CN111932884A - Traffic jam recognition method and device, vehicle and storage medium - Google Patents
Traffic jam recognition method and device, vehicle and storage medium Download PDFInfo
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- CN111932884A CN111932884A CN202010812712.9A CN202010812712A CN111932884A CN 111932884 A CN111932884 A CN 111932884A CN 202010812712 A CN202010812712 A CN 202010812712A CN 111932884 A CN111932884 A CN 111932884A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The embodiment of the invention discloses a method and a device for identifying traffic jam, a vehicle and a storage medium. Wherein, the method comprises the following steps: acquiring vehicle driving information and target vehicle driving information on a vehicle driving road; calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle; and identifying the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running condition. According to the technical scheme provided by the embodiment of the invention, whether the traffic jam exists in the current running state of the vehicle is judged by combining the vehicle running information and the map display information, so that the limitation of the traffic jam judgment in the prior art is avoided, the traffic jam identification comprehensiveness in the running process of the vehicle is ensured, the traffic jam identification accuracy is improved, and the safety of automatic driving in different running states is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic vehicle driving, in particular to a method and a device for identifying traffic jam, a vehicle and a storage medium.
Background
With the popularization of automatic automobile driving, the existing automobile driving technology can be divided into six levels of L0-L5 according to the definition of the American society of automotive Engineers; the level L3 is a semi-automatic driving stage, which marks the entering of the automatic driving category, the vehicle can realize the automatic driving of most road conditions, take over most driving functions of the vehicle, monitor the driving environment under some conditions, and keep the attention of the driver at the level L3 so as to take over the vehicle in time when an emergency occurs. However, the semi-automatic driving at the level of L3 can be generally classified into high-speed automatic designated driving and traffic jam designated driving according to the jam condition of the driving road, so in order to ensure the safety of automatic driving, it is necessary to accurately judge the jam condition of the current driving road so as to adopt the most suitable automatic driving mode.
At present, whether a current road is congested is often judged by analyzing speed information such as speeds and accelerations of a vehicle and a preceding vehicle and position information such as running distances of the vehicle and the preceding vehicle, however, the information such as the speeds and the positions of the vehicle and the preceding vehicle, which is collected by the vehicle, generally has the problems of collection delay or sensor errors and the like, so that the judgment of the traffic congestion of the vehicle in the running process is limited, and the judgment accuracy of the congestion condition of the current running road is greatly reduced.
Disclosure of Invention
The embodiment of the invention provides a method and a device for identifying traffic jam, a vehicle and a storage medium, which ensure the comprehensiveness of identifying the traffic jam in the driving process of the vehicle and improve the accuracy of identifying the traffic jam.
In a first aspect, an embodiment of the present invention provides a method for identifying traffic congestion, where the method includes:
acquiring vehicle driving information and target vehicle driving information on a vehicle driving road;
calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle;
and identifying the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running condition.
In a second aspect, an embodiment of the present invention provides an apparatus for identifying traffic congestion, where the apparatus includes:
the driving information acquisition module is used for acquiring the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle;
the driving condition determining module is used for calling a map positioning control preconfigured on the vehicle and determining the current driving condition of the vehicle;
and the traffic jam recognition module is used for recognizing the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running working condition.
In a third aspect, an embodiment of the present invention provides a vehicle including:
one or more processors;
storage means for storing one or more programs;
the map positioning control is used for determining the current running condition of the vehicle;
when executed by the one or more processors, cause the one or more processors to implement the method for identifying traffic congestion according to any embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method for identifying traffic congestion according to any embodiment of the present invention.
