Vehicle Control Method, Device, Computer Equipment and Storage Medium

Abstract

This application relates to a vehicle control method, device, computer device, and storage medium, belonging to the field of autonomous driving. The method includes: controlling a target vehicle to travel on a target lane towards a second lane, where the target lane is one of at least two first lanes, and at least two of the first lanes merge into the second lane at the same confluence point; in response to the target vehicle entering a pre-merging area, determining the arrangement position of the target vehicle in a first queue; the first queue is used to indicate the order in which each first vehicle merges into the second lane in sequence; based on the arrangement position of the target vehicle in the first queue, controlling the driving state of the target vehicle during the process of merging into the second lane. Thus, the situation of collision between vehicles is avoided, and the efficiency of the vehicle safely merging into the second lane is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of autonomous driving, and particularly to a vehicle control method, device, computer device, and storage medium. Background Art

[0002] Nowadays, with the increasing development of artificial intelligence, artificial intelligence technology is more and more widely used in life, including its application in autonomous driving technology. Applying autonomous driving technology on actual roads can ensure the safety of vehicle driving while ensuring a relatively high vehicle driving speed.

[0003] In the related art, there are intersections where multiple lanes need to merge into one lane. At such merging intersections, it is necessary to automatically control the vehicles driving on multiple lanes to drive towards the merging lane.

[0004] However, directly following the driving rules indicated in the autonomous driving technology in the related art, since there is no clear regulation on the passing order, there may be situations of collisions at the merging intersection, or there may be situations of mutual yielding at the merging intersection simultaneously, which results in the inability to balance safety and passing efficiency at the merging intersection. Summary of the Invention

[0005] The embodiments of the present application provide a vehicle control method, device, computer device, and storage medium, which can provide a control scheme for the driving state of a vehicle during the merging process in a computer device, and improve the passing efficiency during the safe merging process of the vehicle. The technical solution is as follows:

[0006] On the one hand, a vehicle control method is provided, and the method includes:

[0007] Controlling a target vehicle to drive towards a second lane on a target lane, where the target lane is one of at least two first lanes, and at least two of the first lanes merge into the second lane at the same intersection;

[0008] In response to the target vehicle entering a pre-merging area, determining the arrangement position of the target vehicle in a first queue; the first queue is used to indicate the order in which each first vehicle merges into the second lane in sequence; the first vehicle includes a vehicle driving towards the second lane through the pre-merging area; the pre-merging area includes a section of area corresponding to each of at least two of the first lanes before the intersection;

[0009] Based on the arrangement position of the target vehicle in the first queue, controlling the driving state of the target vehicle during the process of merging into the second lane.

[0010] On the one hand, a vehicle control device is provided, and the device includes:

[0011] A vehicle control module for controlling a target vehicle to travel from a target lane to a second lane. The target lane is one of at least two first lanes, and at least two of the first lanes merge into the second lane at the same junction.

[0012] A position determination module for determining the queuing position of the target vehicle in a first queue in response to the target vehicle entering a pre-merging area. The first queue is used to indicate the order in which each first vehicle merges into the second lane. The first vehicles include those traveling from the pre-merging area to the second lane. The pre-merging area includes a section of each of at least two of the first lanes before the junction.

[0013] A state control module for controlling the driving state of the target vehicle during the process of merging into the second lane based on the queuing position of the target vehicle in the first queue.

[0014] In a possible implementation, the position determination module includes:

[0015] A first determination sub-module for determining the queuing position of the target vehicle in the first queue in response to the target vehicle entering the pre-merging area and the presence of a first merging vehicle, based on the lane in which the first merging vehicle is located. The first merging vehicle is used to indicate the other first vehicles in the pre-merging area excluding the target vehicle.

[0016] In a possible implementation, the first determination sub-module includes:

[0017] A time-distance determination unit for determining a target time-distance of the target vehicle from a virtual stop line and a first time-distance of the first merging vehicle from the virtual stop line in response to the first merging vehicle and the target vehicle being in different first lanes. The virtual stop line is used to indicate the boundary between the pre-merging area and the merging area. The merging area includes the areas starting from the junction and extending respectively to the confluence of at least two of the first lanes and the second lane.

[0018] A position determination unit for determining the queuing position of the target vehicle in the first queue based on the target time-distance and the first time-distance.

[0019] In a possible implementation, in response to the presence of a priority lane among at least two of the first lanes;

[0020] The position determination unit is used to,

[0021] In response to the target lane being the priority lane and the target time interval being greater than or equal to the first time interval multiplied by a first specified value, in the first queue, arrange the target vehicle behind the first merging vehicle;

[0022] In response to the target lane being the priority lane and the target time interval being less than the first time interval multiplied by the first specified value, in the first queue, arrange the target vehicle in front of the first merging vehicle;

[0023] In response to the target lane being a non-priority lane and the target time interval being greater than or equal to the first time interval multiplied by a second specified value, in the first queue, arrange the target vehicle behind the first merging vehicle; the non-priority lane includes the first lane excluding the priority lane;

[0024] In response to the target lane being the non-priority lane and the target time interval being less than the first time interval multiplied by the second specified value, in the first queue, arrange the target vehicle in front of the first merging vehicle.

