CN111311936B - Method, device and equipment for determining vehicle passable state and storage medium - Google Patents
Method, device and equipment for determining vehicle passable state and storage medium Download PDFInfo
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- CN111311936B CN111311936B CN202010147153.4A CN202010147153A CN111311936B CN 111311936 B CN111311936 B CN 111311936B CN 202010147153 A CN202010147153 A CN 202010147153A CN 111311936 B CN111311936 B CN 111311936B
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining a passable state of a vehicle. The method comprises the following steps: determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle; determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection; and if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection. According to the method and the device, the current passable state of the target vehicle is determined according to the driving information of the target vehicle, the map information of the target intersection and the information of the target signal lamp, so that the target vehicle is clear to have the right of way ahead or give way at present, the vehicle is provided with a correct and visual driving suggestion, and the orderly passing is guaranteed.
Description
Technical Field
The embodiment of the invention relates to the technical field of traffic safety, in particular to a method, a device, equipment and a storage medium for determining a passable state of a vehicle.
Background
In order to ensure the safety of the vehicle in the running process, the internet connection vehicle, particularly the internet connection automatic driving vehicle, pays more and more attention to the traffic target signal lamp information in the running process of the vehicle. However, the traffic target signal light information currently acquired only includes the signal light color and the signal light shape information in the vehicle passing direction. The internet connected vehicle judges whether the traffic right is provided according to the received color information of the traffic direction signal lamp, but the internet connected vehicle is difficult to judge whether the traffic right is provided according to the shape information of the signal lamp.
For example, there is a case where a part of the intersections go straight and go in the left turn direction at the same time, and in this case, there is no dedicated traffic light for the straight or left turn direction, which causes a running conflict.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining a vehicle passable state, and determines whether a vehicle is right in advance in time so as to guide the vehicle to pass orderly.
In a first aspect, an embodiment of the present invention provides a vehicle passable state determination method, including:
determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle;
determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
and if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection.
In a second aspect, an embodiment of the present invention provides a vehicle passable state determination apparatus, including:
the target signal lamp information determining module is used for determining the target signal lamp information of the target intersection according to the target intersection map information and the target vehicle driving information;
the traffic indication determining module is used for determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
and the passable state determining module is used for determining the current passable state of the target vehicle according to the map information of the target intersection if the current signal lamp indicates that the passage is allowed.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle passable state determination method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the vehicle passable state determination method according to any one of the embodiments of the present invention.
In the embodiment of the invention, the target signal lamp information of the target intersection is determined according to the map information of the target intersection and the driving information of the target vehicle; and determining whether the current signal lamp indicates permission to pass according to the target signal lamp information of the target intersection. If the current signal lamp indicates that the vehicle is allowed to pass through, the current passable state of the target vehicle is determined according to the map information of the target intersection so as to guide the vehicle to pass through in order and avoid traffic accidents caused by traffic flow conflict during running.
Drawings
Fig. 1 is a flowchart of a vehicle passable state determining method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a conflicting vehicle flow at a target intersection according to an embodiment of the present invention;
fig. 3 is a flowchart of a vehicle passable state determining method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle passable state determining device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a method for determining a passable vehicle state according to an embodiment of the present invention. The vehicle passable state determining method provided by the embodiment can be applied to the situation that the passable state of the target vehicle is determined to guide the target vehicle to pass in order, and typically, the embodiment of the invention can be applied to the situation that whether traffic flow which conflicts with the traveling direction of the target vehicle exists or not is determined according to the map information of the target intersection, the traveling direction of the target vehicle and the target signal lamp information, and the antecedent right of the conflicting traffic flow is analyzed in the existing situation to determine the passable state of the target vehicle so as to guide the target vehicle to pass in order. The method can be realized by a V2X (Vehicle-to-aircraft wireless communication technology) roadside system and a V2X Vehicle-mounted system, and can also be realized by a V2X cloud and a V2X Vehicle-mounted system. The method may be carried out in particular by a vehicle passable state determination device, which may be implemented in software and/or hardware, which may be integrated in the apparatus. Referring to fig. 1, the method of the embodiment of the present invention specifically includes:
and S110, determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle.
