CN113140050A

CN113140050A - Flow dividing and controlling method and device, computer equipment and medium

Info

Publication number: CN113140050A
Application number: CN202110350224.5A
Authority: CN
Inventors: 房颜明; 李智; 董航; 孟令钊
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-07-20
Anticipated expiration: 2041-03-31
Also published as: CN113140050B

Abstract

The application relates to a shunt control method, device, computer equipment and medium. The method comprises the following steps: acquiring first perception information of a target vehicle, wherein the first perception information is obtained by perceiving the target vehicle by a sensing device of a toll station, and the first perception information comprises a target temporary identifier and a vehicle position of the target vehicle; determining target transaction information corresponding to the target temporary identifier according to the target temporary identifier, wherein the target transaction information comprises transaction state information of the target vehicle; and if the transaction state information represents that the target vehicle fails in transaction and the vehicle position meets the shunting control reminding condition is detected, displaying a reminding message through a preset screen, wherein the reminding message is used for reminding the target vehicle to enter a preset lane. By adopting the method, the passing efficiency of the toll station can be improved.

Description

Flow dividing and controlling method and device, computer equipment and medium

Technical Field

The present application relates to the field of intelligent traffic technologies, and in particular, to a shunt control method, apparatus, computer device, and medium.

Background

With the development of the ETC (Electronic Toll Collection) technology, more and more roads realize Electronic Toll Collection for vehicles equipped with ETC devices.

At present, toll stations generally set up ETC lane and manual transaction lane, and the driver can select to carry out automatic transaction through the ETC lane according to actual conditions, perhaps carries out the manual transaction of deducting the fee through manual transaction lane.

However, with the rapid increase of the number of vehicles on the road, how to improve the congestion phenomenon of the lane of the toll station and improve the passing efficiency of the toll station becomes a problem to be solved at present.

Disclosure of Invention

In view of the above, there is a need to provide a shunt control method, device, computer device and medium capable of improving the traffic efficiency of toll stations.

In a first aspect, an embodiment of the present application provides a shunt control method, where the method includes:

acquiring first perception information of a target vehicle, wherein the first perception information is obtained by perceiving the target vehicle by a sensing device of a toll station, and the first perception information comprises a target temporary identifier and a vehicle position of the target vehicle;

determining target transaction information corresponding to the target temporary identifier according to the target temporary identifier, wherein the target transaction information comprises transaction state information of the target vehicle;

and if the transaction state information represents that the target vehicle fails in transaction and the vehicle position meets the shunting control reminding condition is detected, displaying a reminding message through a preset screen, wherein the reminding message is used for reminding the target vehicle to enter a preset lane.

In one embodiment, the preset screen is a roadside display screen, and the method further includes:

acquiring the position of a display screen of the roadside display screen;

detecting whether a distance between the vehicle position and the display screen position is less than a first distance threshold;

if the distance between the vehicle position and the display screen position is smaller than the first distance threshold, determining that the vehicle position meets the shunting management and control reminding condition;

correspondingly, the displaying of the reminding message through the preset screen comprises:

and displaying a first reminding message through the roadside display screen.

In one embodiment, after the displaying the first reminding message through the roadside display screen, the method further includes:

detecting whether a distance between the vehicle position and the display screen position is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

and if the distance between the vehicle position and the display screen position is smaller than the second distance threshold value, displaying a second reminding message through the roadside display screen, wherein the first reminding message and the second reminding message are displayed in different modes in the roadside display screen.

In one embodiment, the preset screen is a lane display screen, and the method further includes:

detecting whether the distance between the vehicle position and a toll station is smaller than a third distance threshold value or not according to the vehicle position;

if the distance between the vehicle position and the toll station is smaller than the third distance threshold, detecting whether the target vehicle is in an automatic transaction lane or not according to the vehicle position;

and if the target vehicle is in the automatic transaction lane, determining that the vehicle position meets the shunting control reminding condition.

In one embodiment, before determining, according to the target temporary identifier, target transaction information corresponding to the target temporary identifier, the method further includes:

acquiring initial transaction information of the target vehicle, wherein the initial transaction information at least comprises a first vehicle identifier of the target vehicle and the transaction state information;

determining target perception identity information of the target vehicle corresponding to the first vehicle identifier according to the first vehicle identifier, wherein the target perception identity information at least comprises the target temporary identifier;

and storing the target perception identity information and the initial transaction information as the target transaction information.

In one embodiment, the initial transaction information further includes a transaction time of the target vehicle, and the determining, according to the first vehicle identifier, target perceptual identity information of the target vehicle corresponding to the first vehicle identifier includes:

acquiring sensing identity information of a plurality of vehicles, and determining at least one candidate sensing identity information from the plurality of sensing identity information according to the transaction time, wherein the time difference between the information acquisition time and the transaction time included in each candidate sensing identity information is less than a time difference threshold value;

and determining the target perception identity information from the at least one candidate perception identity information according to the first vehicle identification.

In one embodiment, each of the candidate perceptual identity information comprises a second vehicle identifier, and the determining the target perceptual identity information from the at least one candidate perceptual identity information according to the first vehicle identifier comprises:

for each candidate perception identity information, carrying out fuzzy matching on the first vehicle identification and a second vehicle identification included in the candidate perception identity information to obtain a matching score;

detecting whether the matching score is larger than a preset score threshold value;

and if the matching score is larger than the preset score threshold value, determining that the candidate perception identity information is the target perception identity information.

In one embodiment, before determining, according to the first vehicle identifier, target perceptual identity information of the target vehicle corresponding to the first vehicle identifier, the method further includes:

acquiring snapshot information of the target vehicle, wherein the snapshot information is obtained by snapshot of the target vehicle by ramp snapshot equipment, and the snapshot information comprises a second vehicle identification, snapshot time and a snapshot vehicle position of the target vehicle;

according to the snapshot time, determining candidate perception information corresponding to the snapshot time from second perception information of each vehicle, wherein each second perception information comprises a temporary identifier and a perception vehicle position of the corresponding vehicle, and each second perception information is obtained by perceiving the corresponding vehicle by a ramp perception device;

detecting whether the snapshot vehicle position matches the perception vehicle position included in the candidate perception information;

and if the position of the snapshot vehicle is matched with the position of the perception vehicle included in the candidate perception information, storing the snapshot information and the candidate perception information as the target perception identity information.

In one embodiment, the candidate perception information further includes a perception time, a perception vehicle position, a perception vehicle speed, and a perception headway of a corresponding vehicle, and the detecting whether the snapshot vehicle position and the perception vehicle position included in the candidate perception information match includes:

detecting whether the position of the target vehicle along the direction perpendicular to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction or not according to the snapshot vehicle position and the perception vehicle position;

detecting whether the position of the target vehicle along the direction parallel to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction or not according to the snapshot vehicle position, the snapshot time, the perception vehicle position, the perception vehicle speed, the perception time and the perception vehicle headway;

and if the position of the target vehicle along the direction perpendicular to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction, and the position of the target vehicle along the direction parallel to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction, determining that the position of the snapshot vehicle is matched with the position of the perception vehicle included in the candidate perception information.

In a second aspect, an embodiment of the present application provides a shunt control device, where the device includes:

the system comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring first perception information of a target vehicle, the first perception information is obtained by perceiving the target vehicle by a toll station perceiving device, and the first perception information comprises a target temporary identifier and a vehicle position of the target vehicle;

the first determining module is used for determining target transaction information corresponding to the target temporary identifier according to the target temporary identifier, wherein the target transaction information comprises transaction state information of the target vehicle;

and the prompting module is used for detecting whether the vehicle position meets a shunting control prompting condition or not if the transaction state information represents that the target vehicle fails in transaction, and displaying a prompting message through a preset screen if the vehicle position meets the shunting control prompting condition, wherein the prompting message is used for prompting the target vehicle to enter a preset lane.