[0025] In a possible implementation, in response to there being a priority lane among at least two of the first lanes and the target lane being a non-priority lane; the non-priority lane includes the first lane excluding the priority lane;

[0026] The first determination sub-module includes:

[0027] A first determination unit, configured to, in response to the first merging vehicle being in the priority lane, arrange the target vehicle behind the first merging vehicle in the first queue.

[0028] In a possible implementation, in response to at least two of the first lanes having the same priority;

[0029] The device further includes:

[0030] An interchange unit, configured to, in response to a second merging vehicle entering the merging area, the second merging vehicle and a third merging vehicle being in the same lane, and the second merging vehicle and a fourth merging vehicle being in different lanes, interchange the positions of the third merging vehicle and the fourth merging vehicle in the first queue;

[0031] wherein, the second merging vehicle is the first vehicle with the arrangement position at the head; the third merging vehicle is the first vehicle with the arrangement position at the second place; the fourth merging vehicle is the first vehicle with the arrangement position at the third place.

[0032] In a possible implementation, the device further includes:

[0033] A reaction line determination module, configured to, before determining the arrangement position of the target vehicle in the first queue in response to the target vehicle entering the pre-merging area, determine a virtual reaction line corresponding to the target vehicle based on the traveling speed of the target vehicle and the virtual stop line corresponding to the target lane; the virtual reaction line is used to indicate the position where the corresponding vehicle starts to decelerate when traveling at a specified acceleration and stops at the virtual stop line on the corresponding lane.

[0034] An area determination module, configured to determine the lane area between the virtual reaction line corresponding to the target vehicle and the virtual stop line corresponding to the target lane as the pre-merging area corresponding to the target vehicle.

[0035] In a possible implementation, the first determination sub-module includes:

[0036] A second determination unit, configured to arrange the target vehicle behind the first merging vehicle in response to the target vehicle and the first merging vehicle being in the same lane.

[0037] In a possible implementation, the position determination module includes:

[0038] A second determination sub-module, configured to add the target vehicle to the end of the first queue in sequence in response to the target vehicle entering the pre-merging area and there being no first merging vehicle.

[0039] In a possible implementation, the device further includes:

[0040] A removal module, configured to remove the target vehicle from the first queue in response to controlling the target vehicle to drive out of the merging area and merge into the second lane.

[0041] In a possible implementation, the state control module includes:

[0042] A first state control sub-module, configured to control the target vehicle to continue driving towards the second lane in response to the arrangement position corresponding to the target vehicle being the head position in the first queue.

[0043] In a possible implementation, the state control module includes:

[0044] A second state control sub-module, configured to control the target vehicle to maintain a safe distance from the vehicle in front in response to the arrangement position corresponding to the target vehicle being a non-head position in the first queue and there being a first vehicle in the same lane as the target vehicle and in front of the target vehicle.

[0045] The third state control sub-module is configured to control the target vehicle to decelerate with the virtual stop line in the target lane as the target in response to the first vehicle that is in the same lane as the target vehicle and in front of the target vehicle entering the merging area; the virtual stop line is used to indicate the demarcation line between the pre-merging area and the merging area; the merging area includes areas extending from the intersection point to at least two of the first lanes and the second lane respectively for merging.

[0046] On the other hand, an embodiment of the present application provides a computer device, which includes a processor and a memory. At least one computer instruction is stored in the memory, and the at least one computer instruction is loaded and executed by the processor to implement the vehicle control method as described in the above aspect.

[0047] On the other hand, an embodiment of the present application provides a computer-readable storage medium, in which at least one instruction, at least one segment of program, code set or instruction set is stored, and the at least one instruction, the at least one segment of program, the code set or instruction set is loaded and executed by the processor to implement the vehicle control method as described in the above aspect.

[0048] According to one aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the terminal reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the terminal executes the vehicle control method provided in various optional implementation manners of the above aspect.

[0049] The technical solution provided by the present application may include the following beneficial effects:

[0050] In the solution shown in the embodiment of the present application, when the target vehicle enters the corresponding pre-merging area, based on the driving states of the vehicles that have entered the pre-merging area, the arrangement position of the target vehicle in the first queue used to indicate the order of the vehicles merging into the second lane in sequence is determined. According to this arrangement position, the driving state of the target vehicle during the process of driving towards the second lane is controlled, which can avoid collisions between the vehicles during the process of passing through the area near the intersection point where the vehicles merge into the second lane, thereby improving the efficiency of the vehicles safely merging into the second lane.

