CN115273477B

CN115273477B - Intersection driving suggestion pushing method, device, system and electronic equipment

Info

Publication number: CN115273477B
Application number: CN202210956548.8A
Authority: CN
Inventors: 徐少朋; 凤鸾; 张海勇; 包金艳
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-08-01
Anticipated expiration: 2042-08-10
Also published as: CN115273477A

Abstract

The disclosure provides a method, a device, a system and electronic equipment for pushing intersection driving advice, relates to the technical field of artificial intelligence, and particularly relates to the technical fields of automatic driving, intelligent traffic and the like. The specific implementation scheme is as follows: and in the running process of the vehicle, acquiring the road surface distance between the vehicle and a target intersection to be passed in front of the vehicle, determining driving advice information of the vehicle on the target intersection based on the current running data of the vehicle and the current intersection state information of the target intersection sent by road side equipment under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold value, and sending the driving advice information to the vehicle. Therefore, the driving advice information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle in front of the intersection and the current driving data of the vehicle, the vehicle can conveniently and safely drive at the intersection based on the driving advice information, and the safe driving of the vehicle is facilitated.

Description

Intersection driving suggestion pushing method, device, system and electronic equipment

Technical Field

The disclosure relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, intelligent traffic and the like, and especially relates to a method, a device, a system and electronic equipment for pushing intersection driving advice.

Background

The internet of vehicles (Vehicle to Everything, V2X) is used for realizing the purposes of driving safety improvement, traffic efficiency improvement, energy conservation and environmental protection through information interaction among vehicles, roads and people. V2X may include vehicle-to-vehicle interworking (Vehicle to Vehicle, V2V), vehicle-to-pedestrian interworking (Vehicle to Pedestrian, V2P), vehicle-to-infrastructure interworking (Vehicle to Infrastructure, V2I), vehicle-to-network interworking (Vehicle to Network, V2N), and the like.

In the process of driving a vehicle by a driver, the vehicle often passes through an intersection, and how to assist the vehicle to safely and quickly pass through the intersection based on the internet of vehicles is very important for safe driving of the vehicle.

Disclosure of Invention

The disclosure provides a method, a device, a system, electronic equipment and a storage medium for pushing an intersection driving suggestion.

According to an aspect of the present disclosure, there is provided an intersection driving advice pushing method, the method including: obtaining the road surface distance between the vehicle and the target intersection; acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value; acquiring current intersection state information of the target intersection sent by road side equipment; determining driving advice information of the vehicle on the target intersection according to the current driving data and the current intersection state information; and sending the driving advice information to the vehicle.

According to another aspect of the present disclosure, there is provided an intersection driving advice pushing device, the device including: the first acquisition module is used for acquiring the road surface distance between the vehicle and the target intersection; the second acquisition module is used for acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value; the third acquisition module is used for acquiring the current intersection state information of the target intersection, which is sent by the road side equipment; the first determining module is used for determining driving suggestion information of the vehicle on the target intersection according to the current driving data and the current intersection state information; and the first sending module is used for sending the driving suggestion information to the vehicle.

According to another aspect of the present disclosure, there is provided an intersection driving advice pushing system, including a vehicle, a cloud server, and a road side device, wherein: the cloud server is used for acquiring the road surface distance between the vehicle and the target intersection; acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value; acquiring current intersection state information of the target intersection sent by road side equipment; determining driving advice information of the vehicle on the target intersection according to the current driving data and the current intersection state information; and transmitting the driving advice information to the vehicle; the vehicle is used for sending the current driving data to the cloud server and receiving the driving suggestion information of the cloud server; the road side equipment is used for determining the current intersection state information according to the current perception data of the target intersection and sending the current intersection state information to the cloud server.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intersection driving advice pushing method of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the intersection driving advice pushing method disclosed in the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the intersection driving advice pushing method of the present disclosure.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;

FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;

FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;

FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;

FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;

FIG. 7 is a schematic diagram according to a seventh embodiment of the present disclosure;

FIG. 8 is a schematic diagram according to an eighth embodiment of the present disclosure;

FIG. 9 is a schematic diagram according to a ninth embodiment of the present disclosure;

FIG. 10 is a schematic diagram according to a tenth embodiment of the present disclosure;

fig. 11 is a block diagram of an electronic device for implementing the intersection driving advice pushing method of the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the related art, when a driver drives a vehicle to pass through a front intersection, and the vehicle uses a navigation function, a navigation function server provides data such as map data, navigation path planning, road congestion information and the like to a vehicle-mounted terminal of the vehicle. However, the navigation function service end relies on traffic management data, relies on monitoring type signal control equipment to determine road conditions of a front intersection such as road congestion data, and cannot provide more driving advice information for a user, so how to provide accurate driving advice information for a vehicle based on current intersection state information of the intersection for the intersection when the vehicle passes is important for assisting a driver to quickly and effectively respond and for safe driving of the vehicle.

Therefore, in the process of driving a vehicle, the road surface distance between the vehicle and a target intersection to be passed in front of the vehicle is obtained, and under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold value, driving advice information of the vehicle on the target intersection is determined based on current driving data of the vehicle and current intersection state information of the target intersection sent by road side equipment, and the driving advice information is sent to the vehicle. Therefore, the driving advice information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle in front of the intersection and the current driving data of the vehicle, the vehicle can conveniently and safely drive at the intersection based on the driving advice information, and the safe driving of the vehicle is facilitated.

The following describes an intersection driving advice pushing method, an apparatus, a system, an electronic device, and a storage medium according to an embodiment of the present disclosure with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a first embodiment of the present disclosure, which provides an intersection driving advice pushing method.

As shown in fig. 1, the method for pushing the intersection driving advice may include:

step 101, obtaining the road surface distance between the vehicle and the target intersection.

The road surface distance refers to the distance that a vehicle passes along the current road to reach a target intersection.

In some examples, the target intersection may be an intersection that the vehicle is about to pass along the current road.

The main execution body of the intersection driving suggestion pushing method is an intersection driving suggestion pushing device, the intersection driving suggestion pushing device can be implemented by software and/or hardware, and the intersection driving suggestion pushing device can be electronic equipment or can be configured in the electronic equipment.

The electronic device may include, but is not limited to, a terminal device, a server, etc., and the embodiment is not particularly limited to the electronic device.

In this example embodiment, an electronic device is taken as a cloud server for example to describe an example.

It should be noted that, the electronic device in this embodiment may perform data communication with the vehicle.

As an exemplary embodiment, in the process that the vehicle runs on the current road, the position information and the running direction of the vehicle can be acquired in real time, whether an intersection exists in front of the vehicle or not is determined based on the position information and the running direction, if the intersection exists, the intersection can be used as a target intersection, and the road surface distance between the vehicle and the target intersection is determined based on the current position information of the vehicle.