In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method according to the first aspect as described above.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

according to the shunt control method, the shunt control device, the computer equipment and the medium, the first perception information of the target vehicle is obtained by perceiving the target vehicle by the toll station perception equipment, the first perception information comprises the target temporary identifier and the vehicle position of the target vehicle, then the target transaction information corresponding to the target temporary identifier is determined according to the target temporary identifier, and the target transaction information comprises the transaction state information of the target vehicle, so that if the transaction state information represents that the transaction of the target vehicle fails and the vehicle position is detected to meet the shunt control reminding condition, a reminding message for reminding the target vehicle to enter a preset lane is displayed through a preset screen; therefore, under the condition that the transaction of the target vehicle fails, the target vehicle is guided to enter a preset lane through the reminding message, the preset lane can be a non-automatic transaction lane, for example, the preset lane can be a manual transaction lane, so that the phenomenon that the target vehicle which fails in automatic transaction enters the automatic transaction lane of the toll station again to automatically deduct fees is avoided, and the lane of the toll station is jammed due to the fact that the target vehicle which fails in automatic fee deduction needs to change the lane to the non-automatic transaction lane again. According to the embodiment of the application, the target vehicle is guided to enter the preset lane through the reminding message, the rapid fee deduction passing of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

Drawings

FIG. 1 is a schematic diagram of an exemplary implementation environment for a shunt control method;

FIG. 2 is a schematic flow diagram of a shunt control method in one embodiment;

FIG. 3 is a schematic flow chart of another embodiment of a shunt control method;

FIG. 4 is a schematic flow chart of another embodiment of a shunt control method;

FIG. 5 is a schematic flow chart of another embodiment of a shunt control method;

fig. 6 is a schematic flow chart illustrating a process of determining whether the vehicle position meets the shunting management and control reminding condition in another embodiment when the preset reminding device is a directional sound device;

FIG. 7 is a schematic flow chart of another embodiment of a shunt control method;

FIG. 8 is a schematic flow chart of another embodiment of a shunt control method;

FIG. 9 is a schematic diagram of a process for obtaining targeted transaction information according to another embodiment;

FIG. 10 is a schematic flow chart of step 902 in another embodiment;

FIG. 11 is a schematic flow chart of step 9022 in another embodiment;

FIG. 12 is a schematic diagram of a process for obtaining target-aware identity information in another embodiment;

FIG. 13 is a flowchart illustrating step 1203 in another embodiment;

fig. 14 is a block diagram illustrating a configuration of a shunt control device according to an embodiment;

FIG. 15 is a diagram showing an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The flow dividing and controlling method, the flow dividing and controlling device, the computer equipment and the medium can improve the passing efficiency of the toll station. The technical solution of the present application will be specifically described below by way of examples with reference to the accompanying drawings. The following specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The shunt control method provided by the embodiment of the application can be applied to the implementation environment shown in fig. 1. As shown in fig. 1, the implementation environment includes a computer device 101 and a toll booth aware device 102, and the computer device 101 and the toll booth aware device 102 can communicate with each other through a wired network or a wireless network.

The computer device 101 may be a roadside computing unit/terminal/edge server, optionally, the computer device 101 may also be a cloud server, a vehicle-mounted computing unit/terminal at a vehicle end, and the like, and the type of the computer device 101 is not specifically limited herein.

The toll booth sensing device 102 may be a roadside sensing device/system disposed at the toll booth, for example, an intelligent base station (also called roadside convergence sensing system or roadside base station) of the toll booth, or may also be at least one of a millimeter wave radar sensor, a laser radar sensor, and a camera, and the like, where the type of the toll booth sensing device 102 is not particularly limited.

In one embodiment, as shown in FIG. 2, a shunt management method is provided, which is illustrated as applied to the computer device of FIG. 1. It should be noted that, the method in the embodiment of the present application may also be executed by a combined system of the vehicle-side, the cloud-side, and the road-side computing devices, and the specific task allocation in the method may be flexibly set based on the requirements, which is not limited in the embodiment of the present application.

The method comprises the following

steps

201, 202 and 203:

step 201, a computer device obtains first perception information of a target vehicle, wherein the first perception information is obtained by a toll station perception device perceiving the target vehicle.

In the embodiment of the application, the toll station can be provided with toll station sensing equipment, and the toll station sensing equipment can be arranged on a gantry of the toll station or can be arranged on a road side near the toll station and the like. As mentioned above, the toll station sensing device may be a smart base station, a millimeter wave radar sensor, or a lidar sensor, among others.

The target vehicle can be any vehicle entering the sensing coverage area of the toll station sensing equipment, and the toll station sensing equipment performs data sensing on the target vehicle to obtain first sensing information of the target vehicle, wherein the first sensing information comprises a target temporary identifier and a vehicle position of the target vehicle.

In the embodiment of the application, the toll station sensing equipment can add corresponding temporary identifications to each vehicle in the sensing coverage area of the toll station sensing equipment to distinguish the vehicles, and the temporary identifications can be vehicle numbers for example; the target temporary identifier included in the first sensing information is the unique temporary identifier added to the target vehicle by the toll station sensing equipment.

Step 202, the computer device determines target transaction information corresponding to the target temporary identifier according to the target temporary identifier.

In the embodiment of the application, in the running process of the target vehicle, before the target vehicle enters the toll station, automatic fee deduction transaction can be performed on the target vehicle in advance through automatic transaction equipment, and the automatic transaction equipment can be arranged in a preset distance range of the toll station, for example, the automatic transaction equipment can be arranged at a ramp of the toll station. Therefore, if the target vehicle succeeds in pre-transaction through the automatic transaction equipment, the target vehicle can directly pass through the toll station after entering the toll station, and does not need to stay again to carry out transaction fee deduction; if the target vehicle fails to pre-trade through the automatic trading equipment, the target vehicle needs to trade and deduct fees again at a toll station.

It can be understood that if the target vehicle fails to pre-trade through the automatic trading device, the pre-trade may be caused by loosening and invalidation of the electronic tag of the target vehicle, insufficient balance of the electronic account, and the like, in this case, if the target vehicle enters the toll station and then enters the automatic trading lane (such as the ETC lane), the pre-trade still fails; therefore, after the transaction of the automatic transaction lane fails, the target vehicle changes the lane to a non-automatic transaction lane (such as an artificial lane) again, which causes the lane of the toll station to be blocked and the passing rate of the toll station to be reduced.

In view of this, in the embodiment of the present application, the computer device may obtain the transaction information of the vehicle corresponding to each temporary identifier in advance, so that after the target vehicle enters the toll station, the computer device obtains the first sensing information of the target vehicle, determines the target transaction information corresponding to the target temporary identifier according to the target temporary identifier in the first sensing information, and performs shunting control on the target vehicle according to the transaction state information of the target vehicle, which is included in the target transaction information.

The transaction state information indicates whether the target vehicle is successful or not when the target vehicle carries out pre-transaction deduction through automatic transaction equipment arranged in a preset distance range of a toll station.

And 203, if the transaction state information represents that the transaction of the target vehicle fails and the computer equipment detects that the position of the vehicle meets the shunting control reminding condition, displaying a reminding message through a preset screen.

If the computer device detects that the transaction state information represents that the transaction of the target vehicle fails, the computer device can detect whether the current vehicle position of the target vehicle meets a shunting control reminding condition, if so, the computer device outputs a reminding message through a preset reminding device, the reminding message is used for reminding the target vehicle to enter a preset lane, and the preset lane can be a non-automatic transaction lane, such as an artificial lane.

