or the similarity is higher when the current vehicle is in a quasi-static state; quasi-static may be understood as that the current vehicle moves slowly, approaching static, such as the current vehicle travels no more than 5 kilometers per hour.

In the embodiment, the current vehicle identifies the image of the environment by itself, and determines the occurrence of the target traffic condition based on the identification result of the image of the environment; in addition to this, the image of the environment can also be recognized by the server.

Thus, as one way of achieving this, step 101 comprises:

acquiring an image of an environment where a current vehicle is located;

sending an image of the environment to a server to enable the server to identify the image of the environment;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

The identification process of the server is similar to the identification process of the current vehicle in the foregoing embodiment, for example, the occurrence of the target traffic condition may be directly determined according to a scene in the image of the environment, and accordingly, the identification result may be a message indicating the occurrence of the target traffic condition in the target area; the similarity of the images of the two environments with the time interval larger than the threshold value can also be calculated, correspondingly, the recognition result can be the similarity, and then the target traffic condition in the target area is determined by the current vehicle based on the similarity.

And 102, determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle.

It will be appreciated that there are typically many vehicles in the target area and therefore there is a need to select one of them for traffic guidance, wherein there are many methods of selection and the application is not limited thereto.

In the selection process, it is usually necessary to select a vehicle with better understanding of the target traffic situation as the vehicle for directing the traffic.

This will be specifically explained below.

As one way of achieving this, as shown in fig. 4, step 102 comprises:

step 301, obtaining the score of the current vehicle based on the objective factor, wherein the objective factor is used for indicating the understanding degree of the current vehicle on the target traffic condition.

The target factors are used for representing the understanding degree of the current vehicle on the target traffic condition, so that the score of the current vehicle is obtained based on the target factors, and the vehicle with higher understanding degree on the target traffic condition can be selected as the vehicle for directing traffic.

The target factor may include various factors, which are not specifically limited in the embodiments of the present application.

When the target factor includes a plurality of factors, the score of the current car may include a score corresponding to each factor, and may further include a total score of the current car, which is calculated based on the score corresponding to each factor, and specifically, the score corresponding to each factor may be weighted based on a weight corresponding to each factor to obtain the total score.

The kind of the target factor will be explained below.

Illustratively, the target factor includes at least one of a distance of the current vehicle from the target location and a time at which the current vehicle determines that the target traffic condition occurs within the target area.

In general, the closer the current vehicle is to the target position, the higher the degree of understanding of the current vehicle about the target traffic condition; the earlier the current vehicle determines that the target traffic condition occurs in the target area, the higher the degree of understanding of the target traffic condition by the preceding vehicle.

The target location is a location within the target area where the target traffic condition is induced, for example, when the target traffic condition is traffic congestion, the target location may be a location where a collision occurs; when the target traffic condition is a road block, the target location may be a location where the road surface collapses.

The target position may be identified based on an image of the target traffic situation, which may be captured by the current vehicle or acquired from another vehicle using the car networking technology.

The distance between the current vehicle and the target position can be measured by a radar; the smaller the distance between the current vehicle and the target position is, the more the current vehicle can analyze and clearly understand the reason of the target traffic condition.

In the above embodiments, the objective factor is related to the objective traffic condition, and besides the objective traffic condition, the objective factor may also be related to the ability to direct traffic, which may be embodied in various aspects, which will be described in detail below.

Illustratively, the objective factors further include at least one of a field of view of the current vehicle and a status of the current vehicle including at least one of a perception capability, a computing capability, a communication capability, and a movement capability of the current vehicle.

It will be appreciated that the field of view and the current vehicle state are both related to the ability to direct traffic.

Specifically, the better the field of view, the more information of the surrounding environment that can be perceived by the current vehicle, i.e., the more information of the surrounding environment that can be referred to, the stronger the ability to direct traffic.

For example, in the case of traffic congestion, the view range is better when the current vehicle is located on a slope than when the current vehicle is located under a slope, and accordingly, the camera of the current vehicle can acquire images in a wider range, so that a better decision can be made, and the traffic directing capability is stronger.

