WO2021212602A1 - 车辆行驶的控制方法、存储介质及终端 - Google Patents

车辆行驶的控制方法、存储介质及终端 Download PDF

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Publication number
WO2021212602A1
WO2021212602A1 PCT/CN2020/092797 CN2020092797W WO2021212602A1 WO 2021212602 A1 WO2021212602 A1 WO 2021212602A1 CN 2020092797 W CN2020092797 W CN 2020092797W WO 2021212602 A1 WO2021212602 A1 WO 2021212602A1
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WO
WIPO (PCT)
Prior art keywords
lane
vehicle
communicated
driving
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/092797
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English (en)
French (fr)
Inventor
蔡海
葛良波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JRD Communication Shenzhen Ltd
Original Assignee
JRD Communication Shenzhen Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by JRD Communication Shenzhen Ltd filed Critical JRD Communication Shenzhen Ltd
Priority to EP20931764.3A priority Critical patent/EP4141836A4/en
Priority to US17/997,021 priority patent/US12283186B2/en
Publication of WO2021212602A1 publication Critical patent/WO2021212602A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

Definitions

  • This application relates to the application field of mobile terminals, and in particular to a method, device, storage medium, and terminal for controlling vehicle driving.
  • the embodiments of the present application provide a vehicle driving control method, device, storage medium, and terminal, which can solve the problem of low efficiency of driving route planning in the vehicle driving process in the prior art.
  • an embodiment of the present application provides a method for controlling driving of a vehicle, including:
  • an embodiment of the present application provides a storage medium that stores a plurality of instructions, and the instructions are suitable for loading by a processor to execute the steps in the method for controlling vehicle driving as described above.
  • an embodiment of the present application provides a terminal, including a processor and a memory, the memory stores a plurality of instructions, and the processor loads the instructions to execute the above-mentioned vehicle driving control method. step.
  • the solution of the present application obtains the position information of the preceding vehicle in real time during the driving of the vehicle, and can communicate with the preceding vehicle in advance to change the original driving path in case of an emergency, thereby effectively improving the driving efficiency of the vehicle while ensuring driving safety.
  • FIG. 1 is a schematic flowchart of a first method for controlling vehicle driving according to an embodiment of the application.
  • FIG. 2 is a schematic flowchart of a second method for controlling vehicle driving according to an embodiment of the application.
  • FIG. 3 is a schematic plan view of a positional relationship of a vehicle driving provided by an embodiment of the application.
  • Fig. 4 is a schematic plan view of a vehicle position after updating the driving direction according to an embodiment of the application.
  • Fig. 5 is a structural block diagram of a vehicle driving control device provided by an embodiment of the application.
  • FIG. 6 is a schematic structural diagram of a terminal provided by an embodiment of the application.
  • the embodiments of the present application provide a first vehicle driving control method, device, storage medium, and terminal, so as to effectively improve vehicle driving efficiency. Detailed descriptions are given below. It should be noted that the order of description in the following embodiments is not intended to limit the preferred order of the embodiments.
  • FIG. 1 is a schematic flowchart of a method for controlling driving of a vehicle according to an embodiment of the application.
  • the vehicle driving control method can be applied to such as terminals, tablet computers, notebook computers, handheld computers, portable media players (Portable Media Player, PMP) and other mobile terminals, as well as fixed terminals such as desktop computers.
  • PMP Portable Media Player
  • the specific process of the control method of the vehicle traveling can be as follows:
  • the location information of the vehicle to be communicated within the preset distance range can be obtained.
  • the preset distance range refers to the area near the current vehicle during the current vehicle driving process.
  • the preset distance range can refer to the current vehicle location as a starting point, covering a range of 100 meters ahead, etc. Way.
  • the position information of the vehicle to be communicated within the preset distance range can be acquired.
  • the vehicle to be communicated may refer to a vehicle with a wireless communication function, and the vehicle may implement the wireless communication function by installing a wireless communication device.
  • its wireless communication device may be a mobile phone of the driver or a wireless communication device installed in the vehicle itself, and the wireless communication device supports UWB technology.
  • UWB Ultra Wideband, ultra-wideband technology
  • UWB Ultra Wideband, ultra-wideband technology
  • UWB has the following advantages: strong anti-multipath capability, high positioning accuracy; high time stamp accuracy; strong electromagnetic compatibility: higher energy efficiency. Based on the above technical advantages, UWB can form a high-precision short-range positioning system and short-range communication. The location information of the vehicle to be communicated can be obtained through UWB technology.
  • the step of "acquiring the position information of the vehicle to be communicated within a preset distance range” may include the following process:
  • the signal response message is received, and the location information of the vehicle to be communicated is determined according to the signal response message.
  • a wireless communication device may broadcast a signal to a nearby area within a preset distance range.
  • the information of vehicles within a preset distance can be obtained through broadcast signals.
  • a response message of the vehicle to be communicated to the broadcast signal can be received, and the location information of the vehicle to be communicated can be obtained according to the response message.
  • the driver’s mobile phone can broadcast a signal to a preset distance range near the vehicle through UWB, and then can receive a response message to the broadcast signal, and the location information of the vehicle to be communicated can be determined based on the response message Wait.
  • UWB technology By using UWB technology, more accurate vehicle location information can be obtained, which is conducive to safe driving of drivers.
  • the positional relationship with the vehicle to be communicated is determined based on the position information.
  • the positional relationship may refer to the relative positional relationship between the driving vehicle and the vehicle to be communicated on the road.
  • the position information may include the position coordinates of the vehicle to be communicated.
  • the position coordinates of the vehicle and the position coordinates of the vehicle to be communicated can determine which direction and angle of the vehicle to be communicated is located in, and the distance between the two vehicles in that direction.
  • the vehicle to be communicated is located 50 degrees to the left of the driving vehicle and at a distance of 80 meters.
  • the travel path of the vehicle to be communicated is determined according to the positional relationship, where the travel path may refer to the travel path of the vehicle to be communicated after making changes based on the current travel path.
  • the step of "determining the driving path of the vehicle to be communicated according to the position relationship" may include the following process:
  • the travel path is determined according to the target travel direction and the target travel distance.
  • the first lane currently located and the second lane where the vehicle to be communicated is determined based on the position relationship, and the first lane may refer to the lane where the currently traveling vehicle is located.
  • the current road can include multiple lanes, from left to right can be lane A, lane B, lane C, lane D, etc., where lane A and lane B can be driving lanes in the same direction, and lane A and lane C can be To drive in the opposite lane, lane C and lane D may be lanes traveling in the same direction.
  • the first lane and the second lane are determined according to the position relationship
  • the first lane of the driving vehicle can be determined by the position information of the driving vehicle
  • the position of the vehicle to be communicated can be determined according to the positional relationship between the driving vehicle and the vehicle to be communicated Second lane.
  • the first lane of the current driving vehicle can be lane A
  • the positional relationship between the driving vehicle and the vehicle to be communicated can be: the vehicle to be communicated is located 45 degrees to the right of the driving vehicle and a distance of 50 meters, then it can be determined
  • the second lane where the vehicle to be communicated may be lane B.
  • the target driving direction of the vehicle to be communicated can be determined according to the first lane and the second lane.
  • the first lane may be lane A
  • the second lane may be lane B.
  • Lane A and lane B are not in the same lane, and lane B is on the right of lane A, it can be determined that the driving direction of the vehicle to be communicated can be straight ahead or a partial angle to the right in the front direction.
  • the first lane width of the first lane and the second lane width of the second lane are acquired.
  • the first lane width may be the same as the second lane width.
  • the first lane width and the second lane width may be 3 meters.
  • the body width may be 1.5 meters.
  • the current travel position of the vehicle to be communicated can be at the edge of the second lane and the first lane, and it can be determined that the target travel distance of the vehicle to be communicated can be 1.5.
