CN115880887B - A passage method, device and electronic equipment - Google Patents
A passage method, device and electronic equipmentInfo
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- CN115880887B CN115880887B CN202111130930.5A CN202111130930A CN115880887B CN 115880887 B CN115880887 B CN 115880887B CN 202111130930 A CN202111130930 A CN 202111130930A CN 115880887 B CN115880887 B CN 115880887B
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Abstract
本发明提供了一种通行方法、装置和电子设备，该方法包括：在获取到通行者的通行指示信息的情况下，向第二设备发送通过目标道路的通行请求信息；接收所述第二设备根据所述通行请求信息反馈的让行指示信息；根据所述让行指示信息，进行通行提示。本发明的方案解决了现有的通行方法难以实现车辆与通行者之间的有效协调通行，导致通行效率较低的问题。
The present invention provides a passage method, apparatus, and electronic device. The method comprises: upon obtaining a pass instruction from a passerby, transmitting a passage request to a second device to pass a target road; receiving yield instruction information fed back by the second device based on the passage request information; and providing a passage prompt based on the yield instruction information. The solution of the present invention solves the problem that existing passage methods have difficulty achieving effective coordination between vehicles and passersby, resulting in low passage efficiency.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a traffic method, a traffic device, and an electronic device.
Background
According to the rules of road traffic safety law in China, motor vehicles should run at a reduced speed when passing through crosswalk, pedestrians should stop and get away when passing through crosswalk, motor vehicles should avoid when passing through the road without traffic signals if passing through the road, otherwise, the motor vehicles are deducted with a penalty of 200 yuan by 3. However, the existing regulations have the following difficulties when being implemented:
vehicles on roads may have difficulty in knowing the presence of VRUs (Vulnerable Road Users ) (i.e., vulnerable traffic participants) due to line of sight obstruction, such as "ghost probes", which are prone to traffic accidents;
The VRU is difficult to know the intention of a vehicle running on a road, and does not determine whether the vehicle is about to stop and give way, so that the vehicle can only run heuristically, and certain potential safety hazards exist;
If the distance between the vehicle and the VRU on the road is far, the vehicle can decelerate and yield without stopping and yielding, but the pedestrian is difficult to accurately know the intention and the speed state of the vehicle, and the pedestrian can hardly pass normally, so that the traffic efficiency of the intersection is lower;
If vehicles on the road find the VRU, the vehicles are difficult to stop in time due to the fact that the distance between the VRU and the vehicle is too short, but the VRU considers that the vehicles can get away, and then the vehicles are forced to pass through, so that traffic accidents are easy to be caused;
if more VRUs need to pass, but when passing through the intersection, the position of the VRU is not concentrated, and the VRU intermittently passes through the intersection, so that the vehicle needs to wait for a long time;
The VRU is in consideration of safety, and the vehicles want to pass after stopping and yielding, but most vehicles cannot be permitted because the VRU is positioned in a position which does not belong to a yielding area, so that the VRU needs to wait for a long time to pass.
In summary, the existing passing method is difficult to realize effective coordination passing between the vehicle and the passers, so that the passing efficiency is low.
Disclosure of Invention
The invention provides a passing method, a passing device and electronic equipment, which solve the problem that the existing passing method is difficult to realize effective coordination passing between vehicles and passers, so that the passing efficiency is low.
In a first aspect, an embodiment of the present invention provides a traffic method, applied to a first device, including:
under the condition that the traffic indication information of the passer is acquired, sending traffic request information passing through the target road to second equipment;
receiving yield indication information fed back by the second equipment according to the traffic request information;
And carrying out traffic prompt according to the yield indication information.
In a second aspect, an embodiment of the present invention provides a traffic method, applied to a second device, including:
receiving passing request information transmitted by first equipment and passing through a target road;
and sending the yield indication information to the first equipment according to the traffic request information.
In a third aspect, an embodiment of the present invention provides a traffic device applied to a first apparatus, including:
The request sending module is used for sending the passing request information passing through the target road to the second equipment under the condition that the passing indication information of the passer is obtained;
the indication receiving module is used for receiving the yield indication information fed back by the second equipment according to the traffic request information;
And the traffic prompt module is used for carrying out traffic prompt according to the yield indication information.
In a fourth aspect, an embodiment of the present invention provides a traffic device applied to a second apparatus, including:
the request receiving module is used for receiving the passing request information which is sent by the first equipment and passes through the target road;
and the indication sending module is used for sending the yielding indication information to the first equipment according to the passing request information.
In a fifth aspect, an embodiment of the invention provides an electronic device comprising a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the traffic method according to the first aspect or the steps of the traffic method according to the second aspect when the computer program is executed.
In a sixth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the traffic method as described in the first aspect, or implements the steps of the traffic method as described in the second aspect.
The technical scheme of the invention has the beneficial effects that:
According to the embodiment of the invention, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is ensured to the maximum extent, and the traffic efficiency is improved.
Drawings
FIG. 1 shows a flow chart of a pass method of an embodiment of the invention;
FIG. 2 shows an interactive schematic of a traffic method according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a vehicle on a pedestrian and a target road according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of the present invention;
FIG. 5 shows a flow chart of a pass method according to another embodiment of the invention;
FIG. 6 shows a block diagram of a traffic device according to an embodiment of the present invention;
FIG. 7 is a block diagram showing a traffic device according to another embodiment of the present invention;
Fig. 8 shows a block diagram of the apparatus of an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided merely to facilitate a thorough understanding of embodiments of the invention. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
In the embodiment of the invention, the form of the access network is not limited, and the access network may be an access network including macro base station (Macro Base Station), micro base station (Pico Base Station), node B (3G mobile base station name), enhanced base station (eNB), home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), relay station, access point, RRU (Remote Radio Unit, remote radio module), RRH (Remote Radio Head ), and the like. The user terminal may be a mobile phone (or handset), or other device capable of transmitting or receiving wireless signals, including user equipment, personal Digital Assistant (PDA), wireless modem, wireless communicator, handheld device, laptop, cordless phone, wireless Local Loop (WLL) station, CPE (Customer Premise Equipment, client terminal) or mobile smart hot spot capable of converting mobile signals to WiFi signals, smart home appliances, or other devices capable of spontaneously communicating with a mobile communications network without manipulation by a person, etc.