The better the current vehicle state is, the stronger the traffic directing capability is; under the undamaged condition, the current vehicle state is generally better, and the traffic directing capability is better, but if the current vehicle state is damaged, the current vehicle state may be poor, and the traffic directing capability will be poor; the potential for damage to the current vehicle exists particularly after the occurrence of the target traffic condition, and thus, in this embodiment, the target factor may also include the status of the current vehicle.

The relationship between the current vehicle state and the ability to direct traffic is further described below.

The stronger the perception capability of the current vehicle is, the more the information of the surrounding environment can be perceived by the current vehicle is, i.e. the more the information of the surrounding environment can be referred to, so the stronger the traffic directing capability is; if the perception capability is deteriorated, the information of the surrounding environment that can be perceived by the current vehicle becomes less, that is, the information of the surrounding environment that can be referred to becomes less, so the capability of directing traffic is weaker.

The stronger the computing power of the current vehicle, the stronger the processing power of the current vehicle, the more favorable it is to make a correct decision, and the more timely the response is, the stronger the ability to direct traffic, wherein the computing power may also be referred to as decision-making power; conversely, the weaker the command ability.

The stronger the communication capacity of the current vehicle is, the stronger the capacity of the current vehicle for sending messages to other vehicles is, so the stronger the capacity of commanding traffic is; conversely, the weaker the command ability.

The stronger the moving capability of the current vehicle is, the more flexible the current vehicle is, and the current vehicle can be moved to different positions to acquire more environmental information, so the stronger the command capability is; conversely, the weaker the command ability.

The sensing capability may be determined according to a working condition of a sensor of the current vehicle (for example, whether information can be normally acquired) and an acquisition capability of the sensor (for example, a capability of some sensors to acquire information is strong), the computing capability may be determined according to a processing capability and a working state of a processor disposed in the current vehicle, and the communication capability may be determined according to a working condition and a communication capability of the communication module.

The following will specifically describe a process of obtaining the score of the current vehicle based on the above objective factors by using an application example.

Step 302, obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles.

Specifically, the identifiers from other vehicles and the scores corresponding to the identifiers may be received by using a vehicle network technology, the scores of the other vehicles may be calculated by the other vehicles, and the calculation process is similar to the process of obtaining the score of the current vehicle, and will not be described in detail herein.

And step 303, determining the current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of other vehicles.

There are various methods for determining a vehicle for directing traffic, and the embodiment of the present application is not particularly limited thereto.

For example, the objective factors include a plurality of factors, and the score of the current car includes the score corresponding to each factor and the total score, and the scores of the other cars also include the score corresponding to each factor and the total score; setting a corresponding threshold value for each factor in advance, screening out vehicles with the score of each factor being larger than the threshold value from a plurality of vehicles in a target area, and taking the screened vehicles as vehicles with traffic guidance capability (including current vehicles); then, the current vehicle with the largest total score is selected as the vehicle for traffic guidance from the vehicles with traffic guidance capability.

For another example, if the score of the current car only includes the total score and the scores of the other cars also only include the total score, the score of the current car and the total scores of the other cars may be ranked and the current car with the largest total score may be selected as the car for directing traffic.

And 103, directing traffic through the current vehicle.

It is understood that current vehicles may direct traffic based on vehicle network technology.

As one way of accomplishing this, step 103 comprises:

and sending the indication message to at least one of the other vehicles except the current vehicle, so that the other vehicles run based on the indication message.

For example, the sensor may determine the position, speed, size, etc. of the obstacle or roadblock, and then send an indication message to the other vehicle to indicate the other vehicle to avoid or change the lane in advance, where the indication message may be "a traffic accident occurs in the left lane 200 meters ahead, please change the lane in advance", or "a vehicle occupies the lane temporarily in the right lane 100 meters ahead".

For another example, the vehicle speed may be controlled by judging that the lane becomes narrow and the vehicles converge to cause congestion, and then sending an instruction message to the other vehicle to instruct the other vehicle to narrow the lane ahead.

The method for sending the indication message is not specifically limited in the embodiment of the application, for example, the current vehicle may send the indication message in a full broadcast manner, may also send the indication message in a partial broadcast manner (i.e., to some vehicles in other vehicles), and may also send the indication message in a point-to-point manner.

As one way of accomplishing this, step 103 comprises:

an indication message is sent to the traffic device to cause the traffic device to direct traffic based on the indication message.