  • the target travel distance can refer to the travel position of the vehicle to be communicated from The side of the current second lane adjacent to the first lane is changed to the side away from the first lane in order to make way for moving vehicles.
  • the driving path of the vehicle to be communicated can be determined, so that the vehicle to be communicated can travel along the changed driving path, and the order of vehicle driving can be maintained. You can quickly evade at times, saving time.
  • the step of "determining the target driving direction of the vehicle to be communicated according to the first lane and the second lane” may include the following process:
  • the target driving direction is determined according to the lane information.
  • the first lane and the second lane are the same lane.
  • the first lane can be lane A
  • the second lane can be lane A. It can be determined that the first lane and the second lane are the same lane, and then the lane information of the adjacent lanes of the first lane can be obtained, that is, it can be obtained
  • the information of the adjacent lanes of the lane A determines the target driving direction of the vehicle to be communicated according to the information of the adjacent lanes of the lane A.
  • the step of "determining the target driving direction according to the lane information” may include the following process:
  • the target driving direction is determined based on the adjacent lane.
  • the lane adjacent to the first lane can be determined according to the lane information, and further, the lane that is the same as the driving direction of the first lane can be determined from the adjacent lanes. Adjacent lanes, the adjacent lane in the same direction as the first lane may be used as the target driving lane of the vehicle to be communicated.
  • the first lane may be lane A
  • the adjacent lane of lane A may be lane B
  • lane B may be the same lane as the driving direction of lane A, and then it may be determined that lane B is the target driving lane of the vehicle to be communicated.
  • the target driving direction of the vehicle to be communicated can be determined.
  • the current driving lane of the vehicle to be communicated is lane A
  • the target driving lane is lane B
  • lane B can be located on the right side of lane A. It is determined that the driving direction of the vehicle to be communicated needs to be changed is straight ahead and right, which is the target driving direction.
  • the driving direction of the vehicle to be communicated can be determined by other methods, which may include the following process:
  • first lane and the second lane are not the same lane, it is determined whether there is a driving vehicle in the first lane, and the position of the driving vehicle in the first lane and the vehicle to be communicated are in the same lane.
  • the position of the second lane is the same;
  • the adjacent lanes of the second lane may be acquired, and the target driving direction may be determined according to the adjacent lanes of the second lane.
  • the first lane and the second lane are not the same lane, it can be determined whether there are other traveling vehicles in the first lane, and the position of the other traveling vehicle and the position of the vehicle to be communicated may be in the same lateral position.
  • the first lane of the driving vehicle may be lane A
  • the second lane of the vehicle to be communicated may be lane B. If there are other driving vehicles in lane A, the position of the other driving vehicle in lane A and the position of the vehicle to be communicated The position in lane B is the same. At this time, if the vehicle to be communicated wants to make way for the traveling vehicle, it can obtain another adjacent lane.
  • the other adjacent driving lane can be lane C, and lane C and lane B are traveling in the opposite direction, then
  • the vehicle to be communicated cannot change the driving lane, but can only switch the direction of travel. It can change the direction of travel to the right direction, and the right direction of the vehicle to be communicated can be the target driving direction of the vehicle to be communicated.
  • step "determine the driving path of the vehicle to be communicated according to the position relationship” the following may be further included:
  • the step of determining the driving path of the vehicle to be communicated is executed according to the position relationship.
  • the step determines whether the driving direction of the vehicle to be communicated is the same as the driving direction of the driving vehicle. If the driving direction of the vehicle to be communicated is the same as the driving direction of the driving vehicle, then It is further judged whether the vehicle to be communicated is in front of the vehicle to be communicated, that is, whether the vehicle to be communicated is at the back of the vehicle to be communicated, if the vehicle to be communicated is at the back of the vehicle to be communicated, the step “determine the position according to the positional relationship The driving path of the vehicle to be communicated".
  • the solution of the present application is mainly used to send an avoidance signal to a vehicle to be communicated that is located in front of the traveling vehicle and whose traveling direction is the same as that of the traveling vehicle. Therefore, it is necessary to determine the vehicle linkage that receives the response information, and unnecessary operations can be avoided.
  • the location of the traveling vehicle may be lane C
  • the location of the vehicle to be communicated may be lane D in the same direction as lane C
  • the vehicle to be communicated is located in front of the traveling vehicle, then the step "according to the said The location relationship determines the driving path of the vehicle to be communicated"; for another example, the location of the vehicle to be communicated may be lane C, the location of the vehicle to be communicated may be lane D in the same direction as lane C, and the vehicle to be communicated may If it is located behind the moving vehicle, there is no need to process the information of the vehicle to be communicated, and the vehicle to be communicated can continue to drive in the original driving direction.
  • a signal can be sent to the vehicle to be communicated, and a communication instruction can be carried, so that the vehicle to be communicated can change the driving path in accordance with the communication instruction, so that it can make way for the driving vehicle in advance.
  • the embodiment of the present application discloses a method for controlling the driving of a vehicle.
  • the method for controlling the driving of the vehicle includes: obtaining the position information of the vehicle to be communicated within a preset distance range during the driving of the vehicle; The positional relationship of the communication vehicle; the driving path of the vehicle to be communicated is determined according to the positional relationship; a communication instruction is sent to the vehicle to be communicated, so that the vehicle to be communicated travels according to the driving path.
  • the solution of the present application obtains the position information of the preceding vehicle in real time during the driving of the vehicle, and can communicate with the preceding vehicle in advance to change the original driving path in case of an emergency, thereby effectively improving the driving efficiency of the vehicle while ensuring driving safety.
  • FIG. 2 is a schematic flowchart of a second method for controlling driving of a vehicle according to an embodiment of the present application.
  • the vehicle driving control method can be applied when an ambulance is evading, and there may be terminal equipment supporting wireless communication on the ambulance.
  • the specific scenario application can be as follows:
  • the terminal broadcasts a communication signal to a preset area in front.
  • the vehicle in front needs to adjust the driving direction and change the driving path.
  • the embodiment of the application adopts the induction ambulance based on UWB technology and timely And the communication mechanism of automatic avoidance is used to ensure where the ambulance goes.
  • the car has already given way in advance, so that the ambulance can pass at high speed on congested roads.
  • the communication signal can be broadcast to the preset area ahead.
  • the preset area ahead can be determined according to the strength of the communication signal and road conditions. For example, in order to ensure the accuracy of obtaining the vehicle position, the preset range can be For the ambulance within 100 meters ahead during driving.
  • the terminal can broadcast communication signals within a range of 100 meters ahead, where the range of 100 meters ahead can be the same lane as the ambulance driving direction.
  • the driving lane of the ambulance may be the first driving lane, and the lane in the same driving direction as the first driving lane may include the second driving lane, etc., and the preset area may be 100 meters in front of the ambulance, covering the first driving lane and The area of the second driving lane.
  • the terminal receives a response message to the communication signal, and determines a communicable vehicle according to the response message.
  • the terminal after the terminal broadcasts the signal, if there is a vehicle supporting wireless communication in the preset area, it can respond to the broadcast signal.
  • the terminal may receive the response message, the response message may include the device identification, and the terminal may determine that the vehicle ahead can communicate with the vehicle according to the device identification.
  • the terminal broadcasts a signal to a preset area, and receives a response message of the broadcast signal.
  • the response message may include multiple device identifiers, and the communicable vehicle may be determined according to the device identifiers.
  • the terminal obtains the position information of the communicable vehicle, and obtains the position relationship of the vehicle according to the position information.
  • the terminal may obtain the location information of the communicable vehicle, and obtain the location information through UWB technology. After obtaining the location information of the communicable vehicle, the location relationship between the ambulance and the communicable vehicle can be obtained according to the location information.
  • FIG. 3 is a schematic plan view of a positional relationship of a vehicle driving according to an embodiment of the application.
  • the ambulance is currently driving in the second lane
  • the communicable vehicles driving in front of the ambulance may be vehicle A, vehicle B, vehicle C, or vehicle D.