The embodiment of the invention provides a method and a device for identifying traffic jam, a vehicle and a storage medium, the vehicle running information and the target vehicle running information on the vehicle running road are acquired in real time in the vehicle running process, meanwhile, the current running working condition of the vehicle is determined by calling a map positioning control preconfigured on the vehicle, and then the current running traffic jam state of the vehicle is identified according to the running information of the vehicle, the running information of the target vehicle and the current running working condition, therefore, whether the traffic jam exists in the current running state of the vehicle is judged by combining the vehicle running information and the map display information, the limitation of the traffic jam judgment in the prior art is avoided, the traffic jam identification comprehensiveness in the vehicle running process is ensured, the traffic jam identification accuracy is improved, and the safety of automatic driving in different running states is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a flowchart of a method for identifying traffic congestion according to an embodiment of the present invention;
fig. 2 is a flowchart of a traffic congestion identification method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a traffic congestion identification apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth 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.
Example one
Fig. 1 is a flowchart of a method for identifying traffic congestion according to an embodiment of the present invention. The embodiment can be applied to the automatic driving process of any type of L3-class vehicle. The traffic jam recognition method provided by the embodiment of the invention can be executed by the traffic jam recognition device provided by the embodiment of the invention, and the device can be realized in a software and/or hardware manner and is integrated in a vehicle executing the method.
Specifically, referring to fig. 1, the method specifically includes the following steps:
and S110, acquiring the vehicle driving information and the target vehicle driving information on the vehicle driving road.
Specifically, since the L3-level semi-automatic driving can be generally classified into high-speed automatic designated driving and traffic jam designated driving according to the jam condition of the driving road, the jam condition of the current driving road needs to be accurately determined to select the most appropriate automatic driving mode, so as to ensure the safety of automatic driving.
At this time, when traffic is congested on the traveling road, the traveling speeds and traveling distances of the host vehicle and the surrounding vehicles become slower and closer than those in the normal traveling state, so that the road congestion situation during the current traveling of the host vehicle can be determined by analyzing the traveling state of the host vehicle during the current traveling and the relative traveling states of the host vehicle and the other surrounding vehicles.
For example, in the present embodiment, the acquiring of the vehicle driving information and the target vehicle driving information on the vehicle driving road may specifically include: the vehicle speed, the speed of a target vehicle and the driving distance between the vehicle and the target vehicle under the current driving are acquired through a front-looking camera, a look-around camera, an ultrasonic radar and a millimeter wave radar which are configured on the vehicle.
Optionally, in this embodiment, a front-view camera, a look-around camera, an ultrasonic radar and a millimeter-wave radar are pre-configured on the vehicle, wherein one front-view camera may be configured on the upper portion of the inner side of the windshield of the vehicle, four look-around cameras are respectively configured on four sides of the vehicle, five millimeter-wave radars are respectively configured, one of the four look-around cameras is configured on the front side of the vehicle, the other four look-around cameras are configured on four corners of the vehicle, and a plurality of ultrasonic radars are respectively configured on the periphery of the. Specifically, during the driving process of the vehicle, various driving information corresponding to the vehicle and the target vehicle is collected in real time through a front-looking camera, a look-around camera, an ultrasonic radar and a millimeter wave radar which are configured on the vehicle, the various driving information is fused to obtain the vehicle speed of the vehicle, the vehicle speed of the target vehicle and the driving distance between the vehicle and the target vehicle under the current driving of the vehicle, and then whether traffic jam exists under the current driving of the vehicle is preliminarily analyzed by judging the vehicle speed of the vehicle, the vehicle speed of the target vehicle and the driving distance between the vehicle and the target vehicle.
And S120, calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle.
Optionally, as the satellite technology and the internet technology are continuously developed, the accuracy of map positioning is greatly improved, and at the moment, the driving positions of the vehicles on different roads can be accurately judged by adopting the high-accuracy map positioning technology, so that whether congestion exists in the driving road section can be preliminarily judged by analyzing the driving positions of the vehicles in different driving road sections at the same time; therefore, in order to ensure the comprehensiveness of identifying traffic jam in the vehicle driving process, a corresponding map positioning control is also configured in advance for the vehicle, and the map positioning control has higher positioning accuracy and can accurately determine the driving position of each vehicle.
It should be noted that S110 and S120 may be executed simultaneously or in a front-to-back manner, and the execution sequence of S110 and S120 is not limited in this embodiment.
