Method and device for merging lanes according to traffic light and unmanned vehicle

A technology of unmanned vehicles and traffic lights, applied in traffic control systems, road vehicle traffic control systems, instruments, etc., can solve problems such as failure of unmanned vehicles to merge

Active Publication Date: 2021-06-01
GUANGDONG INST OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the process of implementing the present invention, the inventors of the present invention found that: when the current unmanned vehicle is driving in the driving lane, when it needs to change lanes to the target lane, it will usually be at the nearest trigger target that triggers the lane change demand. It is possible to merge into road sections for lane change, but when the length of the nearest road section that can be merged into is too short, it is easy to cause unmanned vehicles to fail to merge.

Method used

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  • Method and device for merging lanes according to traffic light and unmanned vehicle
  • Method and device for merging lanes according to traffic light and unmanned vehicle
  • Method and device for merging lanes according to traffic light and unmanned vehicle

Examples

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Effect test

Embodiment 1

[0021] see figure 1 , figure 1 It is a schematic flowchart of a method for merging according to traffic lights provided by an embodiment of the present invention, and the method includes the following steps:

[0022] Step S101 , according to the preset travel route of the unmanned vehicle, it is judged whether the unmanned vehicle needs to change lanes, and if yes, step S102 is executed.

[0023] Wherein, if the unmanned vehicle does not need to change lanes, it only needs to control the unmanned vehicle to drive on the current driving lane, and after the preset time, execute step S101, that is, after the preset time, then It is judged whether the unmanned vehicle has a lane change requirement.

[0024] When the user uses the driverless vehicle, a preset driving route from the origin to the destination will be generated. The preset driving route may be a driving route recommended by the unmanned vehicle based on the car usage time, starting point, destination, and user's ca...

Embodiment 2

[0094] see Figure 6 , Figure 6 It is a schematic diagram of a device for merging according to traffic lights provided by an embodiment of the present invention. The device 400 includes: a first judging module 401 for judging the Whether the unmanned vehicle has a lane change demand; the acquisition module 402 is used to acquire the target lane corresponding to the lane change demand if there is the lane change demand; the second judgment module 403 is used to From the trigger target of the lane change demand, there are first non-merging road segment, first mergeable road segment, traffic light, second non-merging road segment and second mergeable road segment in sequence, and the first non-merging road segment If the entering road section, the first road section that can be merged, the traffic lights, the second non-merging road section, and the second road section that can be merged are all located in front of the unmanned vehicle, then it is judged whether the length of t...

Embodiment 3

[0102] see Figure 7 , Figure 7 It is a schematic diagram of the hardware structure of the unmanned vehicle provided by the embodiment of the present invention. The unmanned vehicle 500 includes: one or more processors 501 and memory 502, Figure 7 Take a memory as an example.

[0103] The processor 501 and the memory 502 may be connected through a bus or in other ways, and the connection through a bus is used as an example in the embodiment of the present invention.

[0104]The memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as the merging according to traffic lights in the embodiment of the present invention The program instruction / module corresponding to the method (for example, append Figure 6 modules shown). The processor 501 runs the non-volatile software programs, instructions and modules stored in the memory 502 to execute various func...

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Abstract

The embodiment of the invention discloses a method for merging lanes according to a traffic light. The method comprises the steps of judging whether an unmanned vehicle has a lane changing demand or not; if yes, obtaining a target lane corresponding to the lane changing demand; when the target lane has a first non-incorporated road section, a first incorporated road section, a traffic light, a second non-incorporated road section and a second incorporated road section in sequence, judging whether the length of the first incorporated road section is smaller than a first preset threshold value or not; if yes, judging whether the first incorporated road section is located in a turning lane or not, and judging whether the vehicle is allowed to turn at the traffic light or not; if yes, judging whether the length of the second incorporated road section is greater than or equal to the first preset threshold value; if yes, controlling the unmanned vehicle to merge into the target lane at the second incorporated road section, so that successful lane merging of the unmanned vehicle can be achieved through the second incorporated road section, and traffic rules are completely met during lane merging.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned vehicles, in particular to a method and device for merging according to traffic lights and an unmanned vehicle. Background technique [0002] Artificial intelligence is the development trend of the future, so unmanned vehicles, which are closely related to artificial intelligence, will also be a hot field of future development. Unmanned vehicles mainly rely on high-precision maps, positioning and perception to obtain the situation around the vehicle, which is very intelligent and advanced. The emergence of unmanned vehicles will undoubtedly bring unprecedented experience to people's travel. [0003] However, in the process of implementing the present invention, the inventors of the present invention found that: when the current unmanned vehicle is driving in the driving lane, when it needs to change lanes to the target lane, it will usually be at the nearest trigger target ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00G08G1/095
CPCB60W30/18163B60W30/18154B60W60/0011
Inventor 柳金峰郑婵娟周继彦李广卢敦陆陈炳初何飞勇李湛文陈奕鑫
Owner GUANGDONG INST OF SCI & TECH
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