  • the vehicle A and the vehicle B are located in the second lane and are driving directly in front of the ambulance
  • the vehicle C and the vehicle D are located in the first lane and are driving in the left front of the ambulance.
  • the first lane and the second lane may be the same driving direction.
  • the terminal determines the avoidance information of the communicable vehicle according to the position relationship.
  • the terminal may determine the avoidance information corresponding to the communicable vehicle, and the avoidance information may include the avoidance direction and the like.
  • vehicle A and vehicle B are driving directly in front of the ambulance, then vehicle A and vehicle B can avoid the ambulance by changing the current driving direction, and then the avoidance of vehicle A and vehicle B can be determined
  • the direction can be right; the vehicle C and the vehicle D are driving in the front left of the ambulance, and the vehicle C and the vehicle D can avoid the ambulance behind by changing the current driving direction to the left.
  • the terminal sends the avoidance information to the communicable vehicle, so that the communicable vehicle changes the driving direction according to the corresponding avoidance information.
  • the terminal may send the avoidance information to the corresponding communicable vehicle.
  • the terminal can send a communication instruction corresponding to driving right to vehicle A and vehicle B; the avoidance information corresponding to vehicle C and vehicle D is driving to the left, then The terminal may send a communication instruction corresponding to driving to the left to the vehicle C and the vehicle D.
  • the communicable vehicle After the communicable vehicle receives the instruction signal, it can change the current driving direction according to the instruction, and then the position relationship of each vehicle on the current road can be obtained.
  • FIG. 4 is an updated driving direction provided by an embodiment of this application. Schematic diagram of the rear vehicle position.
  • vehicle A, vehicle B, vehicle C, and vehicle D are adjusted according to the driving directions corresponding to the instructions, and the intermediate aisle is quickly vacated, so that the ambulance can move forward smoothly, which greatly saves the amount of avoidance for the ambulance. time.
  • the embodiment of the present application discloses a method for controlling the driving of a vehicle.
  • the method for controlling the driving of the vehicle includes: obtaining the position information of the vehicle to be communicated within a preset distance range during the driving of the vehicle; The positional relationship of the communication vehicle; the driving path of the vehicle to be communicated is determined according to the positional relationship; a communication instruction is sent to the vehicle to be communicated, so that the vehicle to be communicated travels according to the driving path.
  • the solution of the present application obtains the position information of the preceding vehicle in real time during the driving of the vehicle, and can communicate with the preceding vehicle in advance to change the original driving path in case of an emergency, thereby effectively improving the driving efficiency of the vehicle while ensuring driving safety.
  • an embodiment of the present application also provides a device based on the foregoing vehicle driving control method.
  • the meaning of the nouns is the same as in the above-mentioned vehicle driving control method, and the specific implementation details can refer to the description in the method embodiment.
  • FIG. 5 is a structural block diagram of a vehicle driving control device provided by an embodiment of the application.
  • the vehicle driving control device can be applied to terminals, tablet computers, notebook computers, handheld computers, and portable media players. (Portable Media Player, PMP) and other mobile terminals, as well as fixed terminals such as desktop computers, the device includes:
  • the acquiring unit 301 is configured to acquire the position information of the vehicle to be communicated within a preset distance range during the driving of the vehicle;
  • the first determining unit 302 is configured to determine the position relationship with the vehicle to be communicated based on the position information
  • the second determining unit 303 is configured to determine the driving path of the vehicle to be communicated according to the position relationship
  • the sending unit 304 is configured to send a communication instruction to the vehicle to be communicated, so that the vehicle to be communicated travels according to the driving path.
  • the second determining unit 303 may include:
  • the first determining subunit is configured to determine the first lane currently located and the second lane where the vehicle to be communicated is located based on the position relationship;
  • a second determining subunit configured to determine the target driving direction of the vehicle to be communicated according to the first lane and the second lane;
  • a third determining subunit configured to determine the target driving distance of the vehicle to be communicated based on the width of the first lane, the width of the second lane, and the width of the vehicle body;
  • the fourth determining unit is configured to determine the driving path according to the target driving direction and the target driving distance.
  • the second determining subunit may be specifically used to determine whether the first lane and the second lane are the same lane; if so, obtain lane information of adjacent lanes of the first lane; Acquire an adjacent lane that is the same as the driving direction of the first lane according to the lane information, and use the adjacent lane as a target driving lane of the vehicle to be communicated; and determine the target driving direction based on the adjacent lane.
  • the second determining subunit may be specifically used to: if the first lane and the second lane are not the same lane, determine whether there is a driving vehicle in the first lane, and the driving The position of the vehicle in the first lane is the same as the position of the vehicle to be communicated in the second lane; if it is, the adjacent lanes of the second lane can be obtained, and the location is determined according to the adjacent lanes of the second lane. Describe the target driving direction.
  • the acquiring unit 301 may include:
  • the broadcasting subunit is used to broadcast a signal in an area within the preset distance range when the vehicle is driving;
  • the receiving subunit is used to receive the signal response message, and determine the location information of the vehicle to be communicated according to the signal response message.
  • the vehicle driving control device may further include:
  • a judging unit for judging whether it is the same as the driving direction of the vehicle to be communicated according to the position relationship
  • the first execution unit is configured to, if yes, determine whether it is at the rear of the vehicle to be communicated;
  • the second execution unit is configured to perform a step of determining the driving path of the vehicle to be communicated according to the position relationship if it is at the rear position of the vehicle to be communicated.
  • the embodiment of the present application discloses a vehicle driving control device.
  • the vehicle driving control device includes: acquiring the position information of the vehicle to be communicated within a preset distance range during the driving of the vehicle; and determining and waiting based on the position information.
  • the positional relationship of the communication vehicle; the driving path of the vehicle to be communicated is determined according to the positional relationship; a communication instruction is sent to the vehicle to be communicated, so that the vehicle to be communicated travels according to the driving path.
  • the solution of the present application obtains the position information of the preceding vehicle in real time during the driving of the vehicle, and can communicate with the preceding vehicle in advance to change the original driving path in case of an emergency, thereby effectively improving the driving efficiency of the vehicle while ensuring driving safety.
  • the terminal may include a radio frequency (RF, Radio Frequency) circuit 601, a memory 602 including one or more storage media, an input unit 603, a display unit 604, a sensor 605, an audio circuit 606, and wireless fidelity.
  • the (WiFi, Wireless Fidelity) module 607 includes a processor 608 with one or more processing cores, a power supply 609 and other components.
  • the RF circuit 601 can be used to receive and send signals in the process of sending and receiving information. In particular, after receiving the downlink information of the base station, it is processed by one or more processors 608; in addition, the uplink data is sent to the base station.
  • the RF circuit 601 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, and a low noise amplifier (LNA, Low Noise Amplifier), duplexer, etc.
  • SIM Subscriber Identity Module
  • LNA Low Noise Amplifier
  • duplexer etc.
  • the RF circuit 601 can also communicate with the network and other devices through wireless communication.
  • the memory 602 may be used to store software programs and modules, and the processor 608 executes various functional applications and data processing by running the software programs and modules stored in the memory 602.
  • the memory 602 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (such as a sound playback function, an image playback function, etc.), and the like.
  • the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the memory 602 may further include a memory controller to provide the processor 608 and the input unit 603 to access the memory 602.
  • the input unit 603 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.
  • the input unit 603 may include a touch-sensitive surface and other input devices.
  • a touch-sensitive surface also called a touch screen or a touchpad, can collect user touch operations on or near it (for example, the user uses any suitable objects or accessories such as fingers, stylus, etc.) on the touch-sensitive surface or on the touch-sensitive surface. Operation near the surface), and drive the corresponding connection device according to the preset program.
  • the input unit 603 may also include other input devices.
  • other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackball, mouse, and joystick.