Specifically, the embodiment of the invention provides a passing method, a passing device and electronic equipment, which solve the problem that the passing efficiency is low because effective coordination passing between a vehicle and a passer is difficult to realize by the passing method in the prior art.
First embodiment
As shown in fig. 1, an embodiment of the present invention provides a traffic method applied to a first device, which specifically includes the following steps:
And step 11, under the condition that the traffic indication information of the passer is acquired, sending traffic request information passing through the target road to the second equipment.
Here, a passer may refer to a VRU (Vulnerable Road Users, vulnerable road user) (i.e., a handicapped traffic participant), and the passer may include a pedestrian or a vehicle. The passer can carry or wear the VRU device (i.e., the first device) and the first device can be used for receiving an indication of the passer's road, specifically, the passer can send the passer indication information of the passer to pass through the target road to the first device by performing man-machine interaction with the first device. After the first device receives the traffic indication information, the first device may send traffic request information to the second device according to the traffic indication information.
It should be noted that the first device and the second device may be hardware devices or application programs loaded in existing devices. For example, the first device may be a mobile device such as a mobile phone, an application program in a device such as a mobile phone, a V2X (Vehicle-to-Everything) device, etc., and the second device may be an OBU (On board Unit), a network device, such as an MEC (Mobile Edge Computing ), etc. Specifically, the OBU may be a T-BOX (TELEMATICS BOX, abbreviated as an in-vehicle telematics system), a V2X device, or an application in the T-BOX, or the like. The first device and the second device may be in direct communication, for example, through V2P (Vehicle To Pedestrian, vehicle-to-pedestrian connection), or may be in communication by a third party, for example, V2N2P or V2I 2P.
And step 12, receiving the yield indication information fed back by the second equipment according to the traffic request information.
The yielding instruction information may be information indicating a vehicle yielding decision (i.e., a decision indicating whether the vehicle is yielding or not) sent by surrounding related devices (e.g., OBU), information indicating a vehicle yielding decision sent (i.e., sent) by the network device, or information indicating a traffic decision sent (i.e., indicating whether the traffic can be safely passed currently) by the network device.
The vehicle can acquire whether the pedestrian has the requirement of passing through the road or not through the passing request information, and the vehicle (particularly, a driver of the vehicle or a decision maker of an automatic driving vehicle) does not need to judge whether the pedestrian has the requirement or not by itself; the first device can obtain a vehicle yielding decision or a traffic decision through the yielding indication information, so that the opportunity of the pedestrian passing through the target road is prompted.
It should be further noted that, the row letting indication information may be broadcast by the second device to all the first devices in a broadcast manner, or different row letting indication information may be provided for different first devices (specifically, the row letting indication information may be sent for the identification information of the first device). Therefore, the problems of potential safety hazard and passing efficiency caused by the fact that a later-arriving passer does not know whether the received passing instruction information is related to the passer can be avoided.
And 13, carrying out traffic prompt according to the yield indication information.
In the embodiment, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is guaranteed to the maximum extent, and the traffic efficiency is improved.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
It should be noted that, the first device may send related information of the first device (for example, location information, waiting time, running status information, heading information, priority of a passing request, a request number, or an identifier of the first device) to the second device, and specifically, the related information may be sent to the second device through the passing request information, or may also be directly sent to the second device. Wherein, the position information is the position information of the passer; the navigation state information of the passers, which indicates the state of the passers in traversing the target road, specifically includes the planned traversing state, the in-traversing state, the non-traversing state, the completed traversing state and the like, and the heading information, namely the traversing direction of the passers, can also be the clear information of whether the passers traverse the road. It will be appreciated that the first device may broadcast (or send) the relevant information (or pass request information) directly to the network device.
In the embodiment of the invention, the first device may send a request (i.e. traffic request information) of the passer to pass through the target road according to the indication of the passer, where the request may carry the traffic request priority generated by the first device. Further, the first device may determine a traffic opportunity when the passer can safely pass through the target road according to the information of the traffic participants on the surrounding road (i.e. the information of the distance between the passer and the vehicle on the target road, whether the vehicle is allowed to pass through, etc.), so as to prompt the passer to pass through the target road. In this process, the passer can express the demand urgency of himself to pass through the target road by means of the pass request priority, and the negotiation of the whole interaction process is higher although the decision of whether the vehicle is allowed or not is performed by the vehicle.
Optionally, the method further comprises:
determining the priority of the passing request according to first information, wherein the first information comprises at least one of the following:
For example, whether the specific location area where the passer is currently located is a legal yield area or not;
and (II) the type information of the passer, e.g., the passer is an emergency task person (e.g., police, rescue, fire, road maintenance, etc.), or an average person.
(III) the yielding indication information;
by the yielding indication information, whether vehicles in the surrounding area are determined to be a passer yielding or not can be obtained.
Signal lamp information, e.g., signal lamp phase.