Step 102, acquiring current running data of the vehicle under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold value.

The current driving data may include, but is not limited to, current location information, driving direction, heading angle, corresponding time information, and the like, which is not particularly limited.

The preset distance threshold is preset according to actual requirements. For example, the preset distance threshold may be 300 meters, 500 meters, or the like, and in some examples, the value of the preset distance threshold may be predetermined in combination with one or more of a perception range of a road side device, the number of lanes, a historical road condition, or the like at the target intersection, which is not limited in particular.

In some examples, the preset distance threshold described above may be set in conjunction with the perceived range of each roadside device at the target intersection. For example, the sensing range of each road side device at the target intersection may be obtained, the maximum sensing distance of the sensing range of each road side device may be determined, the minimum value of each maximum sensing distance may be obtained, and the minimum value may be set as the preset distance threshold.

In other examples, the preset distance threshold value may be preset in combination with driving advice information, for example, in the case where the driving advice information is lane advice information, the preset distance threshold value may be set to 350 meters, where it is to be noted that, when the distance between the vehicle and the road surface of the target intersection is less than 350 meters, the recommended lane advice information is determined in combination with the current situation of the vehicle at the target intersection during driving advice pushing of the vehicle, so that the pushed lane advice information better conforms to the driving requirement of the vehicle, and is beneficial to safe driving of the vehicle at the target intersection.

In other examples, the preset distance threshold may be set in conjunction with the perceived range of the target intersection in the case where the driving advice information is a green wave vehicle speed advice, or the distance from the end point far from the target intersection in the fence to the target intersection may be determined in the case where the target intersection has a fence, and the value of the preset distance threshold may be set based on the distance. For example, the preset distance threshold may be set as the distance of the endpoint to the target intersection.

Step 103, obtaining current intersection state information of the target intersection sent by the road side equipment.

In some exemplary embodiments, a road side device may be disposed on the target intersection, and the target intersection is perceived through the road side device to obtain current perception data of the target intersection, and current intersection state information of the target intersection is determined through the current perception data. Correspondingly, the road side equipment sends the current intersection state information of the target intersection to the intersection driving suggestion recommending device. Correspondingly, the intersection driving suggestion recommending device receives the current intersection state information of the target intersection sent by the road side equipment.

It should be noted that, the road side device in this example embodiment may send, in real time, current intersection state information of the target intersection to the intersection driving suggestion pushing device.

In this example embodiment, the roadside device may include, but is not limited to, a signal control device, a camera, and a roadside computing unit. Correspondingly, the camera in the road side equipment can acquire the intersection image corresponding to the target intersection, and correspondingly, the road side computing unit in the road side equipment can determine the current intersection state information corresponding to the target intersection according to the intersection image.

The current intersection state information in the present exemplary embodiment may include, but is not limited to, one or more of traffic flow information, queuing information, overflow state, traffic accident, headway, lane state, real-time signal lamp information, etc., and in practical application, the current intersection state information may be selected and expanded according to practical application requirements, and the embodiment is not limited thereto in particular.

In some exemplary embodiments, the road side device in this example may be connected to the intersection driving advice recommending means by way of a public network or a private network.

And 104, determining driving suggestion information of the vehicle on the target intersection according to the current driving data and the current intersection state information.

In the present exemplary embodiment, the driving advice information described above is some advice information related to driving of the vehicle, such as green wave vehicle speed advice information, lane advice information, and the like, determined based on the current running data and the current intersection state information.

Step 105, driving advice information is transmitted to the vehicle.

Correspondingly, the vehicle receives the driving suggestion information sent by the intersection driving suggestion recommending device and outputs the driving suggestion information.

In some examples, the vehicle may display the driving advice information on a display screen of the in-vehicle terminal. In other examples, the vehicle may play the driving advice information in voice. In other examples, the vehicle may display the driving advice information on the display screen of the in-vehicle terminal while playing the driving advice information by way of voice. Therefore, the user can know the driving suggestion information without looking up the display screen of the vehicle-mounted terminal, and the driving safety is further improved.

It should be noted that, in practical application, the output manner of the driving advice information may be set according to the actual requirement, which is not particularly limited in this embodiment.

According to the road junction driving suggestion pushing method, in the process of driving of a vehicle, the road surface distance between the vehicle and a target road junction to be passed in front of the vehicle is obtained, and under the condition that the road surface distance between the vehicle and the target road junction is smaller than a preset distance threshold value, driving suggestion information of the vehicle on the target road junction is determined based on current driving data of the vehicle and current road junction state information of the target road junction sent by road side equipment, and the driving suggestion information is sent to the vehicle. Therefore, the driving advice information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle in front of the intersection and the current driving data of the vehicle, the vehicle can conveniently and safely drive at the intersection based on the driving advice information, and the safe driving of the vehicle is facilitated.

It will be appreciated that, in some scenarios, for a certain steering direction, there may be multiple lanes corresponding to the steering direction in the target intersection, and the queuing lengths of the vehicles corresponding to the different lanes may be different for different lanes, so that, during the running of the vehicle, the vehicle may learn, for convenience, the target lane with the shortest queuing length of the vehicle corresponding to the steering direction, and the driving advice information in this example embodiment may include the lane advice information, and the process of including the lane advice information in the driving advice information is described in connection with fig. 2 by way of example, and fig. 2 is a schematic diagram according to the second embodiment of the disclosure, and this example embodiment is a further refinement of the road-opening driving advice pushing method.

As shown in fig. 2, the method for pushing the intersection driving advice may include:

step 201, obtaining the road surface distance between the vehicle and the target intersection.

Step 202, acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value.

Step 203, obtaining current intersection state information of the target intersection sent by the road side equipment.

It should be noted that, for the specific implementation manners of step 201 to step 203, reference may be made to the related descriptions of the above embodiments, which are not repeated here.

Step 204, determining a predicted steering direction of the vehicle at the target intersection.

It will be appreciated that in different application scenarios, determining a predicted steering direction of a vehicle at a target intersection may be achieved in a number of ways, with exemplary embodiments as follows:

as an example, in a case where the vehicle does not use the navigation function, a plurality of steering directions corresponding to the target intersection may be transmitted to the vehicle, and the predicted steering direction of the vehicle at the target intersection may be determined according to the selection result returned by the vehicle.

As another example, in the case where the vehicle uses the navigation function, the predicted steering direction of the vehicle at the target intersection is determined from the navigation path according to the navigation path currently used by the vehicle.

The navigation path includes information such as a steering direction at each intersection through which the vehicle passes from the start position to the destination position.

In the present exemplary embodiment, in the case where the vehicle uses the navigation function, the predicted steering direction of the vehicle at the target intersection is quickly and accurately determined by the navigation path currently used by the vehicle.