  • the display unit 604 may be used to display information input by the user or information provided to the user and various graphical user interfaces of the server. These graphical user interfaces may be composed of graphics, text, icons, videos, and any combination thereof.
  • the display unit 604 may include a display panel.
  • a liquid crystal display LCD, Liquid Crystal Display
  • OLED Organic Light-Emitting Diode
  • the touch-sensitive surface can cover the display panel. When the touch-sensitive surface detects a touch operation on or near it, it is transmitted to the processor 608 to determine the type of the touch event, and then the processor 608 displays the display panel according to the type of the touch event.
  • Corresponding visual output is provided on the panel.
  • the touch-sensitive surface and the display panel are used as two independent components to realize the input and input functions, in some embodiments, the touch-sensitive surface and the display panel may be integrated to realize the input and output functions.
  • the terminal may also include at least one sensor 605, such as a light sensor, a motion sensor, and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, where the ambient light sensor can adjust the brightness of the display panel according to the brightness of the ambient light, and the proximity sensor can turn off the display panel and the backlight when the server moves to the ear.
  • the audio circuit 606, speakers, and microphones can provide an audio interface between the user and the server.
  • the audio circuit 606 can transmit the received audio data converted electrical signal to the speaker, and the speaker converts it into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 606 and then converted
  • the audio data is processed by the audio data output processor 608, and then sent to, for example, a terminal through the RF circuit 601, or the audio data is output to the memory 602 for further processing.
  • the audio circuit 606 may also include an earplug jack to provide communication between a peripheral headset and the server.
  • WiFi is a short-distance wireless transmission technology.
  • the terminal can help users send and receive emails, browse web pages, and access streaming media. It provides users with wireless broadband Internet access.
  • FIG. 6 shows the WiFi module 607, it is understandable that it is not a necessary component of the terminal, and can be omitted as needed without changing the essence of the application.
  • the processor 608 is the control center of the terminal. It uses various interfaces and lines to connect the various parts of the entire terminal. Various functions and processing data to monitor the terminal as a whole.
  • the processor 608 may include one or more processing cores; preferably, the processor 608 may integrate an application processor and a modem processor, where the application processor mainly processes the operating system, user interface, application programs, etc. , The modem processor mainly deals with wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 608.
  • the terminal also includes a power source 609 (such as a battery) for supplying power to various components.
  • the power source may be logically connected to the processor 608 through a power management system, so that functions such as charging, discharging, and power management are realized through the power management system.
  • the power supply 609 may also include any components such as one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, and a power status indicator.
  • the processor 608 in the terminal loads the executable file corresponding to the process of one or more application programs into the memory 602 according to the following instructions, and the processor 608 runs and stores the executable file in the memory.
  • the applications in 602 can realize various functions:
  • the embodiments of the present application disclose a method, device, storage medium, and terminal for controlling vehicle driving.
  • the method for controlling the driving of the vehicle includes: obtaining the position information of the vehicle to be communicated within a preset distance range during the driving of the vehicle; determining the positional relationship with the vehicle to be communicated based on the position information; and determining the positional relationship according to the positional relationship.