In the embodiment of the application, optionally, the preset reminding device may be a preset screen, and the computer device displays a screen reminding message through the preset screen, where the screen reminding message is used for reminding the target vehicle to enter a preset lane; optionally, the preset reminding device may also be a directional sound device, and the computer device issues a directional sound reminding message through the directional sound device, where the directional sound reminding message is used to prompt the target vehicle to enter a preset lane; optionally, the preset reminding device may also be a preset screen and a directional sound device, the computer device may issue a directional sound reminding message through the directional sound device and display a screen reminding message through the preset screen, and the directional sound reminding message and the screen reminding message are used to remind the target vehicle to enter the preset lane in different reminding manners.

In this embodiment, first, an implementation of the shunt control method in this embodiment is described by taking an example in which the preset reminding device is a preset screen.

If the computer device detects that the transaction state information of the target vehicle represents that the transaction of the target vehicle fails, whether the current vehicle position of the target vehicle meets a shunting control reminding condition is detected, the shunting control reminding condition can be that the distance between the target vehicle and a preset screen is smaller than a preset distance threshold value, if the distance is smaller than the preset distance threshold value, the target vehicle is represented to be close to the preset screen, the computer device determines that the vehicle position meets the shunting control reminding condition, the computer device further displays a reminding message through the preset screen, and the target vehicle is guided to enter a preset lane through the reminding message.

It should be noted that in the embodiment of the present application, the number of the preset screens may be one, or may be multiple. Under the condition that the number of the preset screens is multiple, the computer device can display the reminding message through the preset screen after detecting that the distance between the target vehicle and any preset screen is smaller than a preset distance threshold, and the number of the preset screens is not particularly limited.

In the embodiment, the first perception information of the target vehicle is obtained by perceiving the target vehicle by the sensing equipment of the toll station, and the first perception information comprises a target temporary identifier and a vehicle position of the target vehicle, and then the target transaction information corresponding to the target temporary identifier is determined according to the target temporary identifier and comprises transaction state information of the target vehicle, so that if the transaction state information represents that the transaction of the target vehicle fails and the vehicle position is detected to meet a shunting control reminding condition, a reminding message is displayed through a preset screen and used for reminding the target vehicle to enter a preset lane; therefore, under the condition that the transaction of the target vehicle fails, the target vehicle is guided to enter a preset lane through the reminding message, the preset lane can be a non-automatic transaction lane, such as a manual transaction lane, so that the phenomenon that the target vehicle which fails in automatic transaction enters the automatic transaction lane of the toll station again to automatically deduct fees and the lane of the toll station is blocked because the target vehicle which fails in automatic fee deduction needs to change to the non-automatic transaction lane again is avoided. According to the embodiment of the application, the target vehicle is guided to enter the preset lane through the reminding message, the rapid fee deduction passing of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 3, the embodiment relates to a process of how a computer device detects whether a vehicle position meets a diversion management reminding condition and how a reminding message is displayed when a preset screen is a roadside display screen. As shown in fig. 3, the shunt control method of this embodiment further includes:

step 301, the computer device obtains the display screen position of the roadside display screen.

The roadside display screen may be a display screen disposed at an obvious position on the road side of the toll station, or may also be a display screen disposed above a gantry of the toll station, and the like, and is not particularly limited herein.

The computer device obtains the display screen position of the roadside display screen, and it should be noted that the display screen position may be a projection position of the screen center of the roadside display screen on the ground, the display screen position may also be a projection position of the center of a preset position region in the roadside display screen on the ground, the display screen position may also be a spatial position of the screen center of the roadside display screen in a preset coordinate system, the display screen position may also be a spatial position of the center of the preset position region in the roadside display screen in the preset coordinate system, and a specific implementation manner of the display screen position of the roadside display screen is not limited herein.

In a possible implementation manner, different lanes in the toll station may correspond to different position areas in the roadside display screen, and the preset position area may be a position area corresponding to a lane where the target vehicle is located in the roadside display screen. As an embodiment, the computer device determines the lane in which the target vehicle is located, and may be implemented by: the computer device may pre-store a location range of each lane of the toll station, which may be a latitude and longitude range, and may determine in which lane the target vehicle is located according to the vehicle location and the location range of each lane.

In one possible embodiment, the predetermined coordinate system may be, for example, a coordinate system with the driving direction as a vertical axis, a horizontal line projected on the ground by the cross section of the toll station as a horizontal axis, and an intersection point of an outer boundary line of the leftmost lane or the rightmost lane of the toll station and the horizontal axis as a center of a circle.

At step 302, the computer device detects whether a distance between the vehicle location and the display screen location is less than a first distance threshold.

After the computer equipment acquires the display screen position of the roadside display screen, whether the distance between the vehicle position of the target vehicle and the display screen position is smaller than a first distance threshold value or not is detected.

In the embodiment of the present application, the first distance threshold may be smaller than or equal to the maximum value of the range of the human eye visual range, for example, set to 200 meters, and the computer device calculates the position difference between the vehicle position and the display screen position and compares whether the position difference is smaller than the first distance threshold.

Step 303, if the distance between the vehicle position and the display screen position is smaller than the first distance threshold, the computer device determines that the vehicle position meets the shunting control reminding condition.

If the position difference value between the vehicle position and the display screen position is smaller than the first distance threshold value, the road side display screen is represented to enter the human eye visual range of the driver in the target vehicle, specifically, the screen center of the road side display screen can be represented to enter the human eye visual range of the driver, or the preset position area corresponding to the lane where the target vehicle is located in the road side display screen is represented to enter the human eye visual range of the driver, so that the computer equipment determines that the vehicle position of the target vehicle meets the shunting control reminding condition, namely, the reminding message displayed on the road side display screen can be seen by the driver in the target vehicle at the moment.

Referring to fig. 3, in this embodiment, the computer device may execute the following step 2031 to implement the process of step 2031:

step 2031, if the transaction state information represents that the transaction of the target vehicle fails and it is detected that the vehicle position meets the shunting control reminding condition, the computer device displays a first reminding message through the roadside display screen.

The first reminding message can comprise a license plate number of the target vehicle, transaction state information and a shunting word, wherein the shunting word comprises 'please walk an artificial traffic lane', 'do not insert a card, please walk the artificial traffic lane', and the like, and the computer equipment controls a road side display screen to display the first reminding message in a text mode so as to remind the target vehicle to enter a preset lane.

In one possible implementation, the roadside display screen may display a warning message for vehicles in each lane in a sub-area. Specifically, different lanes in the toll station correspond to different position areas in the roadside display screen, for example, the roadside display screen is a display screen arranged above a portal frame of the toll station, each lane under the portal frame has a corresponding position area in the display screen, and optionally, the display screen area corresponding to the right above each lane is a preset position area of the lane in the roadside display screen. In this way, the computer device can display the first reminding message through the preset position area corresponding to the lane where the target vehicle is located in the roadside display screen.

In another possible implementation, the roadside display screen may also display the reminding message for the vehicles in each lane without dividing the region, and optionally, the computer device may control the roadside display screen to display the first reminding message in the center of the screen; optionally, the computer device may also control the roadside display screen to display the first reminding message at the edge of any side of the screen, and control the first reminding message to scroll towards the center of the screen of the roadside display screen, and so on, which is not limited herein.

Therefore, after the roadside display screen is ensured to enter the human eye sight distance range of the driver in the target vehicle, the computer equipment displays the first reminding message through the roadside display screen, the possibility that the first reminding message is seen by the driver is improved, and the shunting effect is improved.

In a possible implementation, please continue to refer to fig. 3, after step 2031, the shunt management method of this embodiment may further include steps 304 and 305:

at step 304, the computer device detects whether the distance between the vehicle position and the display screen position is less than a second distance threshold.

Wherein the second distance threshold is less than the first distance threshold. For example, the first distance threshold may be set to the maximum value of the distance corresponding to the range of human eye viewing distance, and the second distance threshold may be set to one-half, one-third, etc. of the distance corresponding to the range of maximum human eye viewing distance.