Wherein the predicted steering direction is one of a straight direction, a left-turn direction, a right-turn direction, and the like.

In other examples, historical steering direction data of the vehicle at the target intersection is obtained without the vehicle using navigation functionality; and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

In this example, in combination with historical steering direction data for the vehicle at the target intersection, a predicted steering direction for the vehicle at the target intersection is accurately determined.

In some examples, one possible implementation of determining a predicted steering direction of a vehicle at a target intersection from historical steering direction data is: and determining the steering times of the vehicle in each steering direction according to the historical steering direction data, and acquiring the steering direction with the highest steering times from a plurality of steering directions as the predicted steering direction of the vehicle on the target road.

In other examples, one possible implementation of determining a predicted steering direction of a vehicle at a target intersection based on historical steering direction data is: according to the historical steering direction data, the steering times of the vehicle in each steering direction are determined, a plurality of candidate steering directions with the steering times exceeding a preset time threshold are obtained from the plurality of steering directions, the plurality of candidate steering directions are provided for the vehicle, and according to the selection result returned by the vehicle, the predicted steering direction of the vehicle at the target intersection is determined.

Step 205, determining that the current speed of the vehicle is greater than a preset first speed threshold according to the current driving data, and determining the queuing length of the vehicle of each lane according to the current intersection state information when a plurality of lanes of the predicted steering direction exist on the target intersection.

It should be noted that, the first vehicle speed threshold is a critical value of a vehicle speed of a vehicle preset according to an actual requirement, and for example, the first vehicle speed threshold may be 20 kilometers per second (KM/s).

In this example embodiment, the current speed of the vehicle may be obtained from the current driving data, and it may be determined whether the current speed of the vehicle is greater than a preset first speed threshold, if the current speed of the vehicle is greater than the preset first speed threshold, it may be further determined whether there are a plurality of lanes on the target intersection corresponding to the predicted steering direction, and if so, the vehicle queuing lengths of the respective lanes may be obtained from the current intersection status information.

In some examples, the current intersection status information may include vehicle queue lengths for lanes corresponding to respective steering directions. Correspondingly, the vehicle queuing lengths of the lanes can be obtained from the current intersection state information.

In other embodiments of the present disclosure, it may be determined that the lane-proposal condition is not satisfied in a case where it is determined that the current vehicle speed of the vehicle is less than or equal to a preset first vehicle speed threshold.

It can be understood that if the current speed of the vehicle is less than or equal to the preset first speed threshold value, the vehicle is indicated to be in a traffic jam state, and at this time, even if a lane is proposed, the vehicle cannot realize lane change, and at this time, lane suggestion is not required for the vehicle.

And 206, determining a target lane with the shortest vehicle queuing length from the multiple lanes.

Step 207, lane advice information is sent to the vehicle, wherein the lane advice information includes lane information of the target lane.

Correspondingly, after the vehicle receives the lane suggestion information, the lane information of the target lane can be output in a display and/or voice playing mode.

For example, the lane advice information may be: the target lane is the leftmost lane located in the traveling direction of the vehicle.

In this example embodiment, for a target intersection through which the vehicle is about to pass, under the condition that the predicted steering direction of the vehicle on the target intersection is determined, the current running data of the vehicle and the current intersection data of the target intersection are combined to determine a target lane with the shortest queuing length of the vehicle in a plurality of lanes corresponding to the predicted steering direction, and the lane information of the target lane is sent to the vehicle, so that the vehicle can acquire the lane information of the target lane with the shortest queuing length, which is beneficial to lane changing of the vehicle based on lane suggestion information, and is beneficial to safe running of the vehicle.

Based on the foregoing embodiments, in order that the recommended target lane may meet the lane change requirement of the vehicle, in some exemplary embodiments, before determining the target lane with the shortest vehicle queuing length from the multiple lanes, the method further includes: and determining the maximum value and the minimum value in the vehicle queuing lengths of the lanes, and determining that the difference value between the maximum value and the minimum value is larger than a preset length threshold value.

The preset length threshold is a threshold of a queuing length of the vehicle preset according to actual requirements, for example, the preset length threshold may be 20 meters.

In other examples, if it is determined that the difference between the maximum value and the minimum value is less than or equal to the preset length threshold value, it is indicated that the vehicle queuing length difference of the lanes of each predicted steering direction is not large at this time, and at this time, the meaning of recommending the target lane with the shortest vehicle queuing length to the vehicle is not large, and therefore, in the case where it is determined that the difference between the maximum value and the minimum value is less than or equal to the preset length threshold value, it may be determined that the vehicle large advice condition is not satisfied, and at this time, lane advice information is not transmitted to the vehicle.

In order that the scheme of transmitting lane advice information to the vehicle can be clearly understood, the method of this embodiment is exemplarily described below with reference to fig. 3.

Fig. 3 is a schematic diagram according to a third embodiment of the present disclosure.

As shown in fig. 3, the method for pushing the intersection driving advice may include:

step 301, receiving running data reported by a vehicle in real time.

Step 302, obtaining current intersection state information on a target intersection through which a vehicle is about to pass based on road side equipment, wherein the current intersection state information comprises countdown time of a signal lamp of the target intersection in a red light state.

Step 303, determining whether the road surface distance from the target intersection is within a preset distance range according to the driving data when the signal lamp is in a red light state, if so, continuing to execute step 304, and if not, executing step 305.

Step 304, determining whether the current speed of the vehicle is greater than a preset first speed threshold according to the driving data, and judging whether the number of lanes corresponding to the predicted steering direction of the vehicle at the target intersection is greater than or equal to 2, if so, continuing to execute step 306, otherwise, executing step 305.

Step 305, lane advice conditions are not satisfied.

In the case where the lane advice condition is not satisfied, the intersection driving advice recommending apparatus does not transmit the lane advice information to the vehicle.

Step 306, determining whether the difference between the maximum value of the vehicle queuing length and the minimum value of the vehicle queuing length is above a preset length threshold according to the current intersection state information of the target intersection sent by the road side equipment, if so, executing step 307, otherwise, executing step 305.

Step 307, determining a target lane with the shortest queuing length of the vehicle from a plurality of lanes corresponding to the predicted steering direction.

Step 308, sending lane information of the target lane to the vehicle.

In one embodiment of the disclosure, when the signal lamp of the target intersection is determined to be in the green light state, the green wave vehicle speed advice information of the target intersection can be determined based on the remaining time of the green light state of the vehicle, the current traffic condition of the target intersection and the running data of the vehicle, so that the vehicle can conveniently learn the green wave vehicle speed advice information. In order that the process of transmitting green wave vehicle speed advice information to the vehicle can be clearly understood, an example of the intersection driving advice pushing method of this embodiment will be described below with reference to fig. 4.

Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure, which is a further refinement of the road-break driving advice pushing method.