(V) the total number of passers-by associated with the target link, i.e., whether there are other passers-by (e.g., whether there are other passers-by in the vicinity that are also applying for traversing the target link);
(six) a time period from the first device to the first time of sending the traffic request information, namely a waiting time of the passer (specifically, the waiting time of the passer at the intersection);
(seventh) the predicted time period for the nearest vehicle to the target road to reach the target road, i.e. the time for the vehicle to reach the intersection;
And (eight) the passer's passer-by status information. For example, the priority of the pass request of the passer in the traveling state may be set high, and the priority of the pass request of the passer in the traveling state may be set low. For another example, for a passer who has received a passer prompt issued by the first device and can safely pass, but has not begun to pass through the target road within a certain period of time (i.e., the passing state is not passing), which indicates that the passer does not currently have a passing intention, the first device may set the passer request priority of the passer to be low.
The first device may learn the travel state information of the passer through the position information (for example, position change information) and heading information of the passer, and may transmit the travel state information to the second device. The first device may further generate, according to a predetermined rule, a traffic request priority of a current passer passing through a road according to the received information of the surrounding road traffic participants, the information of a yielding decision (i.e., the yielding instruction information, where the vehicle yielding decision is used to instruct the vehicle yielding decision), whether the behavior (i.e., the passing state, the heading, etc.) of the passer is consistent with the transmitted traffic request information, and update the traffic request priority in real time.
Here, the information of the surrounding road traffic participants received by the first device may be information transmitted by surrounding related devices, such as information transmitted by other nearby first devices, location information transmitted by the surrounding vehicle OBU, or the like, or may be information of surrounding road traffic participants issued by the network device.
Specifically, in an alternative embodiment of the present invention, the pass request priority may be classified into two categories, high and low. It will be appreciated that the classification of the priority of the pass request may be specifically set according to different situations, for example, may be set to three or more types. The priorities of the traffic requests of different categories corresponding to the different first information may be determined by, for example, a scheme shown in the following table:
It should be noted that, when determining the priority of the traffic request, the following scheme may be adopted:
among the influencing factors, if any one of the influencing factors satisfies the index requirement of high priority, the priority of the passing request is set to be high, and if all the conditions satisfy the index requirement of low priority, the priority of the passing request is set to be low.
For example, in an alternative embodiment of the present invention, the predicted time period for the vehicle nearest to the target road to reach the target road is less than a preset time period (for example, 5S, which may be set according to the specific situation), that is, the time interval required for the first device to perceive that the vehicle nearest to the target road reaches the target road is less than 5S, where it is difficult for the vehicle to stop on the target road in time, the first device may set the priority of the passing request of the passer to be low, the vehicle may broadcast the passing instruction information that the vehicle will not yield, and the first device continues waiting.
In another alternative embodiment of the present invention, the first device senses that the time interval required for the vehicle closest to the target road to reach the target road is greater than 30s, in this case, the distance between the vehicle and the passer is relatively long, and if the passer passes through the target road quickly, the passer may not affect the normal running of the vehicle, so the first device may set the priority of the passer's passing request to be high, and after receiving the determination of the passing of the OBU (i.e. the passing indication information), the first device may prompt the passer to pass through the target road (or wait) according to the passing indication information.
For example, in another alternative embodiment of the present invention, the first device may periodically send the traffic request information, where the traffic request priority may be set to be low immediately after reaching the target road, and if the first device senses that there are other first devices in the vicinity that send the traffic request information, and the number of traffic request information (specifically, the number of passers that do not start to pass through) is greater than 3, the first device may update the traffic request priority to be high in a subsequent period, and if there are no other first devices in the vicinity that send the traffic request information, the first device may update the traffic request priority to be high in a subsequent period after the time for the first device to send the traffic request information for the first time exceeds 60s (which may be set according to circumstances) as time passes.
For another example, in an alternative embodiment of the present invention, the first device periodically sends the traffic request information, where the traffic request priority is low, and if the first device receives the traffic giving indication information of a certain vehicle and the traffic giving indication information indicates that the vehicle will give way, the first device may update the traffic request priority to be high in a subsequent sending period, and accordingly, when the surrounding relevant OBU gives a traffic giving prompt to the vehicle, the first device should prompt that the vehicle should give way. If the target road agrees to be cleared by the vehicle (e.g., the vehicle closest to the target road) on the lane, the first device may prompt the passer to pass through the road.
In this embodiment, for the situation of multiple lanes, the mechanism of coordinating traffic by using the priority of the traffic request can avoid the situation that the decisions of vehicles on multiple lanes are different, and more efficiently complete the traffic giving problem of the passers on the target road.
The traffic method provided by the embodiment of the invention not only can help the vehicles and the passers to perceive each other, but also can clearly inform the passers of the passers (or the passers by) of the opposite side, and can also solve the problem caused by inconsistent vehicle decisions in multiple lanes.
Optionally, in the case that the yielding indication information indicates a vehicle yielding decision, the method further comprises:
Judging whether the current moment is the time when the passer safely walks through the target road or not according to the yielding indication information and the position information of the passer;
Wherein, according to the yielding indication information, performing a traffic prompt, including:
prompting the passers to pass under the condition that the current moment is the moment when the passers pass through the target road;
and prompting the passer to wait under the condition that the current moment is not the moment when the passer walks through the target road.
In this embodiment, the yielding indication information received by the first device indicates a vehicle yielding decision, i.e. the yielding indication information is an indication informing the first device whether the vehicle is yielding. The first device may determine whether the passer can safely pass through the target road under the current traffic condition according to information of traffic participants of the surrounding road (for example, information of a speed of a vehicle on the target road, a distance between the vehicle and the passer, etc.), the traffic guiding information, etc.