And S130, identifying the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running condition.
Specifically, since the current driving condition of the vehicle represents the traffic jam condition of the current driving of the vehicle preliminarily determined by the map positioning control, after obtaining the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle and determining the current driving condition of the vehicle, it is first necessary to analyze the driving information of the vehicle and the driving information of the target vehicle, that is, to determine whether the driving states of the vehicle and the target vehicle under the current driving are consistent with the vehicle driving condition when the traffic jam exists on the driving road, for example, the driving speeds and the driving distances of the vehicle and the surrounding vehicles become slower and the driving distance is closer than the normal driving state, so as to preliminarily determine whether the traffic jam exists or not by the driving information of the vehicle and the driving information of the target vehicle; after the actual driving state corresponding to the vehicle driving information and the target vehicle driving information and the two modes of the map positioning control are adopted to respectively preliminarily judge whether the current driving of the vehicle has traffic jam, comprehensive analysis needs to be carried out on the traffic jam results preliminarily judged by the two modes, the vehicle is finally determined to be in the traffic jam working condition under the current driving only when the two modes are adopted to preliminarily judge that the current driving of the vehicle has traffic jam, otherwise, if one mode of the two modes preliminarily judges that the current driving of the vehicle does not have traffic jam, the vehicle is finally determined to be in the non-traffic jam working condition under the current driving, so that the traffic jam recognition comprehensiveness in the vehicle driving process is ensured, and the traffic jam recognition accuracy is improved.
For example, since the vehicle running information and the target vehicle running information include information such as a vehicle speed of the vehicle, a vehicle speed of the target vehicle, and a running distance between the vehicle and the target vehicle, and when there is a traffic jam on a running road, the running speeds and the running distances of the vehicle and the target vehicle become slower and the running distances are closer than those in a normal running state, in order to accurately determine whether there is a traffic jam when the vehicle is currently running, the present embodiment may further include, before acquiring the vehicle running information and the target vehicle running information on the vehicle running road: the upper limit of the speed of the vehicle and the lower limit of the following distance under the traffic jam working condition are preset.
At this time, in this embodiment, identifying the traffic congestion state of the current driving of the host vehicle according to the host vehicle driving information, the target vehicle driving information and the current driving condition may specifically include: and if the speed of the vehicle and the speed of the target vehicle are both less than or equal to the upper speed limit and the running distance between the vehicle and the target vehicle is less than or equal to the lower following distance limit, identifying the current running traffic jam state of the vehicle according to the current running working condition.
Specifically, when preliminarily judging whether the current running of the vehicle has traffic jam according to the running information of the vehicle and the running information of the target vehicle, firstly, comparing the speed of the vehicle and the speed of the target vehicle with a preset upper limit of the speed of the vehicle, and simultaneously comparing the running distance between the vehicle and the target vehicle with a preset lower limit of the following distance, wherein the lower limit of the following distance can be a multiple of the minimum distance which can ensure the safe cruising of the vehicle and the following vehicle, if the speed of the vehicle and the speed of the target vehicle are both less than or equal to the upper limit of the speed of the vehicle and the running distance between the vehicle and the target vehicle is less than or equal to the lower limit of the following distance, the running states of the vehicle and the target vehicle are both in accordance with the running state of the vehicle under the traffic jam condition, and the actual running state judgment mode corresponding to the running information of the vehicle and the target vehicle can be used for, therefore, the traffic jam state of the current running of the vehicle can be identified according to the current running condition of the vehicle determined by the map positioning control, so that whether the traffic jam exists under the current running of the vehicle is judged from multiple aspects, and the identification accuracy of the traffic jam is improved.