As shown in fig. 4, the method for pushing the intersection driving advice may include:

step 401, obtaining a road surface distance between a vehicle and a target intersection.

Step 402, acquiring current driving data of the vehicle when the road surface distance is smaller than a preset distance threshold, wherein the current driving data comprises a current position.

Step 403, obtaining current intersection state information of the target intersection sent by the road side equipment.

It should be noted that, for the specific implementation manners of steps 401 to 403, reference may be made to the related descriptions of the above embodiments, which are not repeated here.

Step 404, determining a driving distance between the current position and a stop position of the vehicle at the target intersection.

In one embodiment of the present disclosure, the traffic condition type at the target intersection may be determined based on the current intersection status information, and the stop position of the vehicle at the target intersection may be determined based on the traffic condition type.

Step 405, determining the waiting time of the signal lamp on the target intersection and the traffic condition type of the target intersection according to the current intersection state information.

Step 406, determining the green wave speed of the vehicle according to the driving distance, waiting time, traffic condition type and traffic speed corresponding to the traffic condition type.

In some exemplary embodiments, the transit time of the vehicle is determined according to the waiting time, the traffic condition type and the communication speed corresponding to the traffic condition type, and the green wave speed of the vehicle is determined according to the travel distance and the transit time.

In the present exemplary embodiment, for a target intersection through which the vehicle is about to pass, a green wave vehicle speed of the vehicle is determined in combination with current traveling data of the vehicle and current intersection state information of the target intersection, and the green wave vehicle speed is transmitted to the vehicle. Thus, the vehicle can learn the green wave speed passing through the target intersection in the green state.

In one embodiment of the present disclosure, in order to enable the vehicle to safely pass through the target intersection, it may be further determined that the green wave vehicle speed is greater than a preset second vehicle speed threshold value and less than a vehicle speed limit value corresponding to the target intersection before the driving advice information is transmitted to the vehicle.

In some exemplary embodiments, in the case that the determined green wave vehicle speed is less than or equal to the preset second vehicle speed threshold value, since the determined green wave vehicle speed is slow, the green wave vehicle speed is not generally adopted to pass through the target intersection during the running of the vehicle, and therefore it may be determined that the green wave vehicle speed recommendation condition is not satisfied, at this time, the green wave vehicle speed recommendation suggestion is not transmitted to the vehicle.

The second vehicle speed threshold is a threshold of a vehicle speed preset according to requirements, and for example, the second vehicle speed threshold may be 30km/s.

In order that the present disclosure may be clearly understood, a process of transmitting a green wave vehicle speed to a vehicle is exemplarily described below with reference to fig. 5.

Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure.

As shown in fig. 5, the method for pushing the intersection driving advice may include:

step 501, current running data reported by a vehicle in real time is received.

Step 502, obtaining current intersection state information on a target intersection through which a vehicle is about to pass based on road side equipment, wherein the current intersection state information comprises signal lamp information of the target intersection.

Step 503, determining whether the road surface distance between the vehicle and the target intersection is within the preset distance range according to the current position in the current driving data, if so, executing step 504, otherwise, executing step 505.

Step 504, determining whether the vehicle needs to wait for a green light at the intersection according to the current vehicle speed in the current driving data and the signal light information of the target intersection, if not, executing step 506, otherwise executing step 505.

Step 505, green wave vehicle speed recommendation conditions are not satisfied.

Correspondingly, in the case where it is determined that the green wave vehicle speed recommendation condition is not satisfied, the intersection driving advice recommending means does not send a green wave vehicle speed advice to the vehicle.

Step 506, determining the green wave speed of the vehicle according to the current intersection state information and the current running data of the vehicle, judging whether the green wave speed is greater than a preset second vehicle speed threshold value and smaller than a vehicle speed limit value corresponding to the target intersection, if so, executing step 507, otherwise, executing step 505.

Step 507, green wave vehicle speed advice information including the green wave vehicle speed is transmitted to the vehicle.

Correspondingly, when the vehicle receives the green wave vehicle speed proposal information, the vehicle can directly output the green wave vehicle speed in the green wave vehicle speed proposal information.

In other exemplary embodiments, after the vehicle receives the green wave vehicle speed advice information, the vehicle may further determine whether the current vehicle speed of the vehicle is greater than a preset third vehicle speed threshold, if not, determine that the vehicle does not satisfy the condition for outputting the green wave vehicle speed advice, and if so, the vehicle outputs the green wave vehicle speed advice information.

The third vehicle speed threshold is a preset vehicle speed threshold according to actual requirements, for example, the third vehicle speed threshold may be 20km/s.

It can be understood that if the current speed of the vehicle is less than the preset third speed threshold, the vehicle is very slow, and the driver of the vehicle does not use the green wave speed even if the vehicle outputs the green wave speed after the vehicle decides to wait for a red light and then passes through the target intersection. Therefore, in the present exemplary embodiment, in the case where the vehicle determines that the current vehicle speed of the vehicle is less than the preset third vehicle speed threshold value, the vehicle no longer outputs the green wave vehicle speed transmitted by the intersection driving advice recommending means.

Based on any one of the above embodiments, in order to enable the vehicle to acquire the signal lamp information of the target intersection which is about to pass in front of the vehicle in real time in the running process of the vehicle, in one embodiment of the present disclosure, the signal lamp information of the target intersection may be determined according to the current intersection state information, and the signal lamp information may be sent to the vehicle. Correspondingly, the vehicle receives the signal lamp information and outputs the signal lamp information. Therefore, the vehicle can acquire the signal lamp information of the target intersection to be passed, the situation that the signal lamp information cannot be acquired due to shielding of other vehicles or the signal lamp is not clearly seen due to strong light interference is avoided, and driving safety is further improved.

The signal lamp information may include a current state of the signal lamp and remaining time information corresponding to the current state.

The current state may include a red light state, a green light state, a yellow light state, and the like.

Based on any one of the embodiments, in some scenarios, there may be some unknown traffic violations at the target intersection, for example, traffic violations such as red light running by pedestrians, red light running by non-motor vehicles, sudden break-in by pedestrians, sudden break-in by non-motor vehicles, etc., so as to inform the vehicles in advance, avoid danger, and send reminding information to the vehicles when determining that the traffic violations occur at the target intersection according to the current intersection state information, where the reminding information is used for reminding the traffic violations occurring at the target intersection. Therefore, the vehicle can know that the traffic violation occurs at the target intersection through the reminding information, and further can pay more attention to the running of the vehicle, and the safe running of the vehicle is facilitated.

Based on any of the above embodiments, in order to enable the vehicle to have more knowledge of the target intersection, in some exemplary embodiments, the method further includes: and determining the intersection risk level of the target intersection according to the historical illegal driving behavior and the historical traffic accident data of the target intersection, and sending reminding information containing the intersection risk level to the vehicle. Therefore, the vehicle can acquire the intersection risk level corresponding to the target intersection, and remind the intersection risk level of the target intersection, so that the safe driving of the vehicle is facilitated.