[0051] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0053] Figure 1 It is a schematic diagram of a confluence road shown according to an exemplary embodiment;

[0054] Figure 2 It is a schematic diagram of a vehicle control method shown according to an exemplary embodiment;

[0055] Figure 3 It is a schematic flowchart of a vehicle control method shown according to an exemplary embodiment;

[0056] Figure 4 It is Figure 3 A schematic diagram of a confluence intersection with vehicle passing priority distinction involved in the shown embodiment;

[0057] Figure 5 It is Figure 3 A schematic diagram of a confluence intersection without passing priority involved in the shown embodiment;

[0058] Figure 6 It is Figure 3 A schematic diagram of a lane area division involved in the shown embodiment;

[0059] Figure 7 It is Figure 3 A schematic diagram of a vehicle driving position involved in the shown embodiment;

[0060] Figure 8 It is Figure 3 A schematic diagram of a vehicle driving position involved in the shown embodiment;

[0061] Figure 9 It is Figure 3 A schematic diagram of a vehicle driving position involved in the shown embodiment;

[0062] Figure 10 It is Figure 3 A schematic diagram of a vehicle driving position involved in the shown embodiment;

[0063] Figure 11 It is a flowchart of vehicle confluence decision shown according to an exemplary embodiment;

[0064] Figure 12 It is Figure 11 A flowchart of a decision for controlling the driving state of a vehicle involved in the shown embodiment;

[0065] Figure 13 It is a block diagram of a vehicle control device shown according to an exemplary embodiment;

[0066] Figure 14 It is a schematic structural diagram of a computer device shown according to an exemplary embodiment. Detailed implementation manners

[0067] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] It should be understood that the "several" mentioned herein refers to one or more, and the "multiple" refers to two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0069] The solutions shown in the subsequent embodiments of the present application can be implemented by means of Artificial Intelligence (AI) at the confluence intersection. Based on a specified algorithm and courtesy rules, the order of each vehicle merging into the next lane is decided, so as to enter different decision branches, thereby enabling each vehicle to complete the merging process safely and quickly.

[0070] Among them, AI uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, a theory, method, technology, and application system that perceives the environment, acquires knowledge, and uses knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a way similar to human intelligence. Artificial intelligence also studies the design principles and implementation methods of various intelligent machines, enabling machines to have the functions of perception, reasoning, and decision-making. Artificial intelligence technology is an interdisciplinary subject, involving a wide range of fields, including both hardware-level and software-level technologies. Artificial intelligence basic technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. Artificial intelligence software technologies mainly include several major directions such as computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning. With the research and progress of artificial intelligence technology, artificial intelligence technology has been studied and applied in multiple fields. For example, common ones include smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, driverless, autonomous driving, drones, robots, smart healthcare, smart customer service, smart video services, etc. With the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0071] Autonomous driving technology can be achieved using artificial intelligence technology. Autonomous driving technology usually includes technologies such as high-precision maps, environmental perception, behavior decision-making, path planning, and motion control.

[0072] Among them, autonomous driving technology has a wide range of application prospects.

[0073] Before implementing autonomous driving technology, simulation tests need to be carried out in the simulation software of computer devices. Simulation technology is a simulation model technology that applies simulation hardware and simulation software through simulation experiments, with the help of certain numerical calculations and problem-solving, to reflect the behavior or process of the system.

[0074] Road traffic simulation is an important tool for studying complex traffic problems. Especially when a system is too complex to be described by a simple abstract mathematical model, the role of traffic simulation is even more prominent. Traffic simulation can clearly assist in analyzing and predicting the sections and causes of traffic jams, comparing and evaluating relevant plans for urban planning, traffic engineering, and traffic management, and avoiding or being prepared as much as possible before the problem becomes a reality.

[0075] The solution provided by the embodiments of this application relates to technologies such as autonomous driving in artificial intelligence. The vehicle control platform can be applied to a computer device, which can be used to control a vehicle for autonomous driving, or to control a machine similar to a vehicle to merge from their respective corresponding tracks into a designated track for driving, and can also be used for an autonomous driving simulation process.

[0076] In a possible implementation manner, when the computer device is used for an autonomous driving simulation process, the computer device includes a database, simulation software, and a simulation result display window.

[0077] Among them, the simulation software can be a microscopic simulation software. For example, the simulation software can be an autonomous driving simulation platform.

[0078] Among them, the logical algorithm involved in the vehicle control method can be embedded in the simulation software to implement controlling the vehicle to merge through the simulation software according to the logical algorithm. The vehicle information such as the vehicle size information, vehicle braking performance information, and vehicle driving speed information corresponding to each vehicle involved in the simulation process can be stored in the database.

[0079] Among them, the vehicle information can be simulated data, or it can also be actual data obtained by collecting data from the actual road using a data collection device. The simulation result display window can display the simulation result in text form, or it can also simulate the simulation result in animation form for display.

[0080] Based on the logical algorithm embedded in the simulation software in the computer device, the simulated vehicles will automatically judge the merging algorithm that each simulated vehicle needs to adopt according to the connection composition of the lanes in the map, thereby greatly improving the operation efficiency of each simulated vehicle.

[0081] By embedding a logical algorithm in the simulation software to control the merging of each vehicle including different lanes into the same lane, the degree of fit between the simulation result and the actual situation is improved. This logical algorithm can be applied to the process of controlling at least one simulated vehicle to merge from one lane into another lane, thereby realizing the process of controlling the simulated vehicle to drive into the merging lane in an orderly manner to complete the