The map information of the target intersection can be the type of the target intersection, the included traffic flow direction information, the lane information, the guidance lane line and other information. The map information of the target intersection can acquire the driving direction of the lane and the attribute information of the lane, such as whether the map information is a variable lane or not, the phase ID information corresponding to the lane and the like; the road section flow direction information can acquire information such as the flow direction of the road section at the intersection, the phase ID corresponding to each flow direction and the like; the intersection is accessed into the information list of the road section, the types of the intersection such as a crossroad and a T-shaped intersection can be judged, and the passing rules of the road section of the intersection such as the prohibition of left turn, one-way passing and the like can be judged. The map information of the target intersection can be acquired through the map information. The target vehicle driving information can be current vehicle positioning, steering wheel steering information, steering lamp information, driving path navigation information and the like of the target vehicle. The driving information can be acquired through the vehicle-mounted terminal according to a monitoring system of the vehicle.
Illustratively, according to the driving information of the target vehicle and the map information of the target intersection, the positioning of the target vehicle at the target intersection and on the road is determined, which lane the target vehicle is located in is determined, the current driving direction of the target vehicle is further determined, and the target signal lamp information is determined by taking the signal lamp of the target intersection in front of the driving direction as the target signal lamp.
And S120, determining whether the current signal lamp indicates permission to pass according to the target signal lamp information of the target intersection.
Specifically, in the embodiment of the present application, in order to determine whether a vehicle has a right of way when a signal lamp allows the vehicle to pass through, it is necessary to determine whether the signal lamp indicates permission to pass through in the current driving direction according to the driving direction of the vehicle and target signal lamp information, that is, when the target signal lamp information is green, it is determined that permission to pass through is indicated.
Illustratively, the V2X vehicle-mounted terminal of the target vehicle acquires the target signal light information of the current intersection. And extracting a phase information list of the signal lamp, wherein the phase information list comprises information such as lamp color, time and the like corresponding to each phase. Specifically, the light color information includes red, yellow and green; the time information includes the green light start time, end time, remaining time, restart time, and the like for each phase. Based on the target signal lamp information, the vehicle-mounted terminal of V2X judges the phase ID to which the driving direction of the target vehicle belongs by combining the map information, and performs matching according to the phase information in the target signal lamp information list corresponding to the phase ID, so as to obtain the target signal lamp information corresponding to the driving direction of the vehicle.
And S130, if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection.
Determining the current passable state of the target vehicle according to the map information of the target intersection, wherein the method comprises the following steps: determining whether a traffic flow which conflicts with a target vehicle exists at the target intersection according to the traffic flow direction in the traffic-allowed state in the map information of the target intersection; and determining the current passable state of the target vehicle according to the judgment result of whether the traffic flow which conflicts with the target vehicle exists.
In particular, in the case where the traffic light allows passage, there may be a plurality of trafficable flows in the direction of the allowed passage. When a plurality of traffics capable of passing through are released simultaneously, traffic conflicts may be caused, and as shown in fig. 2, when a straight traffic a and a left-turn traffic D are released simultaneously, traffic conflicts may be caused, which is not favorable for orderly passing of vehicles.
For example, as shown in fig. 2, as for the driving direction of the traffic flow a, it is determined according to the map information of the target intersection, at this time, the traffic flow B, the traffic flow C, and the traffic flow D can all pass through. Since the traffic regulation stipulates that, in the case of left turn while passing, a left-turning vehicle needs to give a lead to a straight vehicle, the target vehicle and the vehicle corresponding to the traffic flow C have a lead right, and the passable state thereof is a lead state. In this case, the vehicles corresponding to the traffic flow D and the traffic flow B do not have the right of way, and the passable state is the concessional state.
In the embodiment of the application, only the passing state of the target vehicle can be displayed, and the passing states of traffic flows on a plurality of lanes on the road where the target vehicle is located can also be displayed simultaneously, so that the target vehicle is prompted to be in the passing state when the target vehicle is about to change lanes, whether the target vehicle has the right of way in advance or not can be conveniently obtained in advance, the running efficiency is improved, and the ordered passing is realized.