Optionally, the determining, according to the yielding indication information and the position information of the passer, whether the current moment is the time when the passer safely walks through the target road includes:
Determining the current opportunity for the passer to travel through the target road under the condition that the yield indication information and the position information of the passer meet a first condition, wherein the first condition comprises at least one of the following:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
In this embodiment, the first device may determine, according to the traffic letting indication information, a traffic letting situation of the vehicle on each lane to be passed on the target road, and may determine, according to the position information of the passer, whether the position relationship between the passer and the vehicle to be passed on each lane to be passed on may satisfy the passer to perform the safe traffic, so as to determine whether the safe traffic may be performed currently, and prompt the passer.
For example, in an alternative embodiment of the present invention, the target road through which the passer is planning to travel is a bidirectional 4-lane road, as shown in fig. 3-4, after the first device broadcasts the traffic request information:
In the first case, as shown in fig. 3, when each lane of the 4 lanes has a vehicle to agree to give way, the first device may determine the time when the passer can pass safely, and instruct the passer to pass through the target road, and when only 2 lanes of the 4 lanes agree to give way, the first device determines that the passer cannot pass safely at present and instructs the passer to continue waiting, and at this time, the first device may continue waiting for the decision of letting pass of the other two lanes after updating the priority of the pass request.
In the second case, as shown in fig. 4, only 2 lanes of the 4 lanes have vehicles to agree to give way, but the other 2 lanes have no vehicles within a certain range, the first device may determine the time when the passers-by can safely pass, and instruct the passers-by to pass through the target road.
Optionally, when the yielding indication information indicates a traffic decision, the performing traffic prompt according to the yielding indication information includes:
prompting the passers to pass under the condition that the passage indication information indicates passing;
And prompting the passer to wait under the condition that the yield indication information indicates to wait.
In this embodiment, the first device may feed back a traffic decision (i.e. indicating whether the traffic is currently safe or not) to the traffic prompt. For example, the passer may be prompted by means of sound, light, an alarm, or the like.
Optionally, after the prompting the passer to pass, the method further comprises:
and determining the passing state of the passer on the target road according to the position information of the passer.
And sending prompt information that the passer is walking under the condition that the walking state is walking.
The following describes an application of an embodiment of the present invention in conjunction with a specific scenario, as shown in fig. 2:
in the first case, before the passer-by walks:
The first device may learn about the passing intention of the passer to pass through the target road by interacting with the passer and broadcast (or send to the network device) related information, which may include, for example, location information, waiting time, passing status information, heading information (i.e., heading information), passing request priority (which may be updated in real time), request number, or identification of the passer (identification of the first device), etc. Specifically, the part of related information can be sent to the second device through the traffic request information, and can also be directly sent to the second device.
When a vehicle running on a target road approaches an intersection of the target road, the OBU equipment can receive related information of the first equipment, the OBU feeds back the related information of the first equipment to the vehicle, then receives a yielding decision fed back by the vehicle (namely yielding indication information, the vehicle yielding decision is used for indicating the yielding decision of the vehicle) and feeds back the yielding decision to the first equipment, after the first equipment receives the yielding indication information of surrounding vehicles, the first equipment judges whether the current passer can safely pass through the target road, if the current passer can pass through the target road, the first equipment reminds the passer of passing through in a sound, light and other modes, after the first equipment receives the reminding, if the passer starts to pass through the target road, the first equipment transmits the related information according to the passing process requirement, if the passer does not start to pass through the target road, the passer is indicated to have no passing intention currently, the first equipment reduces the priority of a passing request to be the lowest, stops transmitting the related information, feeds back the state of the current stop transmitting the request information, if the passer cannot pass through, the first equipment updates the request priority, and then the passer is continuously transmitted and the passer is reminded.
In the second case, during the passing process of the passer:
the first device should send the current status information of the passers-by (i.e. the passing status, for example, the passing target road), and prompt surrounding vehicles to avoid.
In addition, the first device can also continuously receive information of surrounding traffic participants, continuously detect whether the passers is in a condition of safely traversing the target road, and prompt the passers to change the traversing state in time when the condition is changed. If the passing direction is changed or the passing is stopped in the middle of the passing, for example, the passing is still on the target road, the first device should update the heading information or the passing state of the passing in time in the related information sent by the first device, and early warning can be performed on the passing.
And thirdly, after the passer finishes walking:
the first device may stop sending the relevant information, delete the relevant content such as the passing request information in the sent relevant information, and directly send the relevant prompt information that the passer has completed to pass through.
In this embodiment, if the passer does not start to pass through the target road, it indicates that the passer does not have a passing intention at present, the first device should minimize the priority of the pass request and stop sending related information, and if the passer cannot pass through, the first device updates the priority of the pass request and then continues sending the pass request information.
In the embodiment of the invention, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is ensured to the maximum extent, and the traffic efficiency is improved.
Second embodiment
As shown in fig. 5, an embodiment of the present invention provides a traffic method applied to a second device, which specifically includes the following steps:
and step 51, receiving the passing request information transmitted by the first equipment and passing through the target road.
It should be noted that the first device and the second device may be hardware devices or application programs loaded in existing devices. For example, the first device may be a mobile device such as a mobile phone, an application program in a device such as a mobile phone, a V2X device, etc., and the second device may be an OBU, a network device, such as an MEC, etc. Specifically, the OBU may be a T-BOX, a V2X device, or an application in a T-BOX, or the like. The first device and the second device may be in direct communication, for example, through V2P, or may be in communication by a third party, for example, V2N2P or V2I 2P.
When the second device is an OBU, the OBU may receive information of the surrounding road traffic participants, where the information may be information sent by surrounding related devices (for example, other first devices, second devices, etc.), for example, information sent by other nearby first devices, location information sent by the surrounding vehicle OBU, etc., or may be information of the surrounding road traffic participants issued by the network device.