After the computer device detects that the distance between the vehicle position and the display screen position is smaller than a first distance threshold value, the computer device displays a first reminding message to guide the target vehicle to enter a preset lane, and in order to avoid that a driver in the target vehicle does not see the first reminding message, the computer device continues to detect whether the distance between the vehicle position and the display screen position is smaller than a second distance threshold value.

Step 305, if the distance between the vehicle position and the display screen position is smaller than the second distance threshold, the computer device displays a second reminding message through the roadside display screen.

If the distance between the vehicle position and the display screen position is smaller than the second distance threshold value, the road side display screen is represented to enter the human eye visual range of the driver in the target vehicle, and the target vehicle is closer to the road side display screen. And the computer equipment displays the second reminding message through the roadside display screen, and the display modes of the first reminding message and the second reminding message in the roadside display screen are different.

For example, the computer device controls the road-side display screen to flash and display a second reminding message, wherein the second reminding message can be a license plate number of the target vehicle, transaction state information, a shunting word and the like.

This embodiment gets into behind navigating mate's the human eye stadia within range in the target vehicle of transaction failure at the trackside display screen, carries out the universe tracking to the target vehicle, reminds the issue opportunity of message through control, promotes the issue effect of reminding the message to promoted the probability that the target vehicle got into predetermineeing the lane, promoted the reposition of redundant personnel effect.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 4, the present embodiment relates to a process of how the computer device detects whether the vehicle position satisfies the diversion management alert condition and how to display the alert message in the case where the preset screen is the lane display screen. As shown in fig. 4, the shunt control method in this embodiment further includes

steps

401, 402, and 403:

in step 401, the computer device detects whether the distance between the vehicle position and the toll station is less than a third distance threshold according to the vehicle position.

The lane display screens may be display screens provided in respective lanes, and the computer device may detect whether a distance between the vehicle position and the toll booth is less than a third distance threshold, and may detect whether a vertical distance between the vehicle position and a cross section of the toll booth is less than the third distance threshold. This third distance threshold may be set by itself when implemented.

Step 402, if the distance between the vehicle position and the toll station is smaller than a third distance threshold, the computer device detects whether the target vehicle is in the automatic transaction lane according to the vehicle position.

If the distance between the position of the vehicle and the toll station is smaller than the third distance threshold value, the fact that the target vehicle enters a toll plaza of the toll station is represented, and the computer device detects whether the target vehicle is in an automatic transaction lane.

Hereinafter, a manner in which the computer device detects whether the target vehicle is in the automatic transaction lane will be described.

The computer device may previously store a location range of the toll booth automated transaction lane, which may be a latitude and longitude range. After the computer device determines that the distance between the vehicle position of the target vehicle and the toll station is smaller than the third distance threshold, the computer device detects whether the vehicle position is within the position range of the automatic transaction lane, and if the vehicle position is within the position range of the automatic transaction lane, the computer device determines that the target vehicle is in the automatic transaction lane.

And step 403, if the target vehicle is in the automatic transaction lane, the computer device determines that the vehicle position meets the shunting control reminding condition.

If the target vehicle is in the automatic trading lane, the fact that a driver in the target vehicle possibly misses a reminding message of the roadside display screen and mistakenly enters the automatic trading lane is represented, and the computer equipment determines that the position of the vehicle meets a shunting control reminding condition.

Referring to fig. 4, in this embodiment, the computer device may execute the following step 2032 to implement the process of step 2031:

step 2032, if the transaction state information represents that the transaction of the target vehicle fails and it is detected that the vehicle position meets the shunting control reminding condition, the computer device displays a third reminding message through the lane display screen.

The third reminding message may include a license plate number of the target vehicle and a control word, such as "please go to the manual traffic lane", and the like, and the computer device controls the lane display screen to display the third reminding message in a text form, so as to remind the target vehicle of entering the preset lane.

Of course, the computer device may also control the lane display screen to flash to display the third reminding message to attract the attention of the driver, and so on, and the way of displaying the third reminding message on the lane display screen is not particularly limited.

In this embodiment, for the driver of the target vehicle that prevents the transaction failure misses the warning message of roadside display screen and the mistake gets into the automatic transaction lane, after the target vehicle got into the toll plaza, computer equipment can also remind the driver once more through the lane display screen to can promote the possibility that the warning message is seen by the driver, promote the reposition of redundant personnel effect, promote the traffic rate at toll station.

In one embodiment, as shown in FIG. 5, a shunt control method is provided. The embodiment relates to a process of how a computer device performs shunting control under the condition that a preset reminding device is a directional sound device. As shown in fig. 5, the method includes step 201, step 202 and step 204:

Wherein the first perception information comprises a target temporary identification and a vehicle position of the target vehicle.

Wherein the target transaction information includes transaction status information of the target vehicle.

The implementation processes of step 201 and step 202 in this embodiment are similar to those in the above embodiments, and for the specific implementation process, reference is made to the above embodiments, which are not described herein again.

And 204, if the transaction state information represents that the transaction of the target vehicle fails and the computer equipment detects that the position of the vehicle meets the shunting control reminding condition, issuing a directional sound reminding message through directional sound equipment.

If the computer device detects that the transaction state information of the target vehicle represents that the transaction of the target vehicle fails, whether the current vehicle position of the target vehicle meets a shunting control reminding condition is detected, the shunting control reminding condition can be that the distance between the target vehicle and the directional sound device is smaller than a preset distance threshold value, if the distance is smaller than the preset distance threshold value, the target vehicle is represented to be close to the directional sound device, the computer device determines that the vehicle position meets the shunting control reminding condition, and the computer device issues a directional sound reminding message through the directional sound device.

The directional sound reminding message is used for reminding the target vehicle to enter a preset lane, the preset lane can be a non-automatic transaction lane, for example, an artificial lane, so that the phenomenon that the target vehicle failing in automatic transaction enters the automatic transaction lane of the toll station again to automatically deduct fees is avoided, and the lane of the toll station is jammed due to the fact that the target vehicle failing in automatic fee deduction needs to change to the non-automatic transaction lane again. According to the embodiment of the application, the target vehicle is guided to enter the preset lane through the reminding message, the rapid fee deduction passing of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

It should be noted that the directional sound device refers to a device that issues audio (e.g., a directional sound reminding message) by using a directional sound technology. Compared with the traditional sound source, the directional sound source can control the propagation direction of the sound source and the coverage range of sound waves, and the directional sound technology is realized. The directional sound technology provides an effective sound propagation mode, a large loudspeaker array is not needed, and sound can be projected to a specific area in a highly directional mode to create a specific audio space.

Therefore, the computer equipment directionally propagates the directional sound reminding message to the target vehicle based on the directional sound technology, and the content of the reminding message is easily known by a driver of the target vehicle, so that the probability that the target vehicle enters a preset lane is favorably improved, and the shunting effect is improved.

In one embodiment, based on the embodiment shown in fig. 5, referring to fig. 6, the present embodiment relates to a process how a computer device determines whether a vehicle location meets a diversion regulation reminding condition in a case where a preset reminding device is a directional sound device. As shown in fig. 6, the process includes

steps

601, 602, and 603:

step 601, the computer device determines a target lane where the target vehicle is located according to the vehicle position.

In the embodiment of the application, the computer device may store the position range of each lane of the toll station in advance, where the position range may be, for example, a latitude and longitude range, and the computer device detects which lane the vehicle position falls within, so as to determine the target lane where the target vehicle is located.

In step 602, the computer device determines a device position of a directional acoustic device corresponding to the target lane and detects whether a distance between the vehicle position and the device position is less than a first distance threshold.

The lane of the toll station can be provided with directional sound equipment at a preset position, and after the computer equipment determines the target lane where the target vehicle is located, the computer equipment can determine the equipment position of the directional sound equipment set in the target lane.