The traffic device refers to a device for directing traffic or assisting communication, and may be a traffic light, for example.

For example, by judging that the slow speed is caused by large traffic flow, an indication message is sent to the traffic lights to enable the traffic lights to jump out of a conventional mode and enter an emergency mode, the green light time of a lane with large traffic flow is prolonged, and the green light time of lanes in other directions is shortened.

It should be noted that, in the above two embodiments, an effective time may also be set for the indication message, and the effective time is also sent to the transportation device or the other vehicles at the same time of sending the indication message, so that the transportation device directs the traffic based on the indication message in the effective time, and the other vehicles run based on the indication message in the effective time.

As another implementable manner, step 103 includes:

generating a second map of the target area based on the target traffic condition on the basis of the first map of the target area;

and sending the second map to at least one of the other vehicles except the current vehicle so that the other vehicles run based on the second map.

It should be noted that the first map may be understood as a basic static map of the target area, the first map may be downloaded from the server, and the generated second map may not be uploaded to the server.

Since the second map is generated based on the target traffic situation, the second map can be understood as a temporary high-precision map that is constructed locally.

There are various methods for generating the second map based on the target traffic condition, for example, information about road conditions, pedestrians, vehicles, etc. in the target area may be acquired, and then the second map may be generated based on the information and the first map.

Since the second map is generated based on the target traffic situation, the second map may be deleted after the current vehicle has traveled out of the target area or the target traffic situation is resolved.

On the second map, the current vehicle may also be subjected to path planning.

And step 104, sending a command right transfer instruction to other vehicles, wherein the command right transfer instruction is used for indicating one of the other vehicles as a vehicle for commanding traffic.

It is understood that after step 104 is executed, the command right of the traffic is transferred to a vehicle indicated by the command right transfer instruction, and accordingly, the traffic can be directed by the vehicle indicated by the command right transfer instruction, wherein the process of directing the traffic can be understood with reference to the description of step 103.

As can be seen from the foregoing description, a valid time may be set for the indication message; if the step 104 is executed within the effective time, the vehicle indicated by the command right transfer instruction can command traffic after the effective time; if step 104 is performed after the valid time, the vehicle indicated by the command right transfer instruction can directly command traffic.

The process of obtaining the score of the current vehicle and the process of determining the vehicle for directing traffic are specifically described below through an application example, in which the target factors include the distance between the current vehicle and the target position, the visual field range of the current vehicle, and the state of the current vehicle.

Specifically, the distance between the current vehicle and the target position is divided into three grades, wherein 0-2m is one grade and is marked as A grade; 2m-5m is a grade and is marked as B grade; another grade is more than 5m and is marked as C grade; wherein, the grade A is graded into 5 points, the grade B is graded into 3 points, and the grade C is graded into 1 point.

Dividing the view range (the maximum range of images captured by a camera) of the current vehicle into four grades, wherein 0-90 degrees are one grade and are marked as A grade; 90-180 degrees is a grade and is marked as B grade; the other level is 180-270 degrees and is marked as C level; the degree of 270-360 degrees is a grade and is marked as grade D; wherein, the grade A is graded as 1, the grade B is graded as 2, the grade C is graded as 3, and the grade D is graded as 5.

For the state of the current vehicle, whether the current vehicle is damaged or not is uniformly checked, and the communication capacity, the sensing capacity, the computing capacity and the moving capacity of the current vehicle are uniformly checked; and the communication capacity, the perception capacity and the calculation capacity are divided into four levels respectively: no, standard blending, medium blending and high blending; each capability corresponds to a different score.

The grades and scores corresponding to the above objective factors are shown in the following table:

based on the above table, for each vehicle, the score and the total score corresponding to each target factor may be obtained, where each vehicle includes the current vehicle.

The distance between the current vehicle and the target position, the visual field range of the current vehicle, the communication capacity, the sensing capacity, the calculation capacity and the movement capacity are all 3 points; the vehicle with the score value larger than 3 corresponding to each target factor can be selected from all vehicles and used as the vehicle with the command capability, and then the current vehicle with the maximum total score value is selected from the vehicles with the command capability and used as the vehicle for commanding traffic.