And step 52, sending yield indication information to the first equipment according to the traffic request information.
It should be noted that, the yielding decision (i.e. yielding indication information) of the vehicle may be that the second device broadcasts to all the first devices in a broadcast manner, or may provide different yielding indication information for different first devices (specifically, may send yielding indication information for the identification information of the first device). Therefore, the problems of potential safety hazard and passing efficiency caused by the fact that a later-arriving passer does not know whether the received passing instruction information is related to the passer can be avoided.
It should be noted that, in the case that the second device is an OBU, the OBU may also send yield indication information to the network device, and the network device forwards the yield indication information to the first device.
In addition, the OBU may also broadcast or send relevant information of the OBU (e.g., vehicle location information, vehicle speed information, etc.) directly to the network device.
In an optional embodiment of the invention, the network device is an MEC, the first device and the OBU can be respectively connected with the MEC through a 5G network, the first device can report the traffic intention information of the passer, the identification information of the first device and the like to the MEC, and the OBU can report the dynamic information of the OBU to the MEC. The MEC transmits information of road traffic participants around the first equipment (such as information of the distance between the passers and vehicles on the target road, whether the vehicles are allowed to pass, the total number of passers related to the target road and the like) to the first equipment through the 5G network, and the MEC can transmit the traffic intention information of the first equipment passing through the target road to related OBU through the 5G network. In this embodiment, information interaction between the first device and the OBU may be implemented through a network device, so as to implement a technical effect of negotiating a traffic opportunity of a passer between the vehicle and the passer.
In the embodiment, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is guaranteed to the maximum extent, and the traffic efficiency is improved.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
It should be noted that, because the passing request information may include identification information of the first device, the vehicle may make different yielding decisions for different first devices.
For example, the vehicle is giving way to a group of passers and the group of passers is about to complete the journey on the target road, at this time, if a new passer out of the group of passers approaches the intersection of the target road, the new passer also sends a request for passage information to the vehicle (in particular, the second device) via the first device. Since the vehicle has been waiting for a period of time, if the vehicle does not want to continue waiting, a passer who does not give way (specifically, the identification information of the first device corresponding to the new passer) may be indicated in the let-off decision message (i.e., let-off instruction information) broadcasted by the second device on the vehicle. The first equipment of the new passer receives the yielding indication information that the vehicle does not let go, and notifies the new passer to stop traveling and wait for the passing time capable of safely passing.
Optionally, when the second device is an OBU, sending, according to the traffic request information, yield indication information to the first device, including:
step one, according to the passing request information, giving a yield prompt;
In this step, the second device (for example, OBU) may feed back the traffic intention and the traffic request priority of the passer to the vehicle through the traffic request information, and give a yield suggestion given by a different traffic request priority, and so on. For example, for a higher priority level of the pass request, the vehicle is prompted to avoid, and for a lower priority level of the pass request, the vehicle is prompted to avoid.
And (II) transmitting the yielding instruction information to the first equipment when the yielding instruction information of the vehicle is received.
It is noted that the vehicle may be an autonomous car or an intelligent networked car or the like, and the vehicle may interact with the OBU in the form of a driver interacting with the OBU through an HMI interface of the vehicle, or an autonomous vehicle decision maker interacting with the OBU or the like.
Optionally, the step of performing a step-down prompt according to the traffic request information includes:
when the passing request priority is low, prompting that the vehicle can not let go;
and prompting that the vehicle is suitable to give way when the passing request priority is high.
In the embodiment, the vehicle is prompted to avoid when the passing request is at a higher priority level, and the vehicle is prompted to avoid when the passing request is at a lower priority level.
Optionally, in the case that the second device is an on-board terminal OBU, the method further includes:
receiving yield suggestion information sent by network equipment;
Performing yield prompt according to the yield suggestion information;
And under the condition that the yielding instruction information of the vehicle is received, transmitting the yielding instruction information to the network equipment.
In this embodiment, the OBU may receive yield suggestion information (i.e., decision information about whether or not to yield is needed) issued by the network device.
Optionally, the step of performing a step of prompting according to the step of prompting information includes:
Prompting that the vehicle can not let the line under the condition that the yield suggestion information indicates that the line can not be let;
and prompting the vehicle to be in a yield if the yield suggestion information indicates that the vehicle is in a yield.
In this embodiment, when a passer walks through a road, a first device may broadcast a pass request message including a pass request priority to surrounding vehicles, and after the vehicle (specifically, a second device) receives the pass request message, a vehicle (specifically, a driver of the vehicle or a decision maker of an automatic driving vehicle) may make a pass decision (i.e., determine whether the vehicle is passing or not).
If the priority of the passing request of the passer is low, the vehicle can determine whether to give way according to the situation of the vehicle and inform the first device of the giving way decision result, if the priority of the passing request is high, the vehicle can choose to give way on the premise of ensuring safety, and inform the first device of the giving way decision result (namely giving way instruction information sent by the OBU), and the first device indicates the passer to pass through the target road according to the giving way decision result of the vehicle.
Optionally, in the case that the second device is a network device, the sending, according to the traffic request information, yield indication information to the first device includes:
receiving yield indication information sent by an OBU;
And sending the row-letting indication information to the first equipment.
In this embodiment, the network device may forward the yield indication information sent by the OBU to the first device.
Optionally, in the case that the second device is a network device, the sending, according to the traffic request information, yield indication information to the first device includes:
receiving yield indication information sent by an OBU;
judging whether the current moment is the time when the passer safely walks through the target road according to the yielding indication information and the position information of the passer, and updating the yielding indication information;
sending the updated yielding indication information to the first equipment;
under the condition that the current moment is the moment when the passer walks the target road, the updated yielding indication information indicates passing;
And under the condition that the current moment is not the moment when the passer walks through the target road, the updated yielding indication information indicates waiting.