Optionally, before determining the current passable state of the target vehicle according to the map information of the target intersection, the method further includes: determining the driving direction of the target vehicle at the target intersection according to the map information of the target intersection and the driving information of the target vehicle or according to the driving information of the target vehicle; correspondingly, according to the map information of the target intersection, determining the current passable state of the target vehicle, including: and determining the current passable state of the target vehicle according to the map information of the target intersection and the driving direction of the target vehicle at the target intersection.
Determining the driving direction of the target vehicle according to the map information of the target intersection and the driving information of the target vehicle or according to the driving information of the target vehicle, comprising the following steps: determining the driving direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the positioning information of the target vehicle in the driving information of the target vehicle; or determining the running direction of the target vehicle according to the state information of the steering wheel and/or the state information of the steering lamp in the running information of the target vehicle; or determining the driving direction of the target vehicle according to navigation information in the driving information of the target vehicle; or determining the running direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the fusion result of the target vehicle positioning information, the steering wheel state, the steering lamp state information and the navigation information in the running information of the target vehicle.
For example, in order to determine the passable state of the target vehicle in the current driving direction, it is necessary to acquire the driving direction of the target vehicle. In the embodiment of the application, the lane where the target vehicle is currently located may be determined according to the positioning information of the target vehicle, and the allowable driving direction of the lane may be determined through a guidance lane line located in the lane, so as to determine the driving direction of the target vehicle. For example, if the guidance lane line on the lane where the target vehicle is currently located is a left turn lane line, the current driving direction of the target vehicle is a left turn. And judging whether the target vehicle is about to turn according to the direction information and/or the steering lamp information of the target vehicle, wherein if the monitoring system of the vehicle judges that the steering wheel is turned to the left or the target vehicle turns on a left steering lamp, the driving direction of the target vehicle is the left turning direction. And determining the direction to which the target vehicle is going to travel according to the navigation information of the target vehicle, and further determining the passable state of the target vehicle in a targeted manner.
In the embodiment of the application, the road side system and/or the cloud side can collect map information of the target intersection, then the map information is sent to the vehicle-mounted terminal, the vehicle-mounted terminal determines existing conflict traffic according to the map information of the target intersection and a target intersection signal lamp phase information list, and the passable state of the target vehicle is further determined by combining the running direction of the target vehicle. The road test system and/or the cloud end can also collect map information of the target intersection and determine the traffic flow with conflict according to the map information. And the vehicle-mounted terminal matches the positioning of the target vehicle with the positioning of the traffic flow with conflict when the current signal lamp is released, so that the traffic flow where the target vehicle is located is determined, and whether the head right exists is further determined.
In the embodiment of the invention, the target signal lamp information of the target intersection is determined according to the map information of the target intersection and the driving information of the target vehicle; and determining whether the current signal lamp indicates permission to pass according to the target signal lamp information of the target intersection. If the current signal lamp indicates that the vehicle is allowed to pass through, the current passable state of the target vehicle is determined according to the map information of the target intersection so as to guide the vehicle to pass through in order and avoid traffic accidents caused by traffic flow conflict during running.
Fig. 3 is a flowchart of a vehicle passable state determining method according to another embodiment of the present invention. For further optimization of the embodiments, details which are not described in detail in the embodiments are described in the embodiments. Referring to fig. 3, the method for determining the passable state of the vehicle provided by the embodiment may include:
and S210, determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle.
And S220, acquiring a phase information list of the signal lamp.
Wherein the phase information list of the signal lamp can be obtained based on the V2X technology. Including information such as the color of the light and the time corresponding to each phase of the signal. Specifically, the light color information includes red, yellow and green; the time information includes the green light start time, end time, remaining time, restart time, and the like for each phase.
And S230, determining the indication state of the signal lamp followed by the target vehicle when the target vehicle runs according to the phase information list of the signal lamp.
For example, according to the phase information list of the signal lamps, the current time, the color of the signal lamp of the target intersection towards each branch road section direction, and whether the vehicles in each direction are allowed to pass are determined, so that whether the signal lamps followed by the target vehicle in the driving direction allow the target vehicle to pass is determined.