  • the solution of the present application obtains the position information of the preceding vehicle in real time during the driving of the vehicle, and can communicate with the preceding vehicle in advance to change the original driving path in case of an emergency, thereby effectively improving the driving efficiency of the vehicle while ensuring driving safety.
  • an embodiment of the present application provides a storage medium in which multiple instructions are stored, and the instructions can be loaded by a processor to execute the steps in any vehicle driving control method provided in the embodiments of the present application.
  • the instruction can perform the following steps:
  • the vehicle to be communicated During the driving of the vehicle, obtain the position information of the vehicle to be communicated within a preset distance range; determine the positional relationship with the vehicle to be communicated based on the position information; determine the driving path of the vehicle to be communicated according to the positional relationship; The vehicle to be communicated sends a communication instruction so that the vehicle to be communicated travels according to the driving path.
  • the storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD, etc.
  • any vehicle driving control method provided in the embodiments of the present application can be implemented.
  • the beneficial effects that can be achieved are detailed in the previous embodiments, and will not be repeated here.

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Abstract

一种车辆行驶的控制方法，包括：在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息（101）；基于位置信息确定与待通信车辆的位置关系（102）；根据位置关系确定待通信车辆的行驶路径（103）；向待通信车辆发送通信指令，使得待通信车辆按照行驶路径行驶（104）。

Description

车辆行驶的控制方法、存储介质及终端
本申请要求于2020年4月24日提交中国专利局、申请号为202010330085.5、发明名称为“一种车辆行驶的控制方法、装置、存储介质及终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及移动终端应用领域，具体涉及一种车辆行驶的控制方法、装置、存储介质及终端。
 背景技术
当前道路上行驶的车辆越来越多，使得道路越来越拥挤。救护车需要快速通过拥挤的路段，节约抢救生命的宝贵时间。当前情况下，由前方司机听到并从后视镜看到救护车需要通过自己所在路段，才开始观察自己前方、左边、右边的实际情况，来进行避让行为。
 技术问题
本申请实施例提供一种车辆行驶的控制方法、装置、存储介质及终端，可以解决现有技术中在车辆行驶过程中，行车路径规划效率低下的问题。
 技术解决方案
第一方面，本申请实施例提供了一种车辆行驶的控制方法，包括：
在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
基于所述位置信息确定与待通信车辆的位置关系；
根据所述位置关系确定所述待通信车辆的行驶路径；
向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
第二方面，本申请实施例提供了一种存储介质，所述存储介质存储有多条指令，所述指令适于处理器进行加载，以执行如上所述的车辆行驶的控制方法中的步骤。
第三方面，本申请实施例提供了一种终端，包括处理器和存储器，所述存储器存储有多条指令，所述处理器加载所述指令以执行如上所述的车辆行驶的控制方法中的步骤。
 有益效果
本申请方案通过在车辆行驶过程中实时获取前方车辆的位置信息，当遇到紧急情况时可以预先与前方车辆通信使其改变原行驶路径，在保证行车安全的同时，从而有效提高车辆行驶效率。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的第一种车辆行驶的控制方法的流程示意图。
图2为本申请实施例提供的第二种车辆行驶的控制方法的流程示意图。
图3为本申请实施例提供的一种车辆行驶的位置关系平面示意图。
图4为本申请实施例提供的一种更新行驶方向后的车辆位置平面示意图。
图5为本申请实施例提供的一种车辆行驶的控制装置的结构框图。
图6为本申请实施例提供的终端的结构示意图。
 本发明的实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
基于上述问题，本申请实施例提供第一种车辆行驶的控制方法、装置、存储介质及终端，从而有效提高车辆行驶效率。以下分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优选顺序的限定。
请参考图1，图1为本申请实施例提供的一种车辆行驶的控制方法的流程示意图。该车辆行驶的控制方法可以应用于诸如终端、平板电脑、笔记本电脑，掌上电脑、便携式媒体播放器（Portable Media Player , PMP）等移动终端，以及诸如台式计算机等固定终端。该车辆行驶的控制方法的具体流程可以如下：
101、在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息。
具体的，在车辆行驶过程中，可以获取预设距离范围内的待通信车辆得位置信息。其中，预设距离范围指的是在当前车辆行驶过程中，在当前车辆附近的区域，比如，预设距离范围可以指以当前车辆所处位置为起点，覆盖前方100米的范围等等其他划分方式。
具体的，在确定预设距离范围之后，可以获取预设距离范围内的待通信车辆的位置信息。其中，待通信车辆可以指具有无线通信功能的车辆，车辆可以通过安装无线通信设备来实现无线通信功能。
例如，行驶中的车辆，其无线通信设备可以为驾驶员的手机或者车辆自身安装的无线通信设备，该无线通信设备支持UWB技术。
其中，UWB（Ultra Wideband，超宽带技术），它通过发送和接收具有纳秒或微秒级以下的极窄脉冲来实现无线传输的。由于脉冲时间宽度极短，因此可以实现频谱上的超宽带：使用的带宽在500MHz（兆赫兹）以上。由于UWB脉冲的时间宽度极短，因此也可以采用高精度定时来进行距离测算。相比Wi-Fi和蓝牙定位技术，UWB具有如下优势：抗多径能力强，定位精度高；时间戳精度高；电磁兼容性强：能效较高。基于上述技术优势，采用UWB能够构成高精度的近距离定位系统和短距离通信。可以通过UWB技术获取待通信车辆的位置信息。
在一些实施例中，步骤“获取预设距离范围内的待通信车辆的位置信息”，可以包括以下流程：
当车辆行驶时，在所述预设距离范围内的区域广播信号；
接收信号响应消息，根据所述信号响应消息确定待通信车辆的位置信息。
具体的，当车辆行驶过程中，可以通过无线通信设备向附近的预设距离范围的区域广播信号。通过广播信号可以获取预设距离范围内的车辆信息。
具体的，在向预设距离范围的车辆广播信号之后，可以接收到其他车辆，也即待通信车辆对广播的信号作出的响应消息，根据响应消息可以获取待通信车辆的位置信息等。
例如，车辆在行驶过程中，驾驶员的手机可以通过UWB向车辆附近的预设距离范围广播信号，之后可以接收到对广播的信号的响应消息，根据该响应消息可以确定待通信车辆的位置信息等。通过使用UWB技术可以获取更加准确的车辆位置信息，有利于驾驶员安全驾驶。
102、基于位置信息确定与待通信车辆的位置关系。
具体的，基于位置信息确定与待通信车辆的位置关系，位置关系可以指的是行驶车辆与待通信车辆在道路上的相对位置关系，比如，位置信息可以包括待通信车辆的位置坐标，根据行驶车辆的位置坐标与待通信车辆的位置坐标可以确定待通信车辆位于行驶车辆的哪个方向，角度，以及在该方向两车相差的距离。
例如，根据位置信息可以确定待通信车辆位于行驶车辆的正前方偏左50度，以及距离80米处。
103、根据位置关系确定待通信车辆的行驶路径。
具体的，根据位置关系确定待通信车辆的行驶路径，其中，行驶路径可以指的是待通信车辆基于当前行驶路径作出改变后的行驶路径。
在一些实施例中，步骤“根据所述位置关系确定所述待通信车辆的行驶路径”，可以包括以下流程：
基于所述位置关系确定当前所处的第一车道与待通信车辆所处的第二车道；