In the embodiment, the network device is an MEC, the first device and the OBU can be respectively connected with the MEC through a 5G network, the first device can report the traffic intention information of the passer, the identification information of the first device and the like to the MEC, and the OBU can report the self dynamic information to the MEC. The MEC determines the time when the passer is suitable for passing according to the information of road traffic participants around the first device (such as the distance between the passer and the vehicle on the target road, whether the vehicle is allowed to pass, the total number of passers related to the target road, and the like), or decides the time when the passer is suitable for passing according to the information of the first device such as the passing request priority, and sends a yield suggestion (i.e. the passing suggestion information) to the related OBU, and sends a passing suggestion (i.e. the updated passing indication information) to the first device.
Optionally, the determining, according to the yielding indication information and the position information of the passer, whether the current moment is the time when the passer safely walks through the target road includes:
Determining the current opportunity for the passer to travel through the target road under the condition that the yield indication information and the position information of the passer meet a first condition, wherein the first condition comprises at least one of the following:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
In this embodiment, the network device may determine, according to the yielding indication information, a yielding condition of the vehicle on each lane to be passed on the target road, and may determine, according to the position information of the passer, whether the position relationship between the passer and the yielding vehicle on each lane to be passed on may satisfy the safety passing of the passer, so as to determine whether the safety passing may be performed currently, and prompt the passer.
Optionally, in case the second device is a network device, the method further comprises:
according to the passing request information, sending yield suggestion information to an OBU;
wherein, when the pass request priority is low, the yield suggestion information indicates that a row may not be allowed;
When the pass request priority is high, the yield suggestion information indicates that yields are to be made.
Optionally, the method further comprises:
Receiving traffic decision prompt information sent by first equipment,
And carrying out traffic prompt according to the traffic decision prompt information.
In this embodiment, the first device may feed back its traffic decision to the OBU, and the OBU may obtain the decision that the passer is about to pass through the target road by obtaining the traffic decision prompt information, for example, may perform traffic prompt on the vehicle (specifically, may be on the driver of the vehicle) by means of sound, light, alarm, and so on.
In the embodiment of the invention, communication interaction can be carried out between the vehicles through the first equipment and the second equipment, the passing time of the passers is negotiated, the passing safety of the passers and the vehicles is ensured to the maximum extent, the effective coordination passing between the vehicles can be realized, and the traffic efficiency is improved.
Third embodiment
As shown in fig. 6, an embodiment of the present invention provides a traffic device 600, applied to a first apparatus, including:
a request sending module 601, configured to send, to the second device, traffic request information that passes through the target road when the traffic indication information of the passer is acquired;
an instruction receiving module 602, configured to receive yield instruction information fed back by the second device according to the traffic request information;
and the traffic prompt module 603 is configured to prompt traffic according to the yield indication information.
In the embodiment, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is guaranteed to the maximum extent, and the traffic efficiency is improved.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
Optionally, the apparatus further comprises:
The priority determining module is used for determining the priority of the passing request according to first information, wherein the first information comprises at least one of the following:
Position information of the passer;
type information of the passers;
the yielding indication information;
Signal lamp information;
A total number of passers associated with the target link;
a time period from the first device to the first transmission of the pass request information;
The predicted time period for the vehicle nearest to the target road to reach the target road.
Optionally, the apparatus further comprises:
the passing time determining module is used for judging whether the current moment is the time for the passer to safely pass through the target road or not according to the yielding indication information and the position information of the passer;
wherein, the traffic prompt module 603 includes:
The first prompting unit is used for prompting the passers to pass under the condition that the passers pass through the target road at the current moment;
and the second prompting unit is used for prompting the passer to wait under the condition that the current moment is not the moment when the passer passes through the target road.
Optionally, the traffic opportunity determination module includes:
The passing time determining unit is used for determining the time for the passer to pass through the target road currently under the condition that the yield indication information and the position information of the passer meet a first condition, wherein the first condition comprises at least one of the following:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
Optionally, the traffic prompt module 603 further includes:
The third prompting unit is used for prompting the passers to pass under the condition that the passing indication information indicates passing;
and the fourth prompting unit is used for prompting the passer to wait under the condition that the yielding indication information indicates to wait.
Optionally, the apparatus further comprises:
the navigation monitoring module is used for determining the navigation state of the passer on the target road according to the position information of the passer;
And the travel prompt module is used for sending the prompt information that the passer is traveling under the condition that the travel state is that the passer is traveling.
The third embodiment of the present invention corresponds to the method of the first embodiment, and all the implementation means in the first embodiment are applicable to the embodiment of the passing device, so that the same technical effects can be achieved.
Fourth embodiment
As shown in fig. 7, an embodiment of the present invention provides a traffic device 700, which is applied to a second apparatus, including:
a request receiving module 701, configured to receive traffic request information sent by a first device and passing through a target road;
And the instruction sending module 702 is configured to send, according to the traffic request information, yield instruction information to the first device.
In the embodiment, communication interaction can be carried out between the passers and the vehicles through the first equipment and the second equipment, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is guaranteed to the maximum extent, and the traffic efficiency is improved.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
Optionally, the indication sending module 702 includes:
the yield prompting unit is used for performing yield prompting according to the traffic request information;
and the instruction sending unit is used for sending the yield instruction information to the first equipment under the condition that the yield instruction information of the vehicle is received.
Optionally, the yield prompting unit includes:
a first let-off prompt subunit, configured to prompt that the vehicle may not let off when the priority of the traffic request is low;
and the second let-off prompt subunit is used for prompting that the vehicle is suitable for let-off when the priority of the passing request is high.