According to the technical scheme provided by the embodiment, the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle are acquired in real time in the driving process of the vehicle, meanwhile, the current driving working condition of the vehicle is determined by calling a map positioning control pre-configured on the vehicle, and then the current traffic jam state of the vehicle is identified according to the driving information of the vehicle, the driving information of the target vehicle and the current driving working condition, so that whether the traffic jam exists under the current driving of the vehicle is judged by combining the driving information of the vehicle and map display information, the limitation of judging the traffic jam in the prior art is avoided, the comprehensiveness of identifying the traffic jam in the driving process of the vehicle is ensured, the identification accuracy of the traffic jam is improved, and the safety of automatic driving in different driving states is improved.
Example two
Fig. 2 is a flowchart of a traffic congestion identification method according to a second embodiment of the present invention. The embodiment is optimized on the basis of the embodiment. Optionally, the present embodiment mainly explains in detail a specific identification process of a traffic congestion state of the current running of the host vehicle.
Specifically, referring to fig. 2, the method of this embodiment may specifically include:
s210, obtaining the vehicle running information and the target vehicle running information on the vehicle running road.
And S220, calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle.
S230, first target vehicle traveling information on the own vehicle lane and second target vehicle traveling information on an adjacent lane are determined.
Optionally, since a plurality of driving lanes are usually set on the driving road of the vehicle, the vehicle may drive through lane change under each lane which drives in the same direction, so if there are more vehicles driving on the current lane of the vehicle, the vehicle may choose to change to an adjacent vehicle with fewer vehicles to drive, at this time, the target vehicle driving information obtained in this embodiment may be divided into two types, namely, first target vehicle driving information located on the lane of the vehicle and second target vehicle driving information located on an adjacent lane, where the lane of the vehicle and the adjacent lane are the lanes which drive in the same direction; however, when determining whether there is traffic congestion while the host vehicle is currently traveling, the conditions for determining traffic congestion are different for the first target vehicle travel information located on the host vehicle lane and the second target vehicle travel information located on the adjacent lane, so in the present embodiment, first, it is necessary to determine the first target vehicle travel information located on the host vehicle lane and the second target vehicle travel information located on the adjacent lane from all the target vehicle travel information in order to accurately analyze whether there is traffic congestion while the host vehicle is currently traveling.
And S240, if the traffic jam state of the vehicle lane is determined according to the vehicle running information, the first target vehicle running information and the current running condition, identifying the traffic jam state of the vehicle running at present according to the current passing identification between the vehicle lane and the adjacent lane and the second target vehicle running information.
Optionally, after determining the first target vehicle driving information located on the own vehicle lane and the second target vehicle driving information located on the adjacent lane, the embodiment first analyzes the traffic congestion situation of the own vehicle lane, in which the own vehicle driving information may include the own vehicle speed and the driving distance of the own vehicle to the first target vehicle located on the own vehicle lane, and the first target vehicle driving information may include the first target vehicle speed, and the like, and if the own vehicle driving information and the first target vehicle driving information conform to the vehicle driving state when the own vehicle lane has traffic congestion, it is stated that the traffic congestion existing when the own vehicle is currently driving on the own vehicle lane can be preliminarily determined by means of the own vehicle driving information and the first target vehicle driving information, and then the own vehicle driving state determined by the own vehicle driving information and the first target vehicle driving information and the current driving condition determined by the map positioning control are analyzed in combination, whether traffic jam exists when the vehicle runs on the lane of the vehicle is judged together.
For example, if the vehicle speed of the vehicle and the vehicle speed of a first target vehicle on the lane of the vehicle are both less than or equal to the upper vehicle speed limit, and the driving distance between the vehicle and the first target vehicle is less than or equal to the lower following distance limit, the traffic jam state of the current driving of the vehicle can be identified directly according to the current driving condition of the vehicle on the lane of the vehicle; if the current running condition of the vehicle on the vehicle lane determined by the map positioning control is the traffic jam condition, the vehicle lane can be directly determined to be in the traffic jam state.