The computer device detects whether the distance between the vehicle position and the device position is smaller than a first distance threshold value, wherein the first distance threshold value can be a maximum value corresponding to a broadcast coverage range of the directional sound device, and if the distance between the vehicle position and the device position is smaller than the first distance threshold value, it is determined that the target vehicle is located in the broadcast coverage range of the directional sound device.

Of course, the first distance threshold may also be smaller than a maximum value corresponding to a broadcast coverage range of the directional sound device, and is not specifically limited herein.

Step 603, if the distance between the vehicle position and the equipment position is smaller than the first distance threshold, the computer equipment determines that the vehicle position meets the shunting control reminding condition.

The computer device determines that the distance between the vehicle position of the target vehicle and the device position is smaller than a first distance threshold, and then determines that the target vehicle is in a broadcast coverage range of the directional sound device, namely the vehicle position of the target vehicle meets a shunting control reminding condition, and the computer device controls the directional sound device of the target lane to issue a directional sound reminding message, wherein the directional sound reminding message can comprise a license plate number of the target vehicle, transaction state information and a shunting word, and the shunting word is used for reminding the target vehicle to enter a preset lane, such as 'please walk a manual transaction lane', 'not plug in card, please walk a manual transaction lane', and the like.

Therefore, after the target vehicle is ensured to be in the broadcast coverage range of the directional sound equipment, the computer equipment issues the directional sound reminding message through the directional sound equipment of the target lane, so that the possibility that the directional sound reminding message is heard by a driver is improved, and the shunting effect is improved.

In addition, compared with a mode that the reminding message is displayed through a preset screen and can be seen only by actively browsing the preset screen by a driver, the directional sound reminding message is issued through the directional sound equipment of the target lane, so that the content of the reminding message is easier to know by the driver, the possibility of congestion of the toll station is reduced, and the traffic rate of the toll station is improved.

In one embodiment, based on the embodiment shown in fig. 5, referring to fig. 7, this embodiment relates to another implementation of how the computer device determines whether the vehicle location satisfies the diversion regulation reminding condition in the case that the preset reminding device is a directional sound device. As shown in fig. 7, the shunt control method according to this embodiment may further include

steps

701, 702, and 703:

in step 701, the computer device detects whether the distance between the vehicle position and the toll station is less than a second distance threshold according to the vehicle position.

The computer device may detect whether the distance between the vehicle position and the toll booth is less than a second distance threshold, and may detect whether a vertical distance between the vehicle position and a cross section of the toll booth is less than the second distance threshold. The second distance threshold may be set by itself when implemented.

In step 702, if the distance between the vehicle position and the toll station is less than the second distance threshold, the computer device detects whether the target vehicle is in the automatic transaction lane according to the vehicle position.

If the distance between the vehicle position and the toll station is smaller than the second distance threshold value, the fact that the target vehicle enters a toll plaza of the toll station is represented, and the computer device detects whether the target vehicle is located in an automatic transaction lane, such as an ETC lane.

The computer device may previously store a location range of the toll booth automated transaction lane, which may be a latitude and longitude range. After the computer device determines that the distance between the vehicle position of the target vehicle and the toll station is smaller than the second distance threshold, the computer device detects whether the vehicle position is within the position range of the automatic transaction lane, and if the vehicle position is within the position range of the automatic transaction lane, the computer device determines that the target vehicle is in the automatic transaction lane.

And 703, if the target vehicle is in the automatic transaction lane, the computer equipment determines that the vehicle position meets the shunting control reminding condition.

Referring to fig. 7, in this embodiment, the computer device may execute the following step 2041 to implement the process of step 204:

step 2041, if the transaction state information represents that the transaction of the target vehicle fails, and it is detected that the vehicle position meets the shunting control reminding condition, the computer device determines the target lane where the target vehicle is located according to the vehicle position, and controls the directional sound device corresponding to the target lane to issue the directional sound reminding message.

The directional sound reminding message may include a license plate number of the target vehicle, transaction status information, and a shunt such as "please walk the manual traffic lane", "not plug in card, please walk the manual traffic lane", etc. to remind the target vehicle to enter the preset lane.

In the embodiment of the application, after a target vehicle enters a broadcast coverage range of directional sound equipment of a target lane where the target vehicle is located, the computer equipment controls the directional sound equipment to issue a directional sound reminding message; if the driver of the target vehicle misses the directional sound reminding message, the target lane where the target vehicle is located after entering the toll plaza is an automatic transaction lane, and the computer equipment controls the directional sound equipment corresponding to the target lane to issue the directional sound reminding message to remind the driver again, so that the possibility that the target vehicle causes the toll station to be blocked is reduced, the shunting effect is improved, and the traffic rate of the toll station is improved.

In one embodiment, as shown in FIG. 8, a shunt control method is provided. The embodiment relates to a process how a computer device performs shunting control under the condition that a preset reminding device is a preset screen and a directional sound device. As shown in fig. 8, the method includes step 201, step 202 and step 205:

The first perception information comprises a target temporary identification and a vehicle position of a target vehicle;

The implementation processes of step 201 and step 202 in this embodiment are similar to the embodiment shown in fig. 2, and for the specific implementation process, reference is made to the embodiment shown in fig. 2, which is not described herein again.

In step 205, if the transaction state information represents that the transaction of the target vehicle fails and it is detected that the vehicle position meets the shunting control reminding condition, the computer device issues a directional sound reminding message through the directional sound device and displays the reminding message through a preset screen.

The directional sound reminding message is used for reminding the target vehicle to enter a preset lane, and the screen reminding message is used for reminding the target vehicle to enter the preset lane.

In a possible implementation manner, if the roadside display screen enters the range of the visual range of human eyes of a driver in a target vehicle and the target vehicle is located in the broadcast coverage range of the directional sound equipment of the target lane where the target vehicle is located, the computer equipment determines that the position of the vehicle meets the shunting control reminding condition, and the computer equipment issues the directional sound reminding message through the directional sound equipment and displays the screen reminding message through the roadside display screen.

The process that the computer device detects whether the road side display screen enters the range of the visual range of human eyes of a driver in the target vehicle, detects whether the target vehicle is in the broadcast coverage range of the corresponding directional sound device, and the computer device issues the directional sound reminding message through the directional sound device and displays the screen reminding message through the road side display screen is similar to the above embodiment, and is not repeated here.

Further, if the computer device detects that the roadside display screen has entered one-half of the range of the human eye sight distance of the driver in the target vehicle (of course, any value smaller than the range of the human eye sight distance) according to the vehicle position, the computer device displays the screen reminding message again through the roadside display screen. The process of detecting whether the roadside display screen enters the range of the human eye sight distance of the driver in the target vehicle according to the vehicle position by the computer device is similar to the above embodiment, and is not repeated here.

Further, if the computer device determines that the distance between the vehicle position and the toll station is smaller than a preset distance threshold, the computer device detects whether the target vehicle is in an automatic transaction lane according to the vehicle position, and if the target vehicle is in the automatic transaction lane, the computer device controls a lane display screen corresponding to the automatic transaction lane to display a screen reminding message and controls a directional sound device corresponding to the automatic transaction lane to issue a directional sound reminding message. The process of detecting whether the distance between the vehicle position and the toll station is smaller than the preset distance threshold value and detecting whether the target vehicle is in the automatic transaction lane by the computer device is similar to the above embodiment, and is not repeated here.

In the embodiment of the application, the target vehicle which fails in transaction is subjected to global tracking, the time for issuing the reminding message is controlled, the target vehicle is reminded to drive into the non-automatic transaction lane in multiple modes, the possibility that the target vehicle drives into the automatic transaction lane to cause congestion of the toll station is reduced, the shunting effect is improved, and the traffic rate of the toll station is improved.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 9, the embodiment relates to a process of acquiring target transaction information by a computer device. As shown in fig. 9, before step 202, the shunt control method in this embodiment further includes step 901, step 902, and step 903:

in step 901, the computer device obtains initial transaction information of the target vehicle.