For example, as shown in fig. 5, with respect to the unmanned vehicles 1, 2, and 3, it is determined that the unmanned vehicles 1 and 3 are vehicles having a command capability and the unmanned vehicle 2 is a vehicle having no command capability according to scores corresponding to a distance from a target position, a field of view of a current vehicle, a communication capability, a perception capability, a calculation capability, and a movement capability, and then the unmanned vehicle 3 having a high total score (i.e., the current vehicle) is selected from the unmanned vehicles 1 and 3 as a vehicle for commanding traffic.

The second case will be explained first.

Specifically, as shown in fig. 6, an embodiment of the present application provides another embodiment of a method for directing traffic, where the embodiment includes:

step 401, determining that a target traffic condition occurs in a target area where a current vehicle is located.

As one way of accomplishing this, step 401 comprises: acquiring an image of an environment where a current vehicle is located;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

As one realizable way, the number of images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval greater than the target interval.

Accordingly, step 401 comprises: and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the fact that the similarity of the images of the two environments with the time interval larger than the threshold value is larger than the target similarity.

As one way of accomplishing this, step 401 comprises: acquiring an image of an environment where a current vehicle is located;

sending an image of the environment to a server to enable the server to identify the image of the environment;

and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

It should be noted that step 401 is similar to step 101, and step 401 can be understood with reference to the related description of step 101.

Step 402, based on the target traffic condition occurring in the target area, determining one of the vehicles except the current vehicle from the vehicles in the target area as a vehicle for directing traffic, wherein the vehicles include the current vehicle.

As one way of accomplishing this, step 402 comprises: obtaining the score of the current vehicle based on a target factor, wherein the target factor is related to the target traffic condition;

obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles;

and determining one of the other vehicles except the current vehicle from the vehicles in the target area as the vehicle for directing traffic based on the score of the current vehicle and the scores of the other vehicles.

The target factor includes at least one of a distance between the current vehicle and a target location, and a time at which the current vehicle determines that the target traffic situation occurs within the target area, the target location being a location within the target area at which the target traffic situation is induced.

The targeting factors also include at least one of a field of view of the current vehicle and a status of the current vehicle including at least one of a perception capability, a computing capability, a communication capability, and a movement capability of the current vehicle.

It should be noted that step 402 is similar to step 102, and step 402 can be understood with reference to the related description of step 102; in contrast, the current vehicle is finally determined as the vehicle for directing traffic by step 102, and a vehicle other than the current vehicle is determined as the vehicle for directing traffic by step 402.

And step 403, controlling the current vehicle to run based on the command of the vehicle for commanding traffic.

As can be seen from the related description of the previous step 103, step 403 includes, as an implementation manner:

receiving an indication message from a vehicle for directing traffic;

and controlling the current vehicle to run based on the indication message.

It will be appreciated that the indication message is different and the process of controlling the current vehicle travel is different.

For example, when the indication message is "a traffic accident happens in the left lane 200 meters ahead, please change lanes in advance", the current vehicle can be controlled to change lanes in advance; and when the indication message indicates that the road surface in front has accumulated water and the vehicle is required to slow down, controlling the current vehicle to slow down.

As one way of accomplishing this, step 403 comprises:

receiving a second map from the vehicle for directing traffic, the second map being generated based on the target traffic condition based on the first map of the target area for the vehicle for directing traffic;

and controlling the current vehicle to run based on the second map.

The second map has already been described based on the foregoing, and therefore, the description thereof is omitted here.

Because the second map is generated based on the target traffic condition, the second map is more accurate compared with the first map, and therefore the second map is more beneficial to the current vehicle to go together, and other accidents such as traffic jam are avoided.

And step 404, displaying an indication message on the man-machine interaction interface.

Indication information can be displayed through the human-computer interaction interface for viewing.

The human-machine interface may be any interface capable of presenting information in the current vehicle, for example, as shown in fig. 7, the human-machine interface may be a center control screen, a windshield, a Display screen integrated on a steering wheel, or a Head Up Display (HUD) device of the current vehicle.

The display indication message may be in various forms, for example, as shown in fig. 8, "a traffic accident occurs in a lane 200 meters ahead of the vehicle, and please change lanes ahead" may be displayed in the message frame, or a gray portion may be used to indicate that driving is not suitable ahead on the lane, and a guidance prompt (e.g., an arrow) may be used to indicate that lane change to the right.