Optionally, the apparatus further comprises:
The yielding suggestion receiving module is used for receiving yielding suggestion information sent by the network equipment;
the yielding prompt module is used for carrying out yielding prompt according to the yielding suggestion information;
and the yielding indication module is used for sending the yielding indication information to the network equipment under the condition that the yielding instruction information of the vehicle is received.
Optionally, the let-off prompt module includes:
the first yielding prompting unit is used for prompting that the vehicle can not be permitted to run under the condition that the yielding suggestion information indicates that the vehicle can not be permitted to run;
The second yielding prompting unit is used for prompting that the vehicle is suitable for yielding under the condition that the yielding suggestion information indicates that the vehicle is suitable for yielding.
Optionally, the indication sending module 702 includes:
the first receiving unit is used for receiving the yield indication information sent by the OBU;
and the second sending unit is used for sending the row-letting indication information to the first equipment.
Optionally, the indication sending module 702 includes:
The second receiving unit is used for receiving the yield indication information sent by the OBU;
The instruction updating unit is used for judging whether the current moment is the time when the passer safely walks through the target road according to the yielding instruction information and the position information of the passer, and updating the yielding instruction information;
a third sending unit, configured to send the updated yielding indication information to the first device;
under the condition that the current moment is the moment when the passer walks the target road, the updated yielding indication information indicates passing;
And under the condition that the current moment is not the moment when the passer walks through the target road, the updated yielding indication information indicates waiting.
Optionally, the indication updating unit includes:
The timing determination subunit is configured to determine, when the yield instruction information and the location information of the passer satisfy a first condition, a timing of currently passing through the target road for the passer, where the first condition includes at least one of:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
Optionally, the apparatus further comprises:
the yield suggestion sending module is used for sending yield suggestion information to the OBU according to the traffic request information;
wherein, when the pass request priority is low, the yield suggestion information indicates that a row may not be allowed;
When the pass request priority is high, the yield suggestion information indicates that yields are to be made.
The fourth embodiment of the present invention corresponds to the method of the second embodiment, and all the implementation means in the second embodiment are applicable to the embodiment of the passing device, so that the same technical effects can be achieved.
Fifth embodiment
In order to better achieve the above object, as shown in fig. 8, a fifth embodiment of the present invention further provides an electronic device, where the electronic device is a first device, and includes:
And a memory 820 connected to the processor 800 through a bus interface, the memory 820 storing programs and data used by the processor 800 in performing operations, the processor 800 calling and executing the programs and data stored in the memory 820.
Wherein the transceiver 810 is connected to the bus interface for receiving and transmitting data under the control of the processor 800, and the processor 800 is configured to read the program in the memory 820 to perform the following steps:
under the condition that the traffic indication information of the passer is acquired, sending traffic request information passing through the target road to second equipment;
receiving yield indication information fed back by the second equipment according to the traffic request information;
And carrying out traffic prompt according to the yield indication information.
Wherein in fig. 8, a bus architecture may comprise any number of interconnected buses and bridges, and in particular, one or more processors represented by processor 800 and various circuits of memory represented by memory 820, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. Transceiver 810 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The user interface 830 may also be an interface capable of interfacing with an inscribed desired device for a different terminal, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
Optionally, the processor 800 is further configured to:
determining the priority of the passing request according to first information, wherein the first information comprises at least one of the following:
Position information of the passer;
type information of the passers;
the yielding indication information;
Signal lamp information;
A total number of passers associated with the target link;
a time period from the first device to the first transmission of the pass request information;
The predicted time period for the vehicle nearest to the target road to reach the target road.
Optionally, in the case that the yielding indication information indicates a vehicle yielding decision, the processor 800 is further configured to:
Judging whether the current moment is the time when the passer safely walks through the target road or not according to the yielding indication information and the position information of the passer;
Wherein, according to the yielding indication information, performing a traffic prompt, including:
prompting the passers to pass under the condition that the current moment is the moment when the passers pass through the target road;
and prompting the passer to wait under the condition that the current moment is not the moment when the passer walks through the target road.
Optionally, when determining whether the current moment is the time when the passer safely walks through the target road according to the yielding indication information and the position information of the passer, the processor 800 is specifically further configured to:
Determining the current opportunity for the passer to travel through the target road under the condition that the yield indication information and the position information of the passer meet a first condition, wherein the first condition comprises at least one of the following:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
Optionally, in the case that the yield indication information indicates a traffic decision, the processor 800 is specifically further configured to, when performing a traffic prompt according to the yield indication information:
prompting the passers to pass under the condition that the passage indication information indicates passing;
And prompting the passer to wait under the condition that the yield indication information indicates to wait.
Optionally, after the prompting the passer to pass, the processor 800 is further configured to:
determining the passing state of the passer on the target road according to the position information of the passer;
And sending prompt information that the passer is walking under the condition that the walking state is walking.
According to the device provided by the invention, communication interaction can be carried out between the passers and the vehicles through the first device and the second device, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is ensured to the maximum extent, and the traffic efficiency is improved.
Sixth embodiment
In order to better achieve the above object, a sixth embodiment of the present invention further provides an electronic device, which is a second device, and may adopt the same structure as the first device as shown in fig. 8, including:
And a memory 820 connected to the processor 800 through a bus interface, the memory 820 storing programs and data used by the processor 800 in performing operations, the processor 800 calling and executing the programs and data stored in the memory 820.
Wherein the transceiver 810 is connected to the bus interface for receiving and transmitting data under the control of the processor 800, and the processor 800 is configured to read the program in the memory 820 to perform the following steps:
receiving passing request information transmitted by first equipment and passing through a target road;
and sending the yield indication information to the first equipment according to the traffic request information.