During the running process of the target vehicle, before the target vehicle enters the toll station, the automatic fee deduction transaction can be carried out on the target vehicle in advance through the automatic transaction equipment, and the automatic transaction equipment can be arranged in a preset distance range of the toll station, for example, the automatic transaction equipment can be arranged at a ramp of the toll station.

And after the automatic transaction equipment carries out automatic deduction transaction on the target vehicle in advance, generating initial transaction information. The initial transaction information at least comprises a first vehicle identifier and transaction state information of the target vehicle, wherein the first vehicle identifier can be a license plate number, and the transaction state information indicates whether the target vehicle succeeds in transaction when the target vehicle carries out pre-transaction deduction through automatic transaction equipment.

In this way, the computer device may then obtain the initial transaction information from the automated transaction device.

Step 902, the computer device determines target perception identity information of a target vehicle corresponding to a first vehicle identifier according to the first vehicle identifier.

In a possible implementation manner, the computer device may obtain, in advance, perceptual identity information of each vehicle around the toll station, where each perceptual identity information may include a vehicle identifier and a temporary identifier of a corresponding vehicle, and thus, according to the first vehicle identifier, the computer device may match, from each perceptual identity information, target perceptual identity information including the first vehicle identifier, where the target perceptual identity information at least includes the target temporary identifier.

For each vehicle, the perception identity information corresponding to the vehicle may be obtained by fusing, by the computer device, snapshot information obtained by snapshot of the vehicle by the ramp snapshot device and second perception information obtained by perception of the vehicle by the ramp perception device.

In another possible implementation, the initial transaction information further includes the transaction time of the target vehicle, and referring to fig. 10, the computer device may execute the process of step 9021 and step 9022 shown in fig. 10 to implement step 902:

9021, the computer device obtains the perceptual identity information of the plurality of vehicles, and determines at least one candidate perceptual identity information from the plurality of perceptual identity information according to the transaction time.

In this embodiment of the application, each piece of sensing identity information further includes information acquisition time, after the computer device acquires the sensing identity information of the plurality of vehicles, the computer device may first determine at least one piece of candidate sensing identity information from each piece of sensing identity information according to transaction time corresponding to a target vehicle included in the initial transaction information, where a time difference between the information acquisition time and the transaction time included in each piece of candidate sensing identity information is smaller than a time difference threshold.

As an embodiment, for each piece of perceived identity information, the computer device may calculate a time difference between the information acquisition time included in the perceived identity information and the transaction time included in the initial transaction information, and detect whether the time difference is smaller than a preset time difference threshold, where the time difference threshold may be set by itself when implemented; if the time difference is smaller than a preset time difference threshold value, the computer equipment determines the sensing identity information as candidate sensing identity information.

Step 9022, the computer device determines, according to the first vehicle identifier, target perceptual identity information from the at least one candidate perceptual identity information.

Thus, by way of step 9021, the computer device then screens out from the plurality of perceptual identity information at least one candidate perceptual identity information having an information acquisition time that is near the transaction time included in the initial transaction information.

Then, the computer device determines target perceptual identity information from the at least one candidate perceptual identity information according to the first vehicle identifier. Therefore, the computer equipment preliminarily filters the plurality of sensing identity information through the transaction time to obtain at least one candidate sensing identity information, and the computer equipment determines the target sensing identity information from the at least one candidate sensing identity information according to the first vehicle identification, so that the data range of the computer equipment for screening the target sensing identity information can be reduced, and the screening efficiency is improved.

A process for determining, by a computer device, target perceptual identity information from at least one candidate perceptual identity information based on a first vehicle identification is described below. Referring to fig. 11, the computer device may perform step 1101, step 1102 and step 1103 shown in fig. 11, implementing the process of step 9022:

step 1101, for each candidate perception identity information, the computer device performs fuzzy matching on the first vehicle identifier and a second vehicle identifier included in the candidate perception identity information to obtain a matching score.

In the embodiment of the application, each candidate perception identity information includes a second vehicle identifier, and the second vehicle identifier may be a license plate number, so that for each candidate perception identity information, the computer device matches the first vehicle identifier with the second vehicle identifier included in the candidate perception identity information to obtain a matching score corresponding to the candidate perception identity information.

In the embodiment of the application, the computer device matches the first vehicle identifier with the second vehicle identifier included in the candidate perception identity information, and may specifically adopt a fuzzy matching mode. For example, if the first character in the first vehicle identification and the first character in the second vehicle identification are identical, the first character is scored by 100 points; if the second character in the first vehicle identification and the second character in the second vehicle identification are completely different, the second character is scored with 0; and if the third character in the first vehicle identification is Z, and the third character in the second vehicle identification is 2, the third character is scored by 60 points, and the like, so that the matching score is obtained.

In step 1102, the computer device detects whether the matching score is greater than a preset score threshold.

Step 1103, if the matching score is greater than the preset score threshold, the computer device determines that the candidate perceptual identity information is the target perceptual identity information.

And for the matching score corresponding to each candidate perception identity information, the computer equipment detects whether the matching score is larger than a preset score threshold value, and if so, the computer equipment determines that the candidate perception identity information is the target perception identity information.

The preset score threshold may be set with reference to the matching score full score, for example, may be set to 80% or 90% of the matching score full score, and so on. For the matching score, if the number of the characters in the first vehicle identifier is 7 and the full score corresponding to each character is 100, the full score of the matching score is 700.

Step 903, the computer device stores the target sensing identity information and the initial transaction information as target transaction information.

The computer device stores the target sensing identity information and the initial transaction information as target transaction information, so that the computer device can determine target transaction information corresponding to the target temporary identification according to the target temporary identification sensed by the toll station sensing device in the shunting control process, wherein the target transaction information comprises transaction state information of a target vehicle.

In the embodiment, the computer equipment simply screens the initial transaction information and the sensing identity information, so that the target transaction information can be quickly and conveniently obtained, the calculation amount is small, and the calculation resources of the computer equipment are saved. In addition, the computer equipment determines the target perception identity information in a fuzzy matching mode, the matching success rate is improved, and the mistaken identification of characters which are easy to confuse can be avoided.

In one embodiment, based on the embodiment shown in fig. 9, referring to fig. 12, this embodiment relates to a process of how a computer device obtains target-aware identity information. As shown in fig. 12, the process includes step 1201, step 1202, step 1203, and step 1204:

step 1201, the computer device obtains snapshot information of the target vehicle.

The snapshot information is obtained by snapshot of the ramp snapshot device on the target vehicle, and may include a second vehicle identifier of the target vehicle, snapshot time and a snapshot vehicle position.

In this embodiment of the application, the ramp snapshot device may be disposed within a preset distance range of the toll station, for example, may be disposed at a ramp of the toll station, and the ramp snapshot device may be a camera, for example. As an embodiment, the ramp snapshot device may be provided on the ramp portal together with the automatic transaction device.

The ramp snapshot device takes a snapshot of the target vehicle to obtain a snapshot image, and the ramp snapshot device identifies, calibrates and the like the snapshot image to obtain the snapshot information.

Step 1202, the computer device determines candidate perception information corresponding to the snapshot time from the acquired second perception information of each vehicle according to the snapshot time.

And each piece of second perception information is obtained by perceiving the corresponding vehicle by the ramp perception device.

In the embodiment of the application, ramp sensing equipment can be further arranged in the preset distance range of the toll station, and the ramp sensing equipment, for example, can be arranged on a ramp portal together with ramp snapshot equipment and automatic transaction equipment. The ramp sensing device may be a road side sensing device/system, such as a smart base station, or may also be a millimeter wave radar sensor, a lidar sensor, and a camera, among others.

The ramp perception device performs data perception on each vehicle in the perception coverage area, and adds a corresponding temporary identifier to each vehicle in the perception coverage area to distinguish each vehicle, wherein the temporary identifier may be a vehicle number, for example, so that second perception information of each vehicle is obtained, and each second perception information includes the temporary identifier of the corresponding vehicle and the perception vehicle position.