Optionally, determining the indication state of the signal lamp followed by the target vehicle during running according to the phase information list of the signal lamp includes: determining the phase ID of the target vehicle in the map information; and matching the phase ID with the phase ID in the phase information list of the signal lamp to acquire the indication state of the signal lamp followed by the target vehicle.
S240, determining whether the current signal lamp indicates permission to pass or not according to the indication state and the corresponding relation between the indication state and the indication passing state.
Illustratively, the indication state may be a color of the signal and an indication graphic, the color including red, yellow and green, the indication graphic including a straight arrow, a left-turn arrow and a right-turn arrow. If the indication color is green, the current signal light indicates that the traffic is allowed. If the color of the indicating graph is green, the indicating graph is a straight arrow, and the indicating graph indicates that the current signal lamp indicates that straight running is allowed. If the color of the indicating graph is green, the current signal lamp indicates that the left turn is allowed to pass. And if the color of the indicating graph is green, indicating that the right turn passes by the current signal lamp.
And S250, if the current signal lamp indicates that the vehicle is allowed to pass, determining whether the target intersection has a traffic flow which conflicts with the target vehicle or not according to the traffic flow direction in the allowed passing state in the map information of the target intersection. If yes, go to S260; if not, go to S270.
Illustratively, all phase IDs of which the current signal lights are green lights and the traffic directions included in all phase IDs of which the current signal lights are green lights are acquired. And judging whether the traffic flow conflicting with the direction of the target networked vehicle exists in the traffic flow released simultaneously with the driving direction of the target vehicle or not according to the path track of the current released traffic flow.
For example, if the current signal light indicates that the traffic is allowed to pass, the direction of the traffic flow allowed to pass at the target intersection is determined, and whether the traveling direction of the target vehicle and the traveling direction of other traffic flows allowed to pass have traveling conflicts or not is determined by combining the traveling direction of the target vehicle. If yes, further judging whether the target vehicle has the right of way ahead; if not, the target vehicle can pass directly, and the right of pass is provided, and the step S270 is executed.
S260, determining whether the target vehicle has the right of way or not according to a preset passing rule; if yes, go to S270; if not, go to step S280.
The preset rule can be a traffic law and regulation. For example, the passable state can be divided into a lead state and a yield state, which are both in a state of allowing passage. The traffic flow direction corresponding to the advance state has the advance right, the traffic flow corresponding to the advance state is a main line traffic flow in all current traffic flow directions capable of being passed, the main line traffic flow is protected by a signal lamp in the passing process of a target intersection, and the traffic flow can be preferentially passed without being influenced by other conflicted traffic flows unless the motor vehicle flow or the pedestrian flow. The traffic flow direction corresponding to the traffic state does not have the right of first-aid, the traffic flow corresponding to the traffic state needs to give way to the main line traffic flow under the condition that the released main line traffic flow and the pedestrians pass through are not hindered, and the passable insertion gap between the main line traffic flows passes through the target intersection.
And S270, determining the current passable state of the target vehicle to be a preceding state.
The prior state is that the vehicle can directly pass without stopping and avoiding other traffic flows.
And S280, determining the current passable state of the target vehicle to be a yielding state.
The passing state is that the vehicle needing to stop and pass other vehicles with the right of way first passes through and can only pass through.
According to the technical scheme of the embodiment of the invention, whether the current running direction of the target vehicle is allowed to pass is accurately determined through the phase information list of the signal lamp, whether a traffic flow which conflicts with the running direction of the target vehicle exists is judged under the condition that the traffic flow is allowed to pass, and when the traffic flow which conflicts with the running direction of the target vehicle does not exist, the passable state of the target vehicle is directly determined as the prior state so as to prompt that the vehicle can directly pass through the target intersection. When the traffic flow which conflicts with the driving direction of the target vehicle exists, whether the driving direction of the target vehicle has the antecedent right relative to other passable traffic flows is determined according to the traffic regulation, and if the driving direction of the target vehicle has the antecedent right, the vehicle is set to be in an antecedent state to prompt the vehicle to directly drive through. If the right of way ahead does not exist, the passable state of the target vehicle is determined as the passing state, so that the vehicle is prompted to avoid, the vehicle is ensured to pass in order at the target intersection, and the traffic accident caused by disordered driving order due to simultaneous passing is avoided.