Wherein in fig. 8, a bus architecture may comprise any number of interconnected buses and bridges, and in particular, one or more processors represented by processor 800 and various circuits of memory represented by memory 820, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. Transceiver 810 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The user interface 830 may also be an interface capable of interfacing with an inscribed desired device for a different terminal, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.
Optionally, the pass request information includes at least one of:
Traffic intention information;
Pass request priority;
Identification information of the first device;
And the position information of the passers.
Optionally, when the second device is an OBU, the processor 800 is specifically further configured to, when sending, according to the traffic request information, yield indication information to the first device:
according to the passing request information, performing a yield prompt;
And under the condition that the yielding instruction information of the vehicle is received, transmitting the yielding instruction information to the first equipment.
Optionally, when the processor 800 performs the yield prompt according to the traffic request information, the method is specifically further used for:
when the passing request priority is low, prompting that the vehicle can not let go;
and prompting that the vehicle is suitable to give way when the passing request priority is high.
Optionally, in the case that the second device is an on-board terminal OBU, the processor 800 is further configured to:
receiving yield suggestion information sent by network equipment;
Performing yield prompt according to the yield suggestion information;
And under the condition that the yielding instruction information of the vehicle is received, transmitting the yielding instruction information to the network equipment.
Optionally, the processor 800 is further specifically configured to, when performing the yield suggestion according to the yield suggestion information:
Prompting that the vehicle can not let the line under the condition that the yield suggestion information indicates that the line can not be let;
and prompting the vehicle to be in a yield if the yield suggestion information indicates that the vehicle is in a yield.
Optionally, in the case that the second device is a network device, the processor 800 is specifically further configured to, when sending, according to the traffic request information, yield indication information to the first device:
receiving yield indication information sent by an OBU;
And sending the row-letting indication information to the first equipment.
Optionally, in the case that the second device is a network device, the processor 800 is specifically further configured to, when sending, according to the traffic request information, yield indication information to the first device:
receiving yield indication information sent by an OBU;
judging whether the current moment is the time when the passer safely walks through the target road according to the yielding indication information and the position information of the passer, and updating the yielding indication information;
sending the updated yielding indication information to the first equipment;
under the condition that the current moment is the moment when the passer walks the target road, the updated yielding indication information indicates passing;
And under the condition that the current moment is not the moment when the passer walks through the target road, the updated yielding indication information indicates waiting.
Optionally, when determining whether the current moment is the time when the passer safely walks through the target road according to the yielding indication information and the position information of the passer, the processor 800 is specifically further configured to:
Determining the current opportunity for the passer to travel through the target road under the condition that the yield indication information and the position information of the passer meet a first condition, wherein the first condition comprises at least one of the following:
each lane to be passed of the target road is provided with a vehicle for yielding;
The distance between the passers and each passing vehicle meets the safe passing distance of the passers.
Optionally, in the case that the second device is a network device, the processor 800 is further configured to:
according to the passing request information, sending yield suggestion information to an OBU;
wherein, when the pass request priority is low, the yield suggestion information indicates that a row may not be allowed;
When the pass request priority is high, the yield suggestion information indicates that yields are to be made.
According to the device provided by the invention, communication interaction can be carried out between the passers and the vehicles through the first device and the second device, the passing opportunity of the passers is negotiated, the passing safety of the passers and the vehicles is ensured to the maximum extent, and the traffic efficiency is improved.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a computer program including instructions for performing some or all of the steps of the above methods, and the computer program may be stored in a readable storage medium, which may be any form of storage medium.
In addition, a specific embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the steps of the method as in the first embodiment described above, or implements the steps of the method as in the second embodiment described above. And the same technical effects can be achieved, and in order to avoid repetition, the description is omitted here.
Furthermore, it should be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. Also, the steps of performing the series of processes described above may naturally be performed in chronological order in the order of description, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present invention may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the invention.
The object of the invention can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the invention can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (14)
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| CN110503843A (en) * | 2018-05-18 | 2019-11-26 | 中兴通讯股份有限公司 | Route or travel by vehicle analysis method, device, server and storage medium |
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| CN104575044B (en) * | 2014-11-28 | 2016-09-14 | 山东易华录信息技术有限公司 | Autocue motor-car passes through that Stop and give way the crossing system and method that Stop and give way |
| CN104575043B (en) * | 2014-11-28 | 2017-04-19 | 山东易华录信息技术有限公司 | Automatic prompt system and method during passing of motor vehicle through pedestrian crosswalk |
| CN106023612A (en) * | 2016-06-17 | 2016-10-12 | 深圳市元征科技股份有限公司 | Vehicle priority passage method and roadside unit |
| CN109523646A (en) * | 2018-11-19 | 2019-03-26 | 深圳如果技术有限公司 | A kind of Vehicular intelligent passing method and system |
| WO2020258277A1 (en) * | 2019-06-28 | 2020-12-30 | 驭势科技（北京）有限公司 | Way-giving method and apparatus for intelligent driving vehicle, and vehicle-mounted device |
| CN111311936B (en) * | 2020-03-05 | 2021-01-08 | 星觅(上海)科技有限公司 | Method, device and equipment for determining vehicle passable state and storage medium |
| CN113085852A (en) * | 2021-04-09 | 2021-07-09 | 中移(上海)信息通信科技有限公司 | Behavior early warning method and device for automatic driving vehicle and cloud equipment |
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| CN109785616A (en) * | 2019-01-03 | 2019-05-21 | 深圳壹账通智能科技有限公司 | Information cuing method, device, electronic equipment and storage medium |
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