And after the computer equipment acquires the snapshot information of the target vehicle, determining candidate perception information corresponding to the snapshot time from the acquired second perception information of each vehicle according to the snapshot time in the snapshot information.

Specifically, each piece of second sensing information may further include a corresponding sensing time, and the computer device screens, according to the snapshot time, second sensing information having a sensing time that is the same as or closest to the snapshot time from each piece of second sensing information, and uses the second sensing information as candidate sensing information corresponding to the snapshot time.

Step 1203, the computer device detects whether the position of the snapshot vehicle is matched with the perceived vehicle position included in the candidate perception information.

And the computer equipment detects whether the position of the snapshot vehicle is matched with the position of the sensing vehicle included by the candidate sensing information, and if so, the characterization snapshot information and the candidate sensing information are both information corresponding to the target vehicle.

Hereinafter, a process of the computer device detecting whether the captured vehicle position matches the perceived vehicle position included in the candidate perception information will be described.

In a possible implementation manner, the computer device may directly detect whether a position difference value between the snapshot vehicle position and the perceived vehicle position is smaller than a preset threshold, and if so, determine that the snapshot vehicle position matches the perceived vehicle position included in the candidate perception information.

In another possible implementation, as shown in fig. 13, a computer device may perform step 1301, step 1302, and step 1303 shown in fig. 13, and implement the process of step 1203. As shown in fig. 13, includes:

step 1301, the computer device detects whether the position of the target vehicle along the direction perpendicular to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction or not according to the snapshot vehicle position and the perception vehicle position.

In the embodiment of the application, the candidate perception information further comprises perception time, perception vehicle position, perception vehicle speed and perception headway of the corresponding vehicle; the sensed headwear distance may include a front headwear distance between a headwear of the target vehicle and the front headwear, and a rear headwear distance between the headwear of the target vehicle and the rear headwear.

The computer device may convert the snapshot vehicle position of the target vehicle into a preset coordinate system, resulting in a converted snapshot vehicle position (X1, Y1), and convert the perceived vehicle position into the preset coordinate system, resulting in a converted perceived vehicle position (X2, Y2). The preset coordinate system may be, for example, a coordinate system in which a driving direction is a vertical axis, a horizontal line projected on the ground by a cross section of the toll station is a horizontal axis, and an intersection point of an outer side boundary line of a leftmost lane of the toll station and the horizontal axis is a circle center.

X1 is the position of the target vehicle along the direction perpendicular to the driving direction, and X2 is the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction. The computer device detects whether the position of the target vehicle along the direction perpendicular to the driving direction matches with the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction, and can detect through the following formula 1:

|X₂-X₁|<L_xequation 1

Wherein X1 is the position of the target vehicle along the direction perpendicular to the driving direction, X2 is the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction, Lx is the maximum allowable threshold of the distance matching error of the vehicle along the direction perpendicular to the driving direction, and Lx can be set by itself in implementation, for example, set to 1 meter, 0.5 meter, and so on.

In this way, if X1 and X2 satisfy formula 1, it is determined that the position of the target vehicle in the direction perpendicular to the traveling direction matches the position of the vehicle in the direction perpendicular to the traveling direction corresponding to the candidate perception information.

Step 1302, the computer device detects whether the position of the target vehicle along the direction parallel to the driving direction matches the position of the vehicle along the direction parallel to the driving direction corresponding to the candidate perception information according to the position of the snapshot vehicle, the snapshot time, the perception vehicle position, the perception vehicle speed, the perception time and the perception vehicle head distance.

The computer equipment converts the coordinate system of the snapshot vehicle position to obtain the converted snapshot vehicle position (X1, Y1), wherein Y1 is the position of the target vehicle along the direction parallel to the driving direction, namely the distance between the target vehicle along the direction parallel to the driving direction and the horizontal axis in the preset coordinate system; the computer equipment converts the coordinate system of the perception vehicle position to obtain a converted perception vehicle position (X2, Y2), and Y2 is the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction, namely the distance between the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction and the horizontal axis in the preset coordinate system.

In the embodiment of the present application, the computer device may align the times corresponding to Y1 and Y2, specifically, convert Y2 into Y2' corresponding to the snapshot time, by using the following formula 2:

y2 ═ Y2+ (T2-T1) × V2 formula 2

Wherein, T2 is the sensing time, T1 is the capturing time, and V2 is the sensed vehicle speed.

After the computer device aligns the corresponding times of Y1 and Y2, it checks whether Y1 and Y2' match using the following formula 3:

wherein D is_{Front side}For sensing the front-to-front spacing, D, between the head of the target vehicle and the front-to-front head in the front-to-front spacing_{Rear end}The rear vehicle head distance between the vehicle head of the target vehicle and the rear vehicle head in the vehicle head distance is sensed.

If Y1 and Y2 'satisfy formula 3, i.e. if Y2'>Y1, then

If Y2' is less than or equal to Y1, then

Then, the computer device determines that the position of the target vehicle in the direction parallel to the driving direction matches the position of the vehicle corresponding to the candidate perception information in the direction parallel to the driving direction.

And step 1303, if the position of the target vehicle along the direction perpendicular to the driving direction matches the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction, and the position of the target vehicle along the direction parallel to the driving direction matches the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction, the computer device determines that the position of the snapshot vehicle matches the position of the perception vehicle included in the candidate perception information.

In this way, if it is determined through the above equations 1 to 3 that the position of the target vehicle in the direction perpendicular to the traveling direction matches the position of the vehicle in the direction perpendicular to the traveling direction corresponding to the candidate perception information, and the position of the target vehicle in the direction parallel to the traveling direction matches the position of the vehicle in the direction parallel to the traveling direction corresponding to the candidate perception information, the computer device determines that the position of the snap-shot vehicle matches the position of the perceived vehicle included in the candidate perception information.

Step 1204, if the snapshot vehicle position matches the perception vehicle position included in the candidate perception information, the computer device stores the snapshot information and the candidate perception information as target perception identity information.

If the position of the snapshot vehicle is matched with the position of the sensing vehicle included in the candidate sensing information, the computer equipment determines that the candidate sensing information is the candidate sensing information corresponding to the target vehicle, and the snapshot information of the target vehicle and the candidate sensing information of the target vehicle are stored as target sensing identity information of the target vehicle.

In the above embodiment, considering the interference in the case of parallel vehicles, whether the target vehicle and the vehicle corresponding to the candidate perception information are the same vehicle or parallel vehicles is distinguished by detecting whether the position of the target vehicle along the direction perpendicular to the driving direction matches the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction; considering the interference of the front and rear car following conditions, whether the position of the target vehicle parallel to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the driving direction or not is detected, and whether the target vehicle and the vehicle corresponding to the candidate perception information are the same vehicle or the vehicles behind the front car or the rear car can be distinguished, so that the matching accuracy is improved.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps of the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

In one embodiment, as shown in fig. 14, there is provided a shunt control device comprising:

the system comprises a first obtaining module 100, a first sensing module, a second obtaining module, a second sensing module and a third module, wherein the first obtaining module is used for obtaining first sensing information of a target vehicle, the first sensing information is obtained by sensing the target vehicle by a sensing device of a toll station, and the first sensing information comprises a target temporary identifier and a vehicle position of the target vehicle;

a first determining module 200, configured to determine, according to the target temporary identifier, target transaction information corresponding to the target temporary identifier, where the target transaction information includes transaction state information of the target vehicle;

and the prompting module 300 is configured to detect whether the vehicle position meets a shunting control prompting condition if the transaction state information represents that the target vehicle fails in transaction, and display a prompting message through a preset screen if the vehicle position meets the shunting control prompting condition, where the prompting message is used for prompting the target vehicle to enter a preset lane.