根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向；
获取所述第一车道的第一车道宽度，所述第二车道的第二车道宽度以及所述待通信车辆的车身宽度；
基于所述第一车道宽度，第二车道宽度与所述车身宽度确定所述待通信车辆的目标行驶距离；
根据所述目标行驶方向与所述目标行驶距离确定所述行驶路径。
具体的，基于位置关系确定当前所处的第一车道与待通信车辆所处的第二车道，第一车道可以指的是当前行驶车辆所处的车道。比如，当前道路可以包括多个车道，依次从左到右可以为车道A，车道B，车道C，车道D等，其中，车道A和车道B可以为同向行驶车道，车道A和车道C可以为反向行驶车道，车道C和车道D可以为同向行驶车道。
具体的，根据位置关系确定第一车道与第二车道，可以通过行驶车辆的位置信息确定行驶车辆所处的第一车道，之后可以根据行驶车辆与待通信车辆的位置关系确定待通信车辆所处的第二车道。
例如，当前行驶车辆所处的第一车道可以为车道A，行驶车辆与待通信车辆的位置关系可以为：待通信车辆位于行驶车辆的正前方偏右45度，距离50米处，则可以确定待通信车辆所处的第二车道可以为车道B。
具体的，在确定第一车道与第二车道之后，可以根据第一车道与第二车道确定待通信车辆的目标行驶方向，比如，第一车道可以为车道A，第二车道可以为车道B，车道A与车道B不在同一车道，且车道B在车道A的右方，则可以确定待通信车辆的行驶方向可以为正前方或者正前方向右偏移部分角度等。
具体的，获取第一车道的第一车道宽度，第二车道的第二车道宽度，第一车道宽度可以与第二车道宽度相同，比如，第一车道宽度与第二车道宽度可以为3米。获取待通信车辆的车身宽度，比如，车身宽度可以为1.5米等。
例如，当前待通信车辆的行驶位置可以在第二车道与第一车道交接边缘，可以确定待通信车辆的目标行驶距离可以为1.5.其中，目标行驶距离可以指的是待通信车辆将行驶位置从当前第二车道临近第一车道的一侧改变为远离第一车道的一侧，以便于给行驶车辆让路。
具体的，在确定目标行驶方向与目标行驶距离之后，则可以确定待通信车辆的行驶路径，使得待通信车辆可以按照更行后的行驶路径行驶，可以维持车辆行驶秩序，当遇到突发情况时可以快速避让，节省时间。
在一些实施例中，步骤“根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向”，可以包括以下流程：
判断所述第一车道与所述第二车道是否为同一车道；
若是，则获取所述第一车道的相邻车道的车道信息；
根据所述车道信息确定所述目标行驶方向。
具体的，在确定行驶车辆所在的第一车道与待通信车辆所处的第二车道之后，可以判断第一车道与第二车道是否为同一车道。
例如，第一车道可以为车道A，第二车道可以为车道A，则可以确定第一车道与第二车道为同一车道，则可以获取第一车道的相邻车道的车道信息，也即可以获取车道A的相邻车道的信息，根据车道A的相邻车道的车道信息确定待通信车辆的目标行驶方向。
在一些实施例中，步骤“根据所述车道信息确定所述目标行驶方向”，可以包括以下流程：
根据所述车道信息获取与所述第一车道行驶方向相同的相邻车道，将所述相邻车道作为所述待通信车辆的目标行驶车道；
基于所述相邻车道确定所述目标行驶方向。
具体的，在获取到第一车道的相邻车道的车道信息之后，可以根据车道信息确定与第一车道相邻的车道，进一步的，可以从相邻车道中确定与第一车道行驶方向相同的相邻车道，可以将与第一车道行驶方向相同的相邻车道作为待通信车辆的目标行驶车道。
例如，第一车道可以为车道A，车道A的相邻车道可以为车道B，车道B可以为与车道A行驶方向相同的车道，则可以确定车道B为待通信车辆的目标行驶车道。
在确定目标行驶车道之后，则可以确定待通信车辆的目标行驶方向，比如，待通信车辆的当前行驶车道为车道A，目标行驶车道为车道B，车道B可以位于车道A的右侧，则可以确定待通信车辆需要更改的行驶方向为正前方偏右，则为目标行驶方向。
在一些实施例中，当行驶车辆所处的第一车道与待通信车辆所处的第二车道不为同一车道时，可以通过其他方式确定待通信车辆更改的行驶方向，可以包括以下流程：
若所述第一车道与所述第二车道不为同一车道，则判断在所述第一车道是否存在行驶车辆，所述行驶车辆在所述第一车道的位置与所述待通信车辆在所述第二车道的位置相同；
若是，则可以获取所述第二车道的相邻车道，根据第二车道的相邻车道确定所述目标行驶方向。
具体的，当第一车道与第二车道不为同一车道时，可以判断第一车道是否存在其他行驶车辆，该其他行驶车辆的位置与待通信车辆的位置可以处于相同的横向位置。
例如，行驶车辆所处的第一车道可以为车道A，待通信车辆所处的第二车道可以为车道B，若车道A存在其他行驶车辆，该其他行驶车辆在车道A的位置与待通信车辆在车道B的位置相同，此时，待通信车辆若要为行驶车辆让路，可以获取另一相邻车道，另一相邻行驶车道可以为车道C，车道C与车道B 的行驶方向相反，则待通信车辆不能改变行驶车道，只能切换行驶方向，可以向正前方向右的方向改变行驶方向，则正前方偏右可以为待通信车辆的目标行驶方向。
在一些实施例中，在步骤“根据所述位置关系确定所述待通信车辆的行驶路径”之前，还可以包括以下：
根据所述位置关系判断是否与所述待通信车辆的行驶方向相同；
若是，则判断是否在所述待通信车辆的后方位置；
若在所述所述待通信车辆的后方位置，则执行步骤根据所述位置关系确定所述待通信车辆的行驶路径。
具体的，在确定行驶车辆与待通信车辆的位置关系之后，可以判断待通信车辆的行驶方向与行驶车辆的行驶方向是否相同，若待通信车辆的行驶方向与行驶车辆的行驶方向相同，则可以进一步判断待通信车辆是否位于行驶车辆的前方，也即行驶车辆是否在待通信车辆的后方位置，若行驶车辆在待通信车辆的后方位置，则可以继续执行步骤“根据所述位置关系确定所述待通信车辆的行驶路径”。本申请方案主要用于向位于行驶车辆前方其行驶方向与行驶车辆的行驶方向相同的待通信车辆发送避让信号，因此需要对接收到响应信息的车联进行判断，可以避免不必要的操作。
例如，行驶车辆所处的位置可以为车道C，待通信车辆所处的位置可以为与车道C行驶方向相同的车道D，且待通信车辆位于行驶车辆前方位置，则可以执行步骤“根据所述位置关系确定所述待通信车辆的行驶路径”；又例如，行驶车辆所处的位置可以为车道C，待通信车辆所处的位置可以为与车道C行驶方向相同的车道D，待通信车辆可以位于行驶车辆的后方位置，则不用对该待通信车辆的信息进行处理，该待通信车辆可以继续按照原行驶方向行驶。
104、向待通信车辆发送通信指令，使得待通信车辆按照行驶路径行驶。
具体的，在确定待通信车辆的行驶路径之后，可以向该待通信车辆发送信号，可以携带通信指令，可以使得待通信车辆按照通信指令更改行驶路径，从而可以提前为行驶车辆让路。
本申请实施例公开了一种车辆行驶的控制方法，该车辆行驶的控制方法包括：在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；基于所述位置信息确定与待通信车辆的位置关系；根据所述位置关系确定所述待通信车辆的行驶路径；向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。本申请方案通过在车辆行驶过程中实时获取前方车辆的位置信息，当遇到紧急情况时可以预先与前方车辆通信使其改变原行驶路径，在保证行车安全的同时，从而有效提高车辆行驶效率。
参考图2，图2为本申请实施例提供的第二种车辆行驶的控制方法的流程示意图。该车辆行驶的控制方法可以应用于救护车避让时，救护车上可以存在支持无线通信的终端设备。具体场景应用可以如下：
201、当救护车在行驶过程中，终端向前方预设区域广播通信信号。
具体的，当救护车在行驶过程中，在遇到道路拥挤，车辆较多的路况时，前方车辆需要进行调整行驶方向，改变行驶路径，本申请实施例通过基于UWB技术的感应救护车和及时且自动避让的通信机制，来保障救护车所到之处，车已提前让开，从而可以让救护车在拥挤路段高速通行。
具体的，当救护车行驶过程中，可以向前方预设区域广播通信信号，前方预设区域可以根据通信信号强弱以及路况进行确定，例如，为了保证获取车辆位置的精准度，预设范围可以为救护车行驶过程中的前方100米范围内。终端可以向前方100米范围内广播通信信号，其中，前方100 米范围可以为与救护车行驶方向相同的车道。
例如，救护车所在的行驶车道可以为第一行驶车道，与第一行驶车道行驶方向相同的车道可以包括第二行驶车道等，则预设区域可以为救护车前方100米覆盖第一行驶车道与第二行驶车道的区域。
202、终端接收到对通信信号的响应消息，根据响应消息确定可通信车辆。
具体的，在终端进行信号广播之后，预设区域若存在支持无线通信的车辆，则可以对该广播信号作出响应。终端可以接收到响应消息，响应消息可以包括设备标识，终端可以根据设备标识确定前方可以通信车辆。
例如，终端向预设区域广播信号，接收到广播信号的响应消息，响应消息可以包括多个设备标识，则可以根据设备标识确定可通信车辆。
203、终端获取可通信车辆的位置信息，并根据位置信息得到车辆位置关系。
具体的，终端在确定可通信车辆之后，可以获取可通信车辆的位置信息，通过UWB技术获取位置信息。在获取到可通信车辆的位置信息之后，则可以根据位置信息得到救护车与可通信车辆的位置关系。请参考图3，图3为本申请实施例提供的一种车辆行驶的位置关系平面示意图。
如图3所示，救护车当前行驶在第二车道，行驶在救护车前方的可通信车辆可以为车辆A，车辆B，车辆C，车辆D。其中，车辆A与车辆B位于第二车道，在救护车的正前方行驶，车辆C与车辆D位于第一车道，在救护车左前方行驶。第一车道与第二车道可以为相同的行驶方向。
204、终端根据位置关系确定可通信车辆的避让信息。
具体的，终端在确定救护车与待通信车辆的位置关系之后，可以确定可通信车辆对应的避让信息，避让信息可以包括避让方向等。
例如，请参考图3，此时车辆A与车辆B在救护车的正前方行驶，则车辆A与车辆B可以通过改变当前行驶行驶方向来避让救护车，则可以确定车辆A与车辆B的避让方向可以为右；车辆C与车辆D在救护车的左前方行驶，车辆C与车辆D可以通过将当前行驶方向改为向左行驶，可以避让后方救护车。
205、终端将避让信息发送给可通信车辆，使得可通信车辆按照对应的避让信息更改行驶方向。
终端在根据位置关系确定可通信车辆的避让信息之后，可以将避让信息发送给对应的可通信车辆。
例如，车辆A与车辆B对应的避让信息为向右行驶，则终端可以将向右行驶对应的通信指令发送给车辆A与车辆B；车辆C与车辆D对应的避让信息为向左行驶，则终端可以将向左行驶对应的通信指令发送给车辆C与车辆D。