It should be noted that, in addition to displaying the indication message on the human-computer interaction interface, the indication message may also be played in a voice playing manner.

Step 405, receiving a command right transfer instruction from a vehicle for commanding traffic, wherein the command right transfer instruction is used for indicating that the current vehicle is the vehicle for commanding traffic.

Based on the description in step 104, the vehicle for directing traffic can transfer the traffic command right to other vehicles through the command right transfer instruction; in this embodiment, a vehicle for directing traffic (other than the current vehicle) may transfer the traffic command to the current vehicle through a command transfer instruction.

And 406, directing traffic through the current vehicle.

After the current vehicle receives the command right transfer instruction, the traffic is directed by the current vehicle, and it should be noted that the process of directing the traffic by the current vehicle can be understood by referring to the related description of step 104 in the foregoing.

Referring to fig. 9, an embodiment of the present application provides an embodiment of a device for directing traffic, including: a first determining unit 501, configured to determine that a target traffic condition occurs in a target area where a current vehicle is located; a second determining unit 502, configured to determine, based on a target traffic condition occurring in the target area, that the current vehicle is a vehicle for directing traffic from multiple vehicles in the target area, where the multiple vehicles include the current vehicle; and a first directing unit 503, configured to direct traffic through the current vehicle.

As an achievable way, the second determining unit 502 is configured to obtain a score of the current vehicle based on a target factor, where the target factor is used to indicate a degree of understanding of the target traffic situation by the current vehicle; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles; and determining the current vehicle as the vehicle for directing traffic from a plurality of vehicles in the target area based on the score of the current vehicle and the scores of other vehicles.

As an achievable way, the first determining unit 501 is configured to obtain an image of an environment where the current vehicle is located; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

As an achievable way, the number of the images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval larger than the target interval; correspondingly, the first determining unit 501 is configured to determine that a target traffic condition occurs in a target area where the current vehicle is located based on that the similarity of the images of the two environments, where the time interval is greater than the threshold, is greater than the target similarity.

As an achievable way, the first determining unit 501 is configured to obtain an image of an environment where the current vehicle is located; sending an image of the environment to a server to enable the server to identify the image of the environment; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

As an implementable manner, the first commander unit 503 is configured to transmit an instruction message to at least one of the other vehicles except the current vehicle among the plurality of vehicles, so that the other vehicles travel based on the instruction message; or sending an indication message to the traffic device to cause the traffic device to direct traffic based on the indication message.

As an implementable manner, the first commanding unit 503 is configured to generate a second map of the target area based on the target traffic situation on the basis of the first map of the target area; and sending the second map to at least one of the other vehicles except the current vehicle so that the other vehicles run based on the second map.

As an implementable manner, the apparatus further comprises: the first command right transfer unit 504 is configured to send a command right transfer instruction to other vehicles, where the command right transfer instruction is used to indicate one of the other vehicles as a vehicle for directing traffic.

For the specific implementation, the related description and the technical effects of the above units, please refer to the description of the method portion in the embodiment of the present application.

As shown in fig. 10, an embodiment of the present application provides a device for directing traffic, including: a third determining unit 601, configured to determine that a target traffic condition occurs in a target area where a current vehicle is located; a fourth determining unit 602, configured to determine, based on a target traffic condition occurring in the target area, one of the vehicles other than the current vehicle among the vehicles in the target area as a vehicle for directing traffic, where the vehicles include the current vehicle; and a second commanding unit 603 configured to control the current vehicle to travel based on a command of the vehicle for commanding traffic.

As an achievable way, the fourth determining unit 602 is configured to obtain a score of the current vehicle based on a target factor, where the target factor is used to indicate a degree of understanding of the target traffic situation by the current vehicle; obtaining the scores of other vehicles except the current vehicle in the plurality of vehicles; and determining one of the other vehicles except the current vehicle from the vehicles in the target area as the vehicle for directing traffic based on the score of the current vehicle and the scores of the other vehicles.

As an achievable way, the third determining unit 601 is configured to obtain an image of an environment where the current vehicle is located; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the image of the environment.