In one embodiment, the preset screen is a roadside display screen, and the apparatus further includes:

the second acquisition module is used for acquiring the position of the display screen of the roadside display screen;

the first detection module is used for detecting whether the distance between the vehicle position and the display screen position is smaller than a first distance threshold value;

the second determination module is used for determining that the vehicle position meets the shunting management and control reminding condition if the distance between the vehicle position and the display screen position is smaller than the first distance threshold;

the prompt module 300 is specifically configured to display a first prompting message through the roadside display screen.

In one embodiment, the apparatus further comprises:

a second detection module for detecting whether a distance between the vehicle position and the display screen position is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

and the third determining module is configured to display a second reminding message through the roadside display screen if the distance between the vehicle position and the display screen position is smaller than the second distance threshold, where the first reminding message and the second reminding message are displayed in different ways in the roadside display screen.

In one embodiment, the apparatus further comprises:

the third detection module is used for detecting whether the distance between the vehicle position and the toll station is smaller than a third distance threshold value or not according to the vehicle position;

the fourth detection module is used for detecting whether the target vehicle is in an automatic transaction lane or not according to the vehicle position if the distance between the vehicle position and the toll station is smaller than the third distance threshold;

and the fourth determination module is used for determining that the vehicle position meets the shunting control reminding condition if the target vehicle is in the automatic transaction lane.

In one embodiment, the apparatus further comprises:

the third acquisition module is used for acquiring initial transaction information of the target vehicle, wherein the initial transaction information at least comprises a first vehicle identifier of the target vehicle and the transaction state information;

a fifth determining module, configured to determine, according to the first vehicle identifier, target awareness identity information of the target vehicle corresponding to the first vehicle identifier, where the target awareness identity information at least includes the target temporary identifier;

a sixth determining module, configured to store the target perceptual identity information and the initial transaction information as the target transaction information.

In one embodiment, the initial transaction information further includes a transaction time of the target vehicle, the fifth determining module is specifically configured to obtain sensed identity information of a plurality of vehicles, and determine at least one candidate sensed identity information from the plurality of sensed identity information according to the transaction time, where a time difference between an information obtaining time included in each candidate sensed identity information and the transaction time is less than a time difference threshold; and determining the target perception identity information from the at least one candidate perception identity information according to the first vehicle identification.

In one embodiment, each of the candidate perceptual identity information includes a second vehicle identifier, and the fifth determining module is specifically configured to, for each of the candidate perceptual identity information, perform fuzzy matching on the first vehicle identifier and the second vehicle identifier included in the candidate perceptual identity information to obtain a matching score; detecting whether the matching score is larger than a preset score threshold value; and if the matching score is larger than the preset score threshold value, determining that the candidate perception identity information is the target perception identity information.

In one embodiment, the apparatus further comprises:

the fourth acquisition module is used for acquiring snapshot information of the target vehicle, wherein the snapshot information is obtained by snapshot of the target vehicle by a ramp snapshot device, and the snapshot information comprises a second vehicle identifier, snapshot time and a snapshot vehicle position of the target vehicle;

a sixth determining module, configured to determine candidate perception information corresponding to the snapshot time according to the snapshot time from second perception information of each acquired vehicle, where each second perception information includes a temporary identifier of the corresponding vehicle and a perceived vehicle position, and each second perception information is obtained by sensing the corresponding vehicle by a ramp sensing device;

a fifth detection module, configured to detect whether the snapshot vehicle position matches the perception vehicle position included in the candidate perception information;

a seventh determining module, configured to store the snapshot information and the candidate perception information as the target perception identity information if the snapshot vehicle position matches the perception vehicle position included in the candidate perception information.

In one embodiment, the candidate perception information further includes perception time, perception vehicle position, perception vehicle speed, and perception headway of a corresponding vehicle, and the fifth detection module is specifically configured to detect, according to the snapshot vehicle position and the perception vehicle position, whether a position of the target vehicle in a direction perpendicular to a driving direction matches a position of the vehicle corresponding to the candidate perception information in the direction perpendicular to the driving direction; detecting whether the position of the target vehicle along the direction parallel to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction or not according to the snapshot vehicle position, the snapshot time, the perception vehicle position, the perception vehicle speed, the perception time and the perception vehicle headway; and if the position of the target vehicle along the direction perpendicular to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction perpendicular to the driving direction, and the position of the target vehicle along the direction parallel to the driving direction is matched with the position of the vehicle corresponding to the candidate perception information along the direction parallel to the driving direction, determining that the position of the snapshot vehicle is matched with the position of the perception vehicle included in the candidate perception information.

For specific limitations of the shunt control device, reference may be made to the above limitations of the shunt control method, which are not described herein again. The various modules in the shunt management control device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 15. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data of the shunt control method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a shunt management method.

Those skilled in the art will appreciate that the architecture shown in fig. 15 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

In one embodiment, the preset screen is a roadside display screen, and the processor further implements the following steps when executing the computer program:

acquiring the position of a display screen of the roadside display screen;

and displaying a first reminding message through the roadside display screen.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

In one embodiment, the preset screen is a lane display screen, and the processor executes the computer program to further implement the following steps:

In one embodiment, the initial transaction information further includes a transaction time for the target vehicle, the processor when executing the computer program further performs the steps of:

In one embodiment, each of the candidate perceptual identity information comprises a second vehicle identification, the processor when executing the computer program further performing the steps of:

In one embodiment, the candidate perception information further includes a perception time, a perception vehicle position, a perception vehicle speed, and a perception headway of the corresponding vehicle, and the processor when executing the computer program further implements the steps of:

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the predetermined screen is a roadside display screen, and the computer program further implements the following steps when executed by the processor:

acquiring the position of a display screen of the roadside display screen;

and displaying a first reminding message through the roadside display screen.

In one embodiment, the computer program when executed by the processor further performs the steps of:

In one embodiment, the predetermined screen is a lane display screen, and the computer program when executed by the processor further performs the steps of:

In one embodiment, the initial transaction information further includes a transaction time for the target vehicle, the computer program when executed by the processor further performs the steps of:

In one embodiment, each of said candidate perceptual identity information comprises a second vehicle identification, the computer program when executed by the processor further implementing the steps of:

In one embodiment, the candidate perception information further comprises a perceived time, a perceived vehicle position, a perceived vehicle speed, and a perceived headway of the corresponding vehicle, the computer program when executed by the processor further implementing the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of shunt management, the method comprising:

2. The method of claim 1, wherein the predetermined screen is a roadside display screen, the method further comprising:

acquiring the position of a display screen of the roadside display screen;

and displaying a first reminding message through the roadside display screen.

3. The method of claim 2, wherein after displaying the first reminder message via the roadside display screen, further comprising:

4. The method of claim 1, wherein the preset screen is a lane display screen, the method further comprising:

5. The method of claim 1, wherein before determining the target transaction information corresponding to the target temporary identifier according to the target temporary identifier, the method further comprises:

6. The method of claim 5, wherein the initial transaction information further includes a transaction time of the target vehicle, and wherein determining the target-aware identity information of the target vehicle corresponding to the first vehicle identifier according to the first vehicle identifier comprises:

7. The method of claim 6, wherein each of the candidate perceptual identity information comprises a second vehicle identification, and wherein determining the target perceptual identity information from the at least one candidate perceptual identity information based on the first vehicle identification comprises:

8. The method of any of claims 5-7, wherein prior to determining, from the first vehicle identification, target-aware identity information of the target vehicle to which the first vehicle identification corresponds, the method further comprises:

9. The method of claim 8, wherein the candidate perception information further includes a perception time, a perception vehicle position, a perception vehicle speed, and a perception headway of the corresponding vehicle, and the detecting whether the snap vehicle position and the perception vehicle position included in the candidate perception information match includes:

10. A shunt control device, said device comprising:

11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.