Based on any one of the embodiments, driving reminding information of the vehicle on the target intersection can be determined according to the current driving data and/or the current intersection state information, and the driving reminding information is sent to the vehicle. Therefore, corresponding driving reminding information is timely sent to the vehicle, and safe driving of the vehicle is facilitated.

Wherein, the driving reminding information comprises at least one of the following: overspeed reminding information and red light running reminding information.

In some exemplary embodiments, in the case where the driving alert information includes overspeed alert information, an exemplary process by which the intersection driving advice recommending means determines whether the vehicle is overspeed is: the current speed in the current running data and the corresponding speed limit value of the vehicle at the target intersection can be compared, and overspeed reminding information can be sent to the vehicle under the condition that the current speed exceeds the speed limit value of the vehicle. The vehicle speed reminding information is used for reminding that the current speed of the vehicle is overspeed. Therefore, overspeed reminding is carried out on the vehicle, and safe driving of the vehicle is facilitated.

In some exemplary embodiments, where the driving alert information includes red light running alert information, an exemplary process of the intersection driving advice recommendation device determining whether the vehicle is at risk of running a red light is: according to the current running data and the current intersection state information, whether the vehicle runs the red light risk or not can be determined, and correspondingly, the red light running reminding information can be sent to the vehicle under the condition that the vehicle is determined to run continuously at the current speed and the red light risk exists. Therefore, the red light running reminding can be carried out on the vehicle, and safe driving of the vehicle is facilitated.

Correspondingly, the red light running reminding information is used for reminding the vehicle of paying attention to the traffic light information and decelerating.

In some exemplary embodiments, the driving reminding information may further include a start reminding information, correspondingly, when it is determined that a signal lamp corresponding to a lane where the vehicle is located is in a non-green state based on the current intersection state information, and when it is determined that the vehicle is suspended based on the current driving data, if it is determined that the signal lamp on the lane where the vehicle is located is changed from a yellow lamp to a green lamp according to the current intersection state information uploaded by the road side device in real time, the start reminding may be sent to the vehicle, so that the vehicle may quickly start the vehicle based on the start reminding, and the traffic efficiency of the target intersection may be effectively enhanced while the probability of traffic accidents may be reduced.

In order that the present disclosure may be clearly understood, an exemplary description will be made below of an intersection driving advice pushing method of this embodiment in conjunction with fig. 6, and in this exemplary embodiment, an intersection driving advice recommending apparatus includes a cloud control platform and a policy platform, and an exemplary description is made by taking a vehicle-mounted terminal as an example. The interaction process between the vehicle-mounted terminal, the road side device, the cloud control platform and the policy platform, as shown in fig. 6, may include:

In step 601, the vehicle-mounted terminal sends current running data of the vehicle to the cloud control platform.

Step 602, the cloud control platform determines that the road surface distance between the vehicle and the target intersection to be passed in front is smaller than a preset distance threshold according to the current running data, determines signal lamp information of the intersection based on the current intersection state information of the target intersection sent by the road side equipment, and sends the signal lamp information to the vehicle-mounted terminal.

And 603, outputting signal lamp information by the vehicle-mounted terminal.

The vehicle-mounted terminal can display the signal lamp information on the interactive interface and can play the signal lamp information by voice, and the mode of outputting the signal lamp information by the vehicle-mounted terminal is not particularly limited in the embodiment.

Step 604, the current intersection state information and the current driving data sent by the road test equipment are sent to the strategy platform.

Step 605, the policy platform performs safety analysis and efficiency analysis based on the current intersection status information and the current driving data to determine safety reminding information and driving advice information.

In step 606, the policy platform sends the safety reminder information and the driving advice information to Yun Kongping.

In step 607, the policy platform forwards the safety reminding information and the driving advice information to the vehicle smashing terminal.

In step 608, the vehicle-mounted terminal outputs the safety reminding information and the driving advice information.

In the embodiment of the present invention, through the mutual interaction between the four, the running safety of the vehicle and the passing efficiency of the vehicle passing through the intersection can be greatly improved, and the driving safety of the vehicle is improved.

In order that the intersection driving advice pushing method of the present disclosure may be clearly understood, an exemplary description will be made below of the intersection driving advice pushing method of the embodiment in which a vehicle uses a navigation function and the vehicle includes an in-vehicle terminal having the navigation function as an example, with reference to fig. 7.

As shown in fig. 7, the method for pushing the intersection driving advice may include:

in step 701, the vehicle-mounted terminal sends current running data of the vehicle to the cloud control platform.

In step 702, the cloud control platform determines, according to the current driving data, that the road surface distance between the vehicle and the target intersection to be passed in front is smaller than a preset distance threshold value, and obtains current intersection state information sent by road side equipment corresponding to the target intersection.

The road side equipment corresponding to the target intersection sends the intersection state information of the target intersection pair in real time.

In step 703, the cloud control platform sends the current driving data and the current intersection state information to the policy platform.

And step 704, determining signal lamp information of the intersection according to the current running data and the current intersection state information by the strategy platform, and determining driving suggestion information and driving reminding information of the vehicle on the target intersection.

And step 705, the strategy platform sends the signal lamp information, the driving suggestion information and the driving reminding information to the cloud control platform.

And step 706, the cloud control platform forwards the signal lamp information, the driving suggestion information and the driving reminding information to the navigation function server.

And step 707, the navigation function server sends the signal lamp information, the driving advice information and the driving reminding information to the vehicle-mounted terminal in the vehicle.

In step 708, the vehicle terminal in the vehicle may output the signal light information, the driving advice information, and the driving reminder information.

In some exemplary embodiments, the in-vehicle terminal may display the signal light information, the driving advice information, and the driving reminder information on the interactive interface.

In other exemplary embodiments, the vehicle-mounted terminal displays the signal lamp information, the driving suggestion information and the driving reminding information on the interactive interface, and the reminding information including the signal lamp information, the driving suggestion information and the driving reminding information can be input in a voice playing mode, so that a driver can know the signal lamp information, the driving suggestion information and the driving reminding information without checking the interactive interface, and safe driving of the vehicle is further facilitated.

In order to achieve the above embodiments, the embodiments of the present disclosure further provide an intersection driving suggestion pushing device.

Fig. 8 is a schematic diagram of an eighth embodiment of the present disclosure, which provides an intersection driving advice pushing device.

As shown in fig. 8, the intersection driving advice pushing device 80 may include a first obtaining module 801, a second obtaining module 802, a third obtaining module 803, a first determining module 804, and a first sending module 805, wherein:

the first obtaining module 801 is configured to obtain a road surface distance between a vehicle and a target intersection.