在可通信车辆接收到指令信号之后，则可以根据指令改变当前行驶方向，则可以得到当前道路上各车辆的位置关系，请参考图4，图4为本申请实施例提供的一种更新行驶方向后的车辆位置平面示意图。图4中，车辆A，车辆B，车辆C，车辆D分别按照指令对应的行驶方向进行调整，快速将中间通道空出，使得救护车可以顺利前行，极大的节省了为救护车避让的时间。
本申请实施例公开了一种车辆行驶的控制方法，该车辆行驶的控制方法包括：在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；基于所述位置信息确定与待通信车辆的位置关系；根据所述位置关系确定所述待通信车辆的行驶路径；向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。本申请方案通过在车辆行驶过程中实时获取前方车辆的位置信息，当遇到紧急情况时可以预先与前方车辆通信使其改变原行驶路径，在保证行车安全的同时，从而有效提高车辆行驶效率。
为便于更好的实施本申请实施例提供的车辆行驶的控制方法，本申请实施例还提供一种基于上述车辆行驶的控制方法的装置。其中名词的含义与上述车辆行驶的控制方法中相同，具体实现细节可以参考方法实施例中的说明。
请参阅图5，图5为本申请实施例提供的一种车辆行驶的控制装置的结构框图，该车辆行驶的控制装置可以应用于诸如终端、平板电脑、笔记本电脑，掌上电脑、便携式媒体播放器（Portable Media Player , PMP）等移动终端，以及诸如台式计算机等固定终端，该装置包括：
获取单元301，用于在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
第一确定单元302，用于基于所述位置信息确定与待通信车辆的位置关系；
第二确定单元303，用于根据所述位置关系确定所述待通信车辆的行驶路径；
发送单元304，用于向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
在一些实施例中，第二确定单元303，可以包括：
第一确定子单元，用于基于所述位置关系确定当前所处的第一车道与待通信车辆所处的第二车道；
第二确定子单元，用于根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向；
获取子单元，用于获取所述第一车道的第一车道宽度，所述第二车道的第二车道宽度以及所述待通信车辆的车身宽度；
第三确定子单元，用于基于所述第一车道宽度，第二车道宽度与所述车身宽度确定所述待通信车辆的目标行驶距离；
第四确定单元，用于根据所述目标行驶方向与所述目标行驶距离确定所述行驶路径。
在一些实施例中，第二确定子单元具体可以用于：判断所述第一车道与所述第二车道是否为同一车道；若是，则获取所述第一车道的相邻车道的车道信息；根据所述车道信息获取与所述第一车道行驶方向相同的相邻车道，将所述相邻车道作为所述待通信车辆的目标行驶车道；基于所述相邻车道确定所述目标行驶方向。
在一些实施例中，第二确定子单元具体还可以用于：若所述第一车道与所述第二车道不为同一车道，则判断在所述第一车道是否存在行驶车辆，所述行驶车辆在所述第一车道的位置与所述待通信车辆在所述第二车道的位置相同；若是，则可以获取所述第二车道的相邻车道，根据第二车道的相邻车道确定所述目标行驶方向。
在一些实施例中，获取单元301，可以包括：
广播子单元，用于当车辆行驶时，在所述预设距离范围内的区域广播信号；
接收子单元，用于接收信号响应消息，根据所述信号响应消息确定待通信车辆的位置信息。
在一些实施例中，该车辆行驶的控制装置，还可以包括：
判断单元，用于根据所述位置关系判断是否与所述待通信车辆的行驶方向相同；
第一执行单元，用于若是，则判断是否在所述待通信车辆的后方位置；
第二执行单元用于若在所述所述待通信车辆的后方位置，则执行步骤根据所述位置关系确定所述待通信车辆的行驶路径。
本申请实施例公开了一种车辆行驶的控制装置，该车辆行驶的控制装置包括：在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；基于所述位置信息确定与待通信车辆的位置关系；根据所述位置关系确定所述待通信车辆的行驶路径；向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。本申请方案通过在车辆行驶过程中实时获取前方车辆的位置信息，当遇到紧急情况时可以预先与前方车辆通信使其改变原行驶路径，在保证行车安全的同时，从而有效提高车辆行驶效率。
本申请实施例还提供一种终端。如图6所示，该终端可以包括射频（RF，Radio Frequency）电路601、包括有一个或一个以上存储介质的存储器602、输入单元603、显示单元604、传感器605、音频电路606、无线保真（WiFi，Wireless Fidelity）模块607、包括有一个或者一个以上处理核心的处理器608、以及电源609等部件。本领域技术人员可以理解，图6中示出的终端结构并不构成对终端的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
RF电路601可用于收发信息过程中，信号的接收和发送，特别地，将基站的下行信息接收后，交由一个或者一个以上处理器608处理；另外，将涉及上行的数据发送给基站。通常，RF电路601包括但不限于天线、至少一个放大器、调谐器、一个或多个振荡器、用户身份模块（SIM， Subscriber Identity Module）卡、收发信机、耦合器、低噪声放大器（LNA，Low Noise Amplifier）、双工器等。此外，RF电路601还可以通过无线通信与网络和其他设备通信。
存储器602可用于存储软件程序以及模块，处理器608通过运行存储在存储器602的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器602可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序（比如声音播放功能、图像播放功能等）等。此外，存储器602可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器602还可以包括存储器控制器，以提供处理器608和输入单元603对存储器602的访问。
输入单元603可用于接收输入的数字或字符信息，以及产生与用户设置以及功能控制有关的键盘、鼠标、操作杆、光学或者轨迹球信号输入。具体地，在一个具体的实施例中，输入单元603可包括触敏表面以及其他输入设备。触敏表面，也称为触摸显示屏或者触控板，可收集用户在其上或附近的触摸操作（比如用户使用手指、触笔等任何适合的物体或附件在触敏表面上或在触敏表面附近的操作），并根据预先设定的程式驱动相应的连接装置。除了触敏表面，输入单元603还可以包括其他输入设备。具体地，其他输入设备可以包括但不限于物理键盘、功能键（比如音量控制按键、开关按键等）、轨迹球、鼠标、操作杆等中的一种或多种。
显示单元604可用于显示由用户输入的信息或提供给用户的信息以及服务器的各种图形用户接口，这些图形用户接口可以由图形、文本、图标、视频和其任意组合来构成。显示单元604可包括显示面板，可选的，可以采用液晶显示器（LCD，Liquid Crystal Display）、有机发光二极管（OLED，Organic Light-Emitting Diode）等形式来配置显示面板。进一步的，触敏表面可覆盖显示面板，当触敏表面检测到在其上或附近的触摸操作后，传送给处理器608以确定触摸事件的类型，随后处理器608根据触摸事件的类型在显示面板上提供相应的视觉输出。虽然在图6中，触敏表面与显示面板是作为两个独立的部件来实现输入和输入功能，但是在某些实施例中，可以将触敏表面与显示面板集成而实现输入和输出功能。
终端还可包括至少一种传感器605，比如光传感器、运动传感器以及其他传感器。具体地，光传感器可包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示面板的亮度，接近传感器可在服务器移动到耳边时，关闭显示面板和背光。
音频电路606、扬声器，传声器可提供用户与服务器之间的音频接口。音频电路606可将接收到的音频数据转换后的电信号，传输到扬声器，由扬声器转换为声音信号输出；另一方面，传声器将收集的声音信号转换为电信号，由音频电路606接收后转换为音频数据，再将音频数据输出处理器608处理后，经RF电路601以发送给比如终端，或者将音频数据输出至存储器602以便进一步处理。音频电路606还可能包括耳塞插孔，以提供外设耳机与服务器的通信。
WiFi属于短距离无线传输技术，终端通过WiFi模块607可以帮助用户收发电子邮件、浏览网页和访问流式媒体等，它为用户提供了无线的宽带互联网访问。虽然图6示出了WiFi模块607，但是可以理解的是，其并不属于终端的必须构成，完全可以根据需要在不改变申请的本质的范围内而省略。
处理器608是终端的控制中心，利用各种接口和线路连接整个终端的各个部分，通过运行或执行存储在存储器602内的软件程序和模块，以及调用存储在存储器602内的数据，执行服务器的各种功能和处理数据，从而对终端进行整体监控。可选的，处理器608可包括一个或多个处理核心；优选的，处理器608可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器608中。
终端还包括给各个部件供电的电源609（比如电池），优选的，电源可以通过电源管理系统与处理器608逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源609还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
具体在本实施例中，终端中的处理器608会按照如下的指令，将一个或一个以上的应用程序的进程对应的可执行文件加载到存储器602中，并由处理器608来运行存储在存储器602中的应用程序，从而实现各种功能：
在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
基于所述位置信息确定与待通信车辆的位置关系；
根据所述位置关系确定所述待通信车辆的行驶路径；