Fig. 4 is a schematic structural diagram of a vehicle passable state determining device according to an embodiment of the present invention. The device can be suitable for the condition of vehicle speed guidance according to the road condition of a road section between a target intersection and an adjacent intersection, and is typically suitable for the condition of determining the passable state of a target vehicle to guide the target vehicle to pass in order. The apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in a device. Referring to fig. 4, the apparatus specifically includes:
the target signal lamp information determining module 310 is configured to determine target signal lamp information of a target intersection according to the target intersection map information and the target vehicle driving information;
a traffic indication determining module 320, configured to determine whether the current signal light indicates permission to pass according to the target signal light information of the target intersection;
the passable state determining module 330 is configured to determine, according to the map information of the target intersection, a current passable state of the target vehicle if the current signal lamp indicates that passage is allowed.
Optionally, the apparatus further comprises:
the driving direction determining module is used for determining the driving direction of the target vehicle at the target intersection according to the map information of the target intersection and the driving information of the target vehicle or according to the driving information of the target vehicle;
accordingly, the passable state determining module 330 is specifically configured to:
and determining the current passable state of the target vehicle according to the map information of the target intersection and the driving direction of the target vehicle at the target intersection.
Optionally, the driving direction determining module includes:
the first determining unit is used for determining the driving direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the positioning information of the target vehicle in the driving information of the target vehicle; or,
the second determining unit is used for determining the running direction of the target vehicle according to the state information of the steering wheel and/or the state information of the steering lamp in the running information of the target vehicle; or,
the third determining unit is used for determining the driving direction of the target vehicle according to the navigation information in the driving information of the target vehicle; or,
and the fourth determining unit is used for determining the driving direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the fusion result of the target vehicle positioning information, the steering wheel state, the steering lamp state information and the navigation information in the driving information of the target vehicle.
Optionally, the passable status determining module 330 includes:
the conflict traffic flow judging unit is used for determining whether a traffic flow which conflicts with a target vehicle exists at the target intersection according to the traffic flow direction in the traffic-allowed state in the map information of the target intersection;
and the state determining unit is used for determining the current passable state of the target vehicle according to the judgment result of whether the traffic flow which conflicts with the target vehicle exists or not.
Optionally, the state determining unit includes:
the advance right judging subunit is used for determining whether the target vehicle has the advance right according to a preset traffic rule if the target intersection has a traffic flow which conflicts with the target vehicle;
a first advance state determining subunit, configured to determine that a current passable state of the target vehicle is an advance state if the target vehicle has an advance right;
and the yielding state determining subunit is used for determining that the current passable state of the target vehicle is the yielding state if the current passable state of the target vehicle is not the yielding state.
Optionally, the second advance state determining subunit is configured to determine that the current passable state of the target vehicle is the advance state if there is no traffic flow at the target intersection that conflicts with the target vehicle.
Optionally, the passing indication determining module 320 includes:
the behavior information list acquisition unit is used for acquiring a phase information list of the signal lamp;
an indication state determination unit for determining an indication state of a signal lamp followed by the target vehicle while traveling, based on the phase information list of the signal lamp;
and the indication result determining unit is used for determining whether the current signal lamp indicates permission to pass or not according to the indication state and the corresponding relation between the indication state and the indication passing state.
Optionally, the indication state determining unit includes:
the phase ID determining subunit is used for determining the phase ID of the target vehicle in the map information;
and the indication following subunit is used for matching the phase ID with the phase ID in the phase information list of the signal lamp to acquire the indication state of the signal lamp followed by the target vehicle.
According to the technical scheme of the embodiment of the invention, the target signal lamp information of the target intersection is determined by the target signal lamp information determination module according to the map information of the target intersection and the driving information of the target vehicle; the traffic indication determining module determines whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection; therefore, the signal lamp followed by the current running of the target vehicle can be accurately determined according to the running direction and the target signal lamp information, so that the passing indication determining module determines whether the indication state of the current signal lamp indicates that the vehicle in the direction is allowed to pass. When the signal lamp allows the vehicles running in the direction to pass through, the passable state determining module judges whether the target vehicle has the right of way or not according to the traffic flow simultaneously released in the direction so as to guide the vehicles to pass through in order and avoid traffic accidents caused by running traffic flow conflict.
Fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary device 412 suitable for use in implementing embodiments of the present invention. The device 412 shown in fig. 5 is only an example and should not impose any limitation on the functionality or scope of use of embodiments of the present invention.
As shown in fig. 5, the apparatus 412 includes: one or more processors 416; a memory 428 for storing one or more programs, when the one or more programs are executed by the one or more processors 416, cause the one or more processors 416 to implement the vehicle passable state determination method provided by the embodiment of the invention, including:
determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle;
determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
and if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection.
The components of device 412 may include, but are not limited to: one or more processors or processors 416, a system memory 428, and a bus 418 that couples the various system components (including the system memory 428 and the processors 416).
The system memory 428 may include computer system readable storage media in the form of volatile memory, such as Random Access Memory (RAM) 430 and/or cache memory 432. The device 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 434 may be used to read from and write to non-removable, nonvolatile magnetic storage media (not shown in FIG. 5, commonly referred to as "hard drives"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical storage medium) may be provided. In these cases, each drive may be connected to bus 418 by one or more data storage media interfaces. Memory 428 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored, for instance, in memory 428, such program modules 462 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 462 generally perform the functions and/or methodologies of the described embodiments of the invention.
The device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 426, etc.), with one or more devices that enable a user to interact with the device 412, and/or with any devices (e.g., network card, modem, etc.) that enable the device 412 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 422. Also, the device 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through the network adapter 420. As shown, network adapter 420 communicates with the other modules of device 412 over bus 418. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with device 412, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 416 executes various functional applications and data processing, such as implementing a vehicle passable state determination method provided by an embodiment of the present invention, by executing at least one of other programs stored in the system memory 428.
One embodiment of the present invention provides a storage medium containing computer-executable instructions that, when executed by a computer processor, are operable to perform a vehicle passable state determination method comprising:
determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle;
determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
and if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection.
Computer storage media for embodiments of the present invention can take the form of any combination of one or more computer-readable storage media. The computer readable storage medium may be a computer readable signal storage medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the invention, the computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal storage medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or device. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A vehicle passable state determination method, characterized by comprising:
determining target signal lamp information of the target intersection according to the map information of the target intersection and the driving information of the target vehicle;
determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
if the current signal lamp indicates that the vehicle is allowed to pass, determining the current passable state of the target vehicle according to the map information of the target intersection;
the method for determining the current passable state of the target vehicle according to the map information of the target intersection comprises the following steps:
according to the map information of the target intersection, all phase IDs of green lights of the current signal lights are obtained, and the traffic flow direction contained in the phase IDs is determined; judging whether a traffic flow conflicting with the running direction of a target vehicle exists in a traffic flow released simultaneously with the target vehicle according to the currently released traffic flow path track;
if the current passable state of the target vehicle is not the advance state, determining that the current passable state of the target vehicle is the advance state;
if yes, determining whether the target vehicle has the right of way or not according to a preset passing rule;
if the current passable state of the target vehicle is the advance state, determining that the current passable state of the target vehicle is the advance state; and if the current passable state of the target vehicle is not the yielding state, determining that the current passable state of the target vehicle is the yielding state.
2. The method of claim 1, wherein prior to determining the current passable status of the target vehicle based on target intersection map information, further comprising:
determining the driving direction of the target vehicle at the target intersection according to the map information of the target intersection and the driving information of the target vehicle or according to the driving information of the target vehicle;
correspondingly, according to the map information of the target intersection, determining the current passable state of the target vehicle, including:
and determining the current passable state of the target vehicle according to the map information of the target intersection and the driving direction of the target vehicle at the target intersection.
3. The method of claim 2, wherein determining the driving direction of the target vehicle at the target intersection based on the target intersection map information and the target vehicle driving information or based on the target vehicle driving information comprises:
determining the driving direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the positioning information of the target vehicle in the driving information of the target vehicle; or,
determining the running direction of the target vehicle according to the state information of a steering wheel and/or the state information of a steering lamp in the running information of the target vehicle; or,
determining the driving direction of the target vehicle according to navigation information in the driving information of the target vehicle; or,
and determining the running direction of the target vehicle according to the guide lane lines of all lanes in the map information of the target intersection and the fusion result of the target vehicle positioning information, the steering wheel state, the steering lamp state information and the navigation information in the running information of the target vehicle.