The second obtaining module 802 is configured to obtain current driving data of the vehicle when the road surface distance is less than a preset distance threshold.

And a third obtaining module 803, configured to obtain current intersection state information of the target intersection sent by the roadside device.

The first determining module 804 is configured to determine driving advice information of the vehicle at the target intersection according to the current driving data and the current intersection status information.

A first transmitting module 805 for transmitting driving advice information to the vehicle.

According to the intersection driving suggestion pushing device, in the process of driving of a vehicle, the road surface distance between the vehicle and a target intersection to be passed in front of the vehicle is obtained, and under the condition that the road surface distance between the vehicle and the target intersection is smaller than the preset distance threshold value, driving suggestion information of the vehicle on the target intersection is determined based on current driving data of the vehicle and current intersection state information of the target intersection sent by road side equipment, and the driving suggestion information is sent to the vehicle. Therefore, the driving advice information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle in front of the intersection and the current driving data of the vehicle, the vehicle can conveniently and safely drive at the intersection based on the driving advice information, and the safe driving of the vehicle is facilitated.

In one embodiment of the present disclosure, as shown in fig. 9, the intersection driving advice pushing arrangement 90 may include: the first acquiring module 901, the second acquiring module 902, the third acquiring module 903, the first determining module 904, the first transmitting module 905, the second determining module 906, the third determining module 907, the second transmitting module 908, the third transmitting module 909, the fourth determining module 910, the fourth transmitting module 911, the fifth determining module 912, and the fifth transmitting module 913, wherein the first determining module 904 may include a first determining unit 9041, a second determining unit 9042, a third determining unit 9043, a fourth determining unit 9044, a fifth determining unit 9045, a sixth determining unit 9046, a seventh determining unit 9047, and an eighth determining unit 9048.

It should be noted that, for the detailed description of the first acquisition module 901, the second acquisition module 902, and the third acquisition module 903, reference may be made to the description of the first acquisition module 801, the second acquisition module 802, and the third acquisition module 803 in fig. 8, which are not described here.

In one embodiment of the present disclosure, the driving advice information includes lane advice information, and the first determination module 904 includes:

A first determining unit 9041 for determining a predicted steering direction of the vehicle at the target intersection;

a second determining unit 9042, configured to determine, according to current driving data, that a current speed of the vehicle is greater than a preset first speed threshold, and determine, according to current intersection state information, a vehicle queuing length of each lane if there are multiple lanes on the target intersection that are in a direction opposite to the predicted direction;

a third determining unit 9043 configured to determine, from among the plurality of lanes, a target lane in which the queuing length of the vehicle is shortest;

the first sending module 905 is specifically configured to send lane suggestion information to the vehicle, where the lane suggestion information includes lane information of the target lane.

In one embodiment of the present disclosure, the first determining module 904 further includes:

a fourth determining unit 9044 for determining a maximum value and a minimum value in the vehicle queuing lengths of the respective lanes;

a fifth determining unit 9045 is configured to determine that a difference between the maximum value and the minimum value is greater than a preset length threshold.

In one embodiment of the present disclosure, the first determining unit 9041 is specifically configured to: under the condition that the vehicle uses the navigation function, according to the navigation path currently used by the vehicle; and determining the predicted steering direction of the vehicle at the target intersection according to the navigation path.

In one embodiment of the present disclosure, the first determining unit 9041 is specifically configured to: under the condition that the vehicle does not use the navigation function, acquiring historical steering direction data of the vehicle at a target intersection; and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

In one embodiment of the present disclosure, the driving advice information includes a green wave vehicle speed, the current driving data includes a current position, and the first determining module 904 includes:

a sixth determining unit 9046 for determining a travel distance between the current position and a stop position of the vehicle on the target intersection;

a seventh determining unit 9047, configured to determine, according to the current intersection status information, a waiting time of a signal lamp on the target intersection and a traffic condition type of the target intersection;

the eighth determining unit 9048 determines the green wave speed of the vehicle from the travel distance, the waiting time, the traffic condition type, and the traffic speed corresponding to the traffic condition type.

In one embodiment of the present disclosure, the apparatus further comprises:

the second determining module 906 is configured to determine that the green wave vehicle speed is greater than a preset second vehicle speed threshold and less than a vehicle speed limit value corresponding to the target intersection.

In one embodiment of the present disclosure, the apparatus further comprises:

a third determining module 907, configured to determine signal lamp information of the target intersection according to the current intersection state information;

a second transmission module 908 is used to transmit traffic light information to the vehicle.

In one embodiment of the present disclosure, the apparatus further comprises:

and the third sending module 909 is configured to send, to the vehicle, reminding information when determining that the traffic violation occurs at the target intersection according to the current intersection state information, where the reminding information is used to prompt the traffic violation to occur at the target intersection.

In one embodiment of the present disclosure, the apparatus further comprises:

a fourth determining module 910, configured to determine an intersection risk level of the target intersection according to the historical driving violation behavior and the historical traffic accident data of the target intersection;

the fourth sending module 911 is configured to send a reminder message including the risk level of the intersection to the vehicle.

In one embodiment of the present disclosure, the apparatus further comprises:

a fifth determining module 912, configured to determine driving reminding information of the vehicle on the target intersection according to the current driving data and/or the current intersection status information;

the fifth sending module 913 is configured to send driving reminding information to the vehicle.

In one embodiment of the present disclosure, the driving reminder information includes at least one of: overspeed reminding information and red light running reminding information.

It should be noted that the explanation of the above method for pushing the driving advice at the road junction is also applicable to the device for pushing the driving advice at the road junction in this embodiment, and this embodiment will not be repeated.

In order to achieve the above embodiments, the embodiments of the present disclosure further provide an intersection driving suggestion pushing system.

Fig. 10 is a schematic diagram of a tenth embodiment of the present disclosure, which provides an intersection driving advice pushing system.

As shown in fig. 10, the intersection driving advice push system 100 may include: vehicle 1001, cloud server 1002 and road side device 1003, wherein:

the cloud server 1002 is configured to obtain a road surface distance between the vehicle 1001 and a target intersection; acquiring current running data of the vehicle 1001 in a case where the road surface distance is smaller than a preset distance threshold value; acquiring current intersection state information of a target intersection sent by the road side device 1003; determining driving advice information of the vehicle 1001 on the target intersection according to the current driving data and the current intersection state information; transmitting driving advice information to the vehicle 1001;

The vehicle 1001 is configured to send current driving data to the cloud server 1002 and receive driving advice information of the cloud server 1002;

the road side device 1003 is configured to determine current intersection status information according to current perception data of the target intersection, and send the current intersection status information to the cloud server 1002.