向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
本申请实施例公开了一种车辆行驶的控制方法、装置、存储介质及终端。该车辆行驶的控制方法包括：在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；基于所述位置信息确定与待通信车辆的位置关系；根据所述位置关系确定所述待通信车辆的行驶路径；向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。本申请方案通过在车辆行驶过程中实时获取前方车辆的位置信息，当遇到紧急情况时可以预先与前方车辆通信使其改变原行驶路径，在保证行车安全的同时，从而有效提高车辆行驶效率。
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于存储介质中，并由处理器进行加载和执行。
为此，本申请实施例提供一种存储介质，其中存储有多条指令，该指令能够被处理器进行加载，以执行本申请实施例所提供的任一种车辆行驶的控制方法中的步骤。例如，该指令可以执行如下步骤：
在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；基于所述位置信息确定与待通信车辆的位置关系；根据所述位置关系确定所述待通信车辆的行驶路径；向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
其中，该存储介质可以包括：只读存储器（ROM，Read Only Memory）、随机存取记忆体（RAM，Random Access Memory）、磁盘或光盘等。
由于该存储介质中所存储的指令，可以执行本申请实施例所提供的任一种车辆行驶的控制方法中的步骤，因此，可以实现本申请实施例所提供的任一种车辆行驶的控制方法所能实现的有益效果，详见前面的实施例，在此不再赘述。
以上对本申请实施例所提供的车辆行驶的控制方法、装置、存储介质及终端进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (20)

  1. 一种车辆行驶的控制方法，应用于终端，其包括：
    在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
    基于所述位置信息确定与待通信车辆的位置关系；
    根据所述位置关系确定所述待通信车辆的行驶路径；
    向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
  2. 根据权利要求1所述的方法，其中，所述根据所述位置关系确定所述待通信车辆的行驶路径，包括：
    基于所述位置关系确定当前所处的第一车道与待通信车辆所处的第二车道；
    根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向；
    获取所述第一车道的第一车道宽度，所述第二车道的第二车道宽度以及所述待通信车辆的车身宽度；
    基于所述第一车道宽度，第二车道宽度与所述车身宽度确定所述待通信车辆的目标行驶距离；
    根据所述目标行驶方向与所述目标行驶距离确定所述行驶路径。
  3. 根据权利要求2所述的方法，其中，所述根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向，包括：
    判断所述第一车道与所述第二车道是否为同一车道；
    若是，则获取所述第一车道的相邻车道的车道信息；
    根据所述车道信息确定所述目标行驶方向。
  4. 根据权利要求3所述的方法，其中，所述根据所述车道信息确定所述目标行驶方向，包括：
    根据所述车道信息获取与所述第一车道行驶方向相同的相邻车道，将所述相邻车道作为所述待通信车辆的目标行驶车道；
    基于所述相邻车道确定所述目标行驶方向。
  5. 根据权利要求3所述的方法，其中，还包括：
    若所述第一车道与所述第二车道不为同一车道，则判断在所述第一车道是否存在行驶车辆，所述行驶车辆在所述第一车道的位置与所述待通信车辆在所述第二车道的位置相同；
    若是，则可以获取所述第二车道的相邻车道，根据第二车道的相邻车道确定所述目标行驶方向。
  6. 根据权利要求1所述的方法，其中，所述获取预设距离范围内的待通信车辆的位置信息，包括：
    当车辆行驶时，在所述预设距离范围内的区域广播信号；
    接收信号响应消息，根据所述信号响应消息确定待通信车辆的位置信息。
  7. 根据权利要求1所述方法，其中，在根据所述位置关系确定所述待通信车辆的行驶路径之前，还可以包括：
    根据所述位置关系判断是否与所述待通信车辆的行驶方向相同；
    若是，则判断是否在所述待通信车辆的后方位置；
    若在所述所述待通信车辆的后方位置，则执行步骤根据所述位置关系确定所述待通信车辆的行驶路径。
  8. 一种存储介质，其中，所述存储介质存储有多条指令，所述指令适于处理器进行加载，以执行以下步骤：
    在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
    基于所述位置信息确定与待通信车辆的位置关系；
    根据所述位置关系确定所述待通信车辆的行驶路径；
    向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
  9. 根据权利要求8所述的存储介质，其中，所述根据所述位置关系确定所述待通信车辆的行驶路径的步骤，包括：
    基于所述位置关系确定当前所处的第一车道与待通信车辆所处的第二车道；
    根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向；
    获取所述第一车道的第一车道宽度，所述第二车道的第二车道宽度以及所述待通信车辆的车身宽度；
    基于所述第一车道宽度，第二车道宽度与所述车身宽度确定所述待通信车辆的目标行驶距离；
    根据所述目标行驶方向与所述目标行驶距离确定所述行驶路径。
  10. 根据权利要求9所述的存储介质，其中，所述根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向的步骤，包括：
    判断所述第一车道与所述第二车道是否为同一车道；
    若是，则获取所述第一车道的相邻车道的车道信息；
    根据所述车道信息确定所述目标行驶方向。
  11. 根据权利要求10所述的存储介质，其中，所述根据所述车道信息确定所述目标行驶方向的步骤，包括：
    根据所述车道信息获取与所述第一车道行驶方向相同的相邻车道，将所述相邻车道作为所述待通信车辆的目标行驶车道；
    基于所述相邻车道确定所述目标行驶方向。
  12. 根据权利要求10所述的存储介质，其中，还包括：
    若所述第一车道与所述第二车道不为同一车道，则判断在所述第一车道是否存在行驶车辆，所述行驶车辆在所述第一车道的位置与所述待通信车辆在所述第二车道的位置相同；
    若是，则可以获取所述第二车道的相邻车道，根据第二车道的相邻车道确定所述目标行驶方向。
  13. 根据权利要求8所述的存储介质，其中，所述获取预设距离范围内的待通信车辆的位置信息的步骤，包括：
    当车辆行驶时，在所述预设距离范围内的区域广播信号；
    接收信号响应消息，根据所述信号响应消息确定待通信车辆的位置信息。
  14. 根据权利要求8所述的存储介质，其中在根据所述位置关系确定所述待通信车辆的行驶路径的步骤之前，还可以包括：
    根据所述位置关系判断是否与所述待通信车辆的行驶方向相同；
    若是，则判断是否在所述待通信车辆的后方位置；
    若在所述所述待通信车辆的后方位置，则执行步骤根据所述位置关系确定所述待通信车辆的行驶路径。
  15. 一种终端，其中，包括处理器和存储器，所述存储器存储有多条指令，所述处理器加载所述指令以执行以下步骤：
    在车辆行驶过程中，获取预设距离范围内的待通信车辆的位置信息；
    基于所述位置信息确定与待通信车辆的位置关系；
    根据所述位置关系确定所述待通信车辆的行驶路径；
    向所述待通信车辆发送通信指令，使得所述待通信车辆按照所述行驶路径行驶。
  16. 根据权利要求15所述的终端，其中，所述根据所述位置关系确定所述待通信车辆的行驶路径的步骤，包括：
    基于所述位置关系确定当前所处的第一车道与待通信车辆所处的第二车道；
    根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向；
    获取所述第一车道的第一车道宽度，所述第二车道的第二车道宽度以及所述待通信车辆的车身宽度；
    基于所述第一车道宽度，第二车道宽度与所述车身宽度确定所述待通信车辆的目标行驶距离；
    根据所述目标行驶方向与所述目标行驶距离确定所述行驶路径。
  17. 根据权利要求16所述的终端，其中，所述根据所述第一车道与所述第二车道确定待通信车辆的目标行驶方向的步骤，包括：
    判断所述第一车道与所述第二车道是否为同一车道；
    若是，则获取所述第一车道的相邻车道的车道信息；
    根据所述车道信息确定所述目标行驶方向。
  18. 根据权利要求17所述的终端，其中，所述根据所述车道信息确定所述目标行驶方向的步骤，包括：
    根据所述车道信息获取与所述第一车道行驶方向相同的相邻车道，将所述相邻车道作为所述待通信车辆的目标行驶车道；
    基于所述相邻车道确定所述目标行驶方向。
  19. 根据权利要求17所述的终端，其中，还包括：
    若所述第一车道与所述第二车道不为同一车道，则判断在所述第一车道是否存在行驶车辆，所述行驶车辆在所述第一车道的位置与所述待通信车辆在所述第二车道的位置相同；
    若是，则可以获取所述第二车道的相邻车道，根据第二车道的相邻车道确定所述目标行驶方向。
  20. 根据权利要求15所述的终端，其中，所述获取预设距离范围内的待通信车辆的位置信息的步骤，包括：
    当车辆行驶时，在所述预设距离范围内的区域广播信号；
    接收信号响应消息，根据所述信号响应消息确定待通信车辆的位置信息。
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