At this time, if the traffic jam state of the vehicle lane is determined according to the vehicle running information, the first target vehicle running information and the current running condition, it is described that the vehicle lane cannot enable the vehicle to run normally, therefore, it is necessary to further determine whether the traffic jam exists in the adjacent lane of the vehicle lane, that is, it is determined whether the vehicle is supported to change to the adjacent lane to continue running when the traffic jam exists in the vehicle lane, at this time, it is first determined whether the adjacent lane running in the same direction exists in the vehicle lane, and if the adjacent lane does not exist, it is directly determined that the vehicle is currently in the traffic jam condition; if the adjacent lane exists, firstly, a current passing identifier between the vehicle lane and the adjacent lane needs to be acquired, and the current passing identifier can accurately indicate whether the vehicle is allowed to change from the vehicle lane to the adjacent lane under the current running state, and meanwhile, whether second target vehicle running information on the adjacent lane conforms to the vehicle running state when the traffic jam exists needs to be analyzed so as to judge whether the adjacent lane has the traffic jam under the current running state of the vehicle.
For example, identifying the traffic congestion state of the current driving of the host vehicle according to the current traffic identification between the host vehicle lane and the adjacent lane and the second target vehicle driving information may specifically include: determining current passing permission information of an adjacent lane according to the current passing identification and the second target vehicle running information; if the passing permission information is no passing, determining that the vehicle is currently in a traffic jam working condition; and if the passing permission information is permission to pass, determining that the vehicle is currently in a non-traffic jam condition.
Specifically, when an adjacent lane exists in the vehicle lane, a current passing identification between the vehicle lane and the adjacent lane is analyzed, the current passing identification may be a passing line drawn in advance on a running road surface, if the passing line is a solid line, it is indicated that the vehicle is not allowed to change lanes, at this time, it may be determined that the current passing permission information of the adjacent lane is that the vehicle is not allowed to pass, and it is determined that the vehicle is currently in a traffic jam condition; if the traffic line is a dotted line, which indicates that the vehicle is allowed to run by changing lanes, whether traffic jam exists in the adjacent lane needs to be judged by analyzing the running information of the second target vehicle on the adjacent lane, at this time, if the speed of the second target vehicle on the adjacent lane is greater than the sum of the speed of the vehicle and the difference value of the preset vehicle speed, which indicates that the second target vehicle on the adjacent lane can run normally, the adjacent lane does not have traffic jam, and the current traffic permission information of the adjacent lane can be determined to be allowed to pass in turn, and the vehicle is determined to be in a non-traffic jam working condition currently; however, if the speed of the second target vehicle on the adjacent lane is less than or equal to the sum of the speed of the vehicle and the preset speed, which indicates that the second target vehicle on the adjacent lane cannot normally run, traffic jam exists in the adjacent lane, so that it can be determined that the current traffic permission information of the adjacent lane is no traffic, and it is determined that the vehicle is currently in the traffic jam condition.
And S250, adjusting the automatic driving mode selected under the current running of the vehicle according to the traffic jam state of the current running of the vehicle.
Optionally, after the traffic congestion state of the vehicle currently running is identified, the automatic driving mode selected by the vehicle under the current automatic running condition may be adjusted in real time according to the traffic congestion state, for example, the automatic driving mode of the vehicle under the non-traffic congestion condition is selected by the vehicle, and the automatic driving mode of the vehicle under the traffic congestion condition is selected by the vehicle, so that the adaptive adjustment of the automatic driving is ensured, and the safety of the automatic driving is improved.
According to the technical scheme provided by the embodiment, the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle are acquired in real time in the driving process of the vehicle, meanwhile, the current driving working condition of the vehicle is determined by calling a map positioning control pre-configured on the vehicle, and then the current traffic jam state of the vehicle is identified according to the driving information of the vehicle, the driving information of the target vehicle and the current driving working condition, so that whether the traffic jam exists under the current driving of the vehicle is judged by combining the driving information of the vehicle and map display information, the limitation of judging the traffic jam in the prior art is avoided, the comprehensiveness of identifying the traffic jam in the driving process of the vehicle is ensured, the identification accuracy of the traffic jam is improved, and the safety of automatic driving in different driving states is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a traffic congestion identification apparatus according to a third embodiment of the present invention, and as shown in fig. 3, the apparatus may include:
a driving information obtaining module 310, configured to obtain driving information of the vehicle and driving information of a target vehicle on a driving road of the vehicle;
the driving condition determining module 320 is configured to invoke a map positioning control preconfigured on the vehicle, and determine a current driving condition of the vehicle;
and the traffic jam recognition module 330 is configured to recognize a traffic jam state of the current driving of the host vehicle according to the host vehicle driving information, the target vehicle driving information, and the current driving condition.