As an achievable way, the number of the images of the environment is multiple, and the multiple images of the environment comprise two images of the environment with a time interval larger than the target interval; the third determining unit 601 is configured to determine that a target traffic condition occurs in a target area where the current vehicle is located based on that the similarity of the images of the two environments, where the time interval is greater than the threshold, is greater than the target similarity.

As an achievable way, the third determining unit 601 is configured to obtain an image of an environment where the current vehicle is located; sending an image of the environment to a server to enable the server to identify the image of the environment; and determining that the target traffic condition occurs in the target area where the current vehicle is located based on the recognition result of the image of the environment from the server.

As an implementable manner, a second commanding unit 603 for receiving a command message from a vehicle for commanding traffic; and controlling the current vehicle to run based on the indication message.

As an implementable manner, the apparatus further comprises: and a display unit 604 for displaying the indication message on the human-computer interaction interface.

As an implementation manner, the second commanding unit 603 is configured to receive a second map from the vehicle for directing traffic, wherein the second map is generated based on the target traffic condition of the vehicle for directing traffic on the basis of the first map of the target area; and controlling the current vehicle to run based on the second map.

As an implementable manner, the apparatus further comprises: a second right-of-command transfer unit 605, configured to receive a right-of-command transfer instruction from a vehicle for directing traffic, where the right-of-command transfer instruction is used to indicate that the current vehicle is a vehicle for directing traffic; and directing traffic through the current vehicle.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a vehicle-mounted device provided in an embodiment of the present application, for implementing functions of the apparatus for directing traffic in the embodiment corresponding to fig. 9 or the apparatus for directing traffic in the embodiment corresponding to fig. 10, specifically, the vehicle-mounted device 1800 is implemented by one or more servers, and the vehicle-mounted device 1800 may generate relatively large differences due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 1822 (e.g., one or more processors) and a memory 1832, and one or more storage media 1830 (e.g., one or more mass storage devices) for storing applications 1842 or data 1844. The memory 1832 and the storage medium 1830 may be, among other things, transient storage or persistent storage. The program stored on the storage medium 1830 may include one or more modules (not shown), each of which may include a series of instruction operations on a computer device. Still further, a central processor 1822 may be provided in communication with the storage medium 1830 to execute a series of instruction operations in the storage medium 1830 on the computer device 1800.

The computer device 1800 may also include one or more power supplies, one or more wired or wireless network interfaces 1850, one or more input-output interfaces 1858, and/or one or more operating systems 1841, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, and so forth.

In this embodiment, the central processing unit 1822 may be configured to execute a method executed by the apparatus for directing traffic in the embodiment corresponding to fig. 9. Specifically, the central processor 1822 may be configured to:

determining that a target traffic condition occurs in a target area where a current vehicle is located;

determining a current vehicle as a vehicle for directing traffic from a plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle;

and directing traffic through the current vehicle.

In this embodiment of the application, the central processing unit 1822 may be configured to execute a method executed by the apparatus for directing traffic in the embodiment corresponding to fig. 10. Specifically, the central processor 1822 may be configured to:

determining that a target traffic condition occurs in a target area where a current vehicle is located;

determining one of other vehicles except the current vehicle in the plurality of vehicles as a vehicle for directing traffic from the plurality of vehicles in the target area based on the target traffic condition in the target area, wherein the plurality of vehicles comprise the current vehicle;

the current vehicle is controlled to travel based on the command of the vehicle for commanding traffic.

Embodiments of the present application also provide a chip including one or more processors. Part or all of the processor is used for reading and executing the computer program stored in the memory so as to execute the method of the foregoing embodiments.

The method provided by the embodiment of the application can be realized by one chip or by cooperation of a plurality of chips.

The embodiment of the application also provides a computer storage medium, which is used for storing computer software instructions used by the computer equipment and comprises a program used for executing the program designed for the vehicle-mounted equipment.

The vehicle-mounted device can be a device for directing traffic in the embodiment corresponding to fig. 9 or a device for directing traffic in the embodiment corresponding to fig. 10.

The embodiment of the present application further provides a computer program product, which includes computer software instructions that can be loaded by a processor to implement the flow in the method shown in the foregoing embodiments.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

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Traffic directing method and device, vehicle-mounted equipment and vehicle

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