In one embodiment of the present disclosure, the driving advice information includes lane advice information, and the specific process of determining the driving advice information of the vehicle 1001 on the target intersection according to the current driving data and the current intersection status information by the cloud server 1002 is: determining a predicted steering direction of the vehicle 1001 at the target intersection; determining that the current speed of the vehicle 1001 is greater than a preset first speed threshold according to the current running data, and determining the vehicle queuing length of each lane according to the current intersection state information when a plurality of lanes of the predicted steering direction exist on the target intersection; determining a target lane with the shortest queuing length of the vehicle from a plurality of lanes; lane advice information is transmitted to the vehicle 1001, wherein the lane advice information includes lane information of a target lane.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine, from among the plurality of lanes, a maximum value and a minimum value of the vehicle queuing lengths of the respective lanes; and determining that the difference between the maximum value and the minimum value is greater than a preset length threshold.

In one embodiment of the present disclosure, the specific process of determining the predicted steering direction of the vehicle 1001 at the target intersection by the cloud server 1002 is: in the case where the vehicle 1001 uses the navigation function, the navigation path currently used by the vehicle 1001 is used; based on the navigation path, a predicted steering direction of the vehicle 1001 at the target intersection is determined.

In one embodiment of the present disclosure, the specific process of determining the predicted steering direction of the vehicle 1001 at the target intersection by the cloud server 1002 is: in the case where the vehicle 1001 does not use the navigation function, the history steering direction data of the vehicle 1001 at the target intersection is acquired; based on the historical steering direction data, a predicted steering direction of the vehicle 1001 at the target intersection is determined.

In one embodiment of the present disclosure, the driving advice information includes a green wave vehicle speed, the current driving data includes a current position, and the specific process of determining the driving advice information of the vehicle 1001 on the target intersection according to the current driving data and the current intersection state information by the cloud server 1002 is: determining a travel distance between the current position and a stop position of the vehicle 1001 on the target intersection; according to the current intersection state information, determining the waiting time of a signal lamp on a target intersection and the traffic condition type of the target intersection; the green wave vehicle speed of the vehicle 1001 is determined according to the travel distance, the waiting time, the traffic situation type, and the traffic speed corresponding to the traffic situation type.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine that the green wave vehicle speed is greater than a preset second vehicle speed threshold value and less than a vehicle speed limit value corresponding to the target intersection.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine signal lamp information of the target intersection according to the current intersection state information; signal light information is sent to the vehicle 1001.

In an embodiment of the present disclosure, the cloud server 1002 is further configured to send, to the vehicle 1001, alert information when determining that the traffic violation occurs at the target intersection according to the current intersection status information, where the alert information is used to alert the target intersection of the traffic violation.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine an intersection risk level of the target intersection according to the historical driving violation behavior and the historical traffic accident data of the target intersection; a reminder message including the intersection risk level is sent to the vehicle 1001.

In one embodiment of the present disclosure, the cloud server 1002 is further configured to determine driving reminding information of the vehicle 1001 at the target intersection according to the current driving data and/or the current intersection status information; the driving alert information is transmitted to the vehicle 1001.

It should be noted that the explanation of the method for pushing the driving advice at the road junction is also applicable to the system for pushing the driving advice at the road junction in this embodiment, which is not described in detail.

According to the intersection driving suggestion pushing system, in the process of driving of a vehicle, the road surface distance between the vehicle and a target intersection to be passed in front of the vehicle is obtained, and under the condition that the road surface distance between the vehicle and the target intersection is smaller than a preset distance threshold value, driving suggestion information of the vehicle on the target intersection is determined based on current driving data of the vehicle and current intersection state information of the target intersection sent by road side equipment, and the driving suggestion information is sent to the vehicle. Therefore, the driving advice information of the vehicle at the intersection is accurately given by combining the current intersection state information of the vehicle in front of the intersection and the current driving data of the vehicle, the vehicle can conveniently and safely drive at the intersection based on the driving advice information, and the safe driving of the vehicle is facilitated.

It should be noted that, in the technical solution of the present disclosure, the acquisition, storage, application, etc. of various related data all conform to the rules of relevant laws and regulations, and do not violate the popular regulations of the public order.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium and a computer program product.

Fig. 11 illustrates a schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 1100 may include a computing unit 1101 that may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the device 1100 can also be stored. The computing unit 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

Various components in device 1100 are connected to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, etc.; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108, such as a magnetic disk, optical disk, etc.; and a communication unit 1109 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 1109 allows the device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 1101 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 1101 performs the respective methods and processes described above, such as the intersection driving advice pushing method. For example, in some embodiments, the intersection driving advice pushing method may be implemented as a computer software program, which is tangibly embodied on a machine-readable medium, such as the storage unit 1108. In some embodiments, some or all of the computer programs may be loaded and/or installed onto device 1100 via ROM 1102 and/or communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the intersection driving advice pushing method described above may be executed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the intersection driving advice pushing method by any other suitable means (e.g. by means of firmware).

Various implementations of the apparatus and techniques described here above may be implemented in digital electronic circuit devices, integrated circuit devices, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), on-chip device devices (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on programmable devices including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage device, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor apparatus, device, or apparatus, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the apparatus and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The apparatus and techniques described here may be implemented in a computing device that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the apparatus and techniques described here), or any combination of such background, middleware, or front-end components. The components of the apparatus may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.

The computer device may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual Private Server" or simply "VPS") are overcome. The server may be a cloud server, a server of a distributed device, or a server incorporating a blockchain.

It should be noted that, artificial intelligence is a subject of studying a certain thought process and intelligent behavior (such as learning, reasoning, thinking, planning, etc.) of a computer to simulate a person, and has a technology at both hardware and software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. An intersection driving advice pushing method comprises the following steps:

obtaining the road surface distance between the vehicle and the target intersection;

acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value;

acquiring current intersection state information of the target intersection sent by road side equipment, wherein the current intersection state information comprises vehicle queuing lengths of lanes corresponding to each steering direction;

determining driving advice information of the vehicle on the target intersection according to the current driving data and the current intersection state information;

transmitting the driving advice information to the vehicle;

wherein the driving advice information includes lane advice information, and the determining driving advice information of the vehicle at the target intersection according to the current driving data and the current intersection state information includes:

determining a predicted steering direction of the vehicle at the target intersection;

determining that the current speed of the vehicle is greater than a preset first speed threshold according to the current running data, and determining the vehicle queuing length of each lane according to the current intersection state information under the condition that a plurality of lanes with the predicted steering direction exist on the target intersection;

Determining a target lane with the shortest queuing length of the vehicle from the lanes;

the transmitting the driving advice information to the vehicle includes: and sending the lane suggestion information to the vehicle, wherein the lane suggestion information comprises lane information of the target lane.

2. The method of claim 1, wherein prior to the determining a target lane from the plurality of lanes for which a vehicle queue length is shortest, the method further comprises:

determining maximum and minimum values in the vehicle queuing lengths of the lanes;

and determining that the difference between the maximum value and the minimum value is greater than a preset length threshold.