According to the technical scheme provided by the embodiment, the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle are acquired in real time in the driving process of the vehicle, meanwhile, the current driving working condition of the vehicle is determined by calling a map positioning control pre-configured on the vehicle, and then the current traffic jam state of the vehicle is identified according to the driving information of the vehicle, the driving information of the target vehicle and the current driving working condition, so that whether the traffic jam exists under the current driving of the vehicle is judged by combining the driving information of the vehicle and map display information, the limitation of judging the traffic jam in the prior art is avoided, the comprehensiveness of identifying the traffic jam in the driving process of the vehicle is ensured, the identification accuracy of the traffic jam is improved, and the safety of automatic driving in different driving states is improved.
Further, the traffic congestion identification module 330 may include:
a driving information classification unit for determining first target vehicle driving information on a own vehicle lane and second target vehicle driving information on an adjacent lane;
and the lane congestion identification unit is used for identifying the current traffic congestion state of the vehicle according to the current traffic mode between the vehicle lane and the adjacent lane and the second target vehicle running information if the vehicle lane is determined to be in the traffic congestion state according to the vehicle running information, the first target vehicle running information and the current running working condition.
Further, the lane congestion identification unit may be specifically configured to:
determining current passing permission information of the adjacent lane according to the current passing identification and the second target vehicle running information;
if the passing permission information is no passing, determining that the vehicle is currently in a traffic jam working condition;
and if the passing permission information is permission to pass, determining that the vehicle is currently in a non-traffic jam working condition.
Further, the driving information obtaining module 310 may be specifically configured to:
the vehicle speed, the speed of a target vehicle and the driving distance between the vehicle and the target vehicle under the current driving are acquired through a front-looking camera, a look-around camera, an ultrasonic radar and a millimeter wave radar which are configured on the vehicle.
Further, the traffic congestion recognition device may further include:
the congestion condition setting module is used for presetting an upper speed limit and a lower following distance limit under the traffic congestion working condition;
accordingly, the traffic congestion identification module 330 may be specifically configured to:
and if the speed of the vehicle and the speed of the target vehicle are both less than or equal to the upper speed limit, and the running distance between the vehicle and the target vehicle is less than or equal to the lower following distance limit, identifying the current running traffic jam state of the vehicle according to the current running working condition.
Further, the traffic congestion recognition device may further include:
and the driving mode adjusting module is used for adjusting the automatic driving mode selected by the vehicle when the vehicle is currently running according to the traffic jam state of the vehicle when the vehicle is currently running.
The traffic jam recognition device provided by the embodiment can be applied to the traffic jam recognition method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the vehicle includes a processor 40, a storage device 41, a communication device 42, and a map positioning control 43; the number of processors 40 in the vehicle may be one or more, and one processor 40 is illustrated in fig. 4; the vehicle's processor 40, storage device 41, communication device 42, and map positioning control 43 may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The storage device 41 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the identification method of traffic congestion in the embodiment of the present invention (for example, the traveling information acquisition module 310, the traveling condition determination module 320, and the traffic congestion identification module 330 in the identification device for traffic congestion). The processor 40 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the storage device 41, that is, implements the above-described method for identifying traffic congestion.
The storage device 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 41 may further include memory located remotely from the processor 40, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device 42 may be used to implement a network connection or a mobile data connection between vehicles.
The map positioning control 43 may be used to determine the current driving conditions in which the host vehicle is located.