4. The method of claim 1, wherein determining the current passable status of the target vehicle based on target intersection map information comprises:
determining whether a traffic flow which conflicts with a target vehicle exists at the target intersection according to the traffic flow direction in the traffic-allowed state in the map information of the target intersection;
and determining the current passable state of the target vehicle according to the judgment result of whether the traffic flow which conflicts with the target vehicle exists.
5. The method of claim 4, wherein determining the current passable state of the target vehicle according to the determination result of whether there is a traffic flow that collides with the target vehicle comprises:
if the target intersection has a traffic flow which conflicts with the target vehicle, determining whether the target vehicle has the right of way or not according to a preset traffic rule;
if the target vehicle has the right of way ahead, determining that the current passable state of the target vehicle is a way ahead state;
otherwise, determining the current passable state of the target vehicle as a yielding state.
6. The method of claim 4, wherein determining the current passable state of the target vehicle according to the determination result of whether there is a traffic flow that collides with the target vehicle comprises:
and if the target intersection does not have the traffic flow which conflicts with the target vehicle, determining that the current passable state of the target vehicle is a preceding state.
7. The method of claim 1, wherein determining whether the current signal light indicates permission to pass based on the target signal light information at the target intersection comprises:
acquiring a phase information list of a signal lamp;
determining the indication state of the signal lamp followed by the target vehicle during running according to the phase information list of the signal lamp;
and determining whether the current signal lamp indicates permission to pass or not according to the indication state and the corresponding relation between the indication state and the indication passing state.
8. The method according to claim 7, wherein determining the indication state of the signal lamp to be followed by the target vehicle while traveling, based on the phase information list of the signal lamp, comprises:
determining the phase ID of the target vehicle in the map information;
and matching the phase ID with the phase ID in the phase information list of the signal lamp to acquire the indication state of the signal lamp followed by the target vehicle.
9. A vehicle passable-state determining apparatus, characterized by comprising:
the target signal lamp information determining module is used for determining the target signal lamp information of the target intersection according to the target intersection map information and the target vehicle driving information;
the traffic indication determining module is used for determining whether the current signal lamp indicates permission to pass or not according to the target signal lamp information of the target intersection;
the passable state determining module is used for determining the current passable state of the target vehicle according to the map information of the target intersection if the current signal lamp indicates that the passage is allowed;
the passable state determining module is specifically used for:
according to the map information of the target intersection, all phase IDs of green lights of the current signal lights are obtained, and the traffic flow direction contained in the phase IDs is determined; judging whether a traffic flow conflicting with the running direction of a target vehicle exists in a traffic flow released simultaneously with the running of the target vehicle according to the currently released traffic flow path track;
if the current passable state of the target vehicle is not the advance state, determining that the current passable state of the target vehicle is the advance state;
if yes, determining whether the target vehicle has the right of way or not according to a preset passing rule;
if the current passable state of the target vehicle is the advance state, determining that the current passable state of the target vehicle is the advance state; and if the current passable state of the target vehicle is not the yielding state, determining that the current passable state of the target vehicle is the yielding state.
10. An apparatus, characterized in that the apparatus comprises: one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle passable-state determining method as recited in any one of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle passable-state determining method according to any one of claims 1 to 8.
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| CN114120639B (en) * | 2021-11-09 | 2023-04-11 | 广州文远知行科技有限公司 | Vehicle traffic control method, device and storage medium |
| CN114179826B (en) * | 2021-12-17 | 2024-10-18 | 中汽创智科技有限公司 | Starting control method, device and equipment for automatic driving vehicle and storage medium |
| CN114333355A (en) * | 2021-12-22 | 2022-04-12 | 青岛海信网络科技股份有限公司 | Method for adjusting vehicle position in bus corridor and electronic equipment |
| CN114299716B (en) * | 2021-12-27 | 2023-04-25 | 北京世纪高通科技有限公司 | Method, device, storage medium and equipment for associating time information of signal lamps |
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