3. The method of claim 1, wherein the determining a predicted steering direction of the vehicle at the target intersection comprises:

in the case that the vehicle uses a navigation function, according to a navigation path currently used by the vehicle;

and determining the predicted steering direction of the vehicle at the target intersection according to the navigation path.

4. The method of claim 1, wherein the determining a predicted steering direction of the vehicle at the target intersection comprises:

Acquiring historical steering direction data of the vehicle at the target intersection under the condition that the vehicle does not use a navigation function;

and determining the predicted steering direction of the vehicle at the target intersection according to the historical steering direction data.

5. The method of claim 1, wherein the driving advice information comprises a green wave vehicle speed, the current travel data comprises a current location, and the determining the driving advice information for the vehicle at the target intersection based on the current travel data and the current intersection status information comprises:

determining a travel distance between the current position and a stop position of the vehicle on the target intersection;

determining the waiting time of a signal lamp on the target intersection and the traffic condition type of the target intersection according to the current intersection state information;

and determining the green wave speed of the vehicle according to the driving distance, the waiting time, the traffic condition type and the traffic speed corresponding to the traffic condition type.

6. The method of claim 5, wherein prior to the sending the driving advice information to the vehicle, the method further comprises:

And determining that the green wave vehicle speed is greater than a preset second vehicle speed threshold value and is smaller than a vehicle speed limit value corresponding to the target intersection.

7. The method of claim 1, wherein the method further comprises:

determining signal lamp information of the target intersection according to the current intersection state information;

and sending the signal lamp information to the vehicle.

8. The method of claim 1, wherein the method further comprises:

and sending reminding information to the vehicle under the condition that the traffic violation occurs at the target intersection according to the current intersection state information, wherein the reminding information is used for reminding the traffic violation of the target intersection.

9. The method of claim 1, wherein the method further comprises:

determining the intersection risk level of the target intersection according to the historical illegal driving behavior and the historical traffic accident data of the target intersection;

and sending reminding information containing the intersection risk level to the vehicle.

10. The method of any one of claims 1-9, wherein the method further comprises:

determining driving reminding information of the vehicle on the target intersection according to the current driving data and/or the current intersection state information;

And sending driving reminding information to the vehicle.

11. The method of claim 10, wherein the driving reminder information includes at least one of: overspeed reminding information and red light running reminding information.

12. An intersection driving advice pushing device, comprising:

the first acquisition module is used for acquiring the road surface distance between the vehicle and the target intersection;

the second acquisition module is used for acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value;

the third acquisition module is used for acquiring current intersection state information of the target intersection, which is sent by the road side equipment, wherein the current intersection state information comprises vehicle queuing lengths of lanes corresponding to the steering directions;

the first determining module is used for determining driving suggestion information of the vehicle on the target intersection according to the current driving data and the current intersection state information;

a first transmission module configured to transmit the driving advice information to the vehicle;

wherein the driving advice information includes lane advice information, the first determination module includes:

a first determining unit configured to determine a predicted steering direction of the vehicle at the target intersection;

A second determining unit configured to determine, according to the current traveling data, that a current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, and determine, in a case where a plurality of lanes exist on the target intersection in the predicted steering direction, a vehicle queuing length of each of the lanes according to the current intersection state information;

a third determining unit, configured to determine, from the multiple lanes, a target lane with a shortest queuing length of the vehicle;

the first sending module is specifically configured to send the lane suggestion information to the vehicle, where the lane suggestion information includes lane information of the target lane.

13. The apparatus of claim 12, wherein the first determination module further comprises:

a fourth determining unit configured to determine a maximum value and a minimum value in a vehicle queuing length of each of the lanes;

and a fifth determining unit configured to determine that a difference between the maximum value and the minimum value is greater than a preset length threshold.

14. The apparatus of claim 12, wherein the first determining unit is specifically configured to:

15. The apparatus of claim 12, wherein the first determining unit is specifically configured to:

16. The apparatus of claim 12, wherein the driving advice information includes a green wave vehicle speed, the current travel data includes a current position, the first determination module includes:

a sixth determining unit configured to determine a travel distance between the current position and a stop position of the vehicle on the target intersection;

a seventh determining unit, configured to determine, according to the current intersection status information, a waiting time of a signal lamp on the target intersection and a traffic condition type of the target intersection;

and an eighth determining unit for determining a green wave speed of the vehicle according to the travel distance, the waiting time, the traffic condition type and a traffic speed corresponding to the traffic condition type.

17. The apparatus of claim 16, wherein the apparatus further comprises:

and the second determining module is used for determining that the green wave vehicle speed is greater than a preset second vehicle speed threshold value and is smaller than a vehicle speed limit value corresponding to the target intersection.

18. The apparatus of claim 12, wherein the apparatus further comprises:

the third determining module is used for determining signal lamp information of the target intersection according to the current intersection state information;

and the second sending module is used for sending the signal lamp information to the vehicle.

19. The apparatus of claim 12, wherein the apparatus further comprises:

and the third sending module is used for sending reminding information to the vehicle under the condition that the traffic violation occurs at the target intersection according to the current intersection state information, wherein the reminding information is used for reminding the traffic violation occurs at the target intersection.

20. The apparatus of claim 12, wherein the apparatus further comprises:

a fourth determining module, configured to determine an intersection risk level of the target intersection according to historical driving violations of the target intersection and historical traffic accident data;

And the fourth sending module is used for sending reminding information containing the intersection risk level to the vehicle.

21. The apparatus of any of claims 12-20, wherein the apparatus further comprises:

a fifth determining module, configured to determine driving reminding information of the vehicle at the target intersection according to the current driving data and/or the current intersection state information;

and the fifth sending module is used for sending driving reminding information to the vehicle.

22. The apparatus of claim 21, wherein the driving reminder information comprises at least one of: overspeed reminding information and red light running reminding information.

23. The utility model provides a crossing driving suggestion push system, includes vehicle, high in the clouds server and road side equipment, wherein:

the cloud server is used for acquiring the road surface distance between the vehicle and the target intersection; acquiring current running data of the vehicle under the condition that the road surface distance is smaller than a preset distance threshold value; acquiring current intersection state information of the target intersection sent by road side equipment, wherein the current intersection state information comprises vehicle queuing lengths of lanes corresponding to each steering direction; determining driving advice information of the vehicle on the target intersection according to the current driving data and the current intersection state information; and transmitting the driving advice information to the vehicle;

The vehicle is used for sending the current driving data to the cloud server and receiving the driving suggestion information of the cloud server;

the road side equipment is used for determining the current intersection state information according to the current perception data of the target intersection and sending the current intersection state information to the cloud server;

24. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

25. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-11.