The vehicle provided by the embodiment can be used for executing the method for identifying the traffic jam provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the method for identifying traffic congestion in any of the embodiments. The method specifically comprises the following steps:
acquiring vehicle driving information and target vehicle driving information on a vehicle driving road;
calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle;
and identifying the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running condition.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the method for identifying traffic congestion provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the traffic congestion identification apparatus, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for identifying traffic congestion, comprising:
acquiring vehicle driving information and target vehicle driving information on a vehicle driving road;
calling a map positioning control pre-configured on the vehicle, and determining the current running condition of the vehicle;
and identifying the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running condition.
2. The method of claim 1, wherein identifying the traffic congestion status of the current driving of the host vehicle according to the host vehicle driving information, the target vehicle driving information and the current driving condition comprises:
determining first target vehicle running information on a vehicle lane and second target vehicle running information on an adjacent lane;
and if the lane of the vehicle is determined to be in the traffic jam state according to the running information of the vehicle, the first target vehicle running information and the current running condition, identifying the traffic jam state of the current running of the vehicle according to the current passing identification between the lane of the vehicle and the adjacent lane and the second target vehicle running information.
3. The method according to claim 2, wherein the identifying the traffic jam state of the current driving of the host vehicle according to the current traffic identification between the host vehicle lane and the adjacent lane and the second target vehicle driving information comprises:
determining current passing permission information of the adjacent lane according to the current passing identification and the second target vehicle running information;
if the passing permission information is no passing, determining that the vehicle is currently in a traffic jam working condition;
and if the passing permission information is permission to pass, determining that the vehicle is currently in a non-traffic jam working condition.
4. The method according to claim 1, wherein the acquiring of the own vehicle travel information and the target vehicle travel information on the own vehicle travel road comprises:
the vehicle speed, the speed of a target vehicle and the driving distance between the vehicle and the target vehicle under the current driving are acquired through a front-looking camera, a look-around camera, an ultrasonic radar and a millimeter wave radar which are configured on the vehicle.
5. The method according to claim 4, further comprising, before acquiring the own-vehicle travel information and the target-vehicle travel information on the own-vehicle travel road:
presetting an upper speed limit and a lower following distance limit under a traffic jam working condition;
correspondingly, the identifying the traffic jam state of the current running of the vehicle according to the running information of the vehicle, the running information of the target vehicle and the current running condition comprises the following steps:
and if the speed of the vehicle and the speed of the target vehicle are both less than or equal to the upper speed limit, and the running distance between the vehicle and the target vehicle is less than or equal to the lower following distance limit, identifying the current running traffic jam state of the vehicle according to the current running working condition.
6. The method according to any one of claims 1 to 5, further comprising, after identifying a traffic congestion state in which the host vehicle is currently traveling based on the host vehicle traveling information, the target vehicle traveling information, and the current traveling condition:
and adjusting the automatic driving mode selected by the current running state of the vehicle according to the traffic jam state of the current running state of the vehicle.
7. An apparatus for identifying traffic congestion, comprising:
the driving information acquisition module is used for acquiring the driving information of the vehicle and the driving information of the target vehicle on the driving road of the vehicle;
the driving condition determining module is used for calling a map positioning control preconfigured on the vehicle and determining the current driving condition of the vehicle;
and the traffic jam recognition module is used for recognizing the current traffic jam state of the vehicle according to the vehicle running information, the target vehicle running information and the current running working condition.
8. The apparatus of claim 7, wherein the traffic congestion identification module is specifically configured to:
determining first target vehicle running information on a vehicle lane and second target vehicle running information on an adjacent lane;
and if the lane of the vehicle is determined to be in the traffic jam state according to the running information of the vehicle, the first target vehicle running information and the current running condition, identifying the traffic jam state of the current running of the vehicle according to the current running mode between the lane of the vehicle and the adjacent lane and the second target vehicle running information.
9. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
the map positioning control is used for determining the current running condition of the vehicle;
when executed by the one or more processors, cause the one or more processors to implement the method for identifying traffic congestion according to any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of identifying traffic congestion according to any one of claims 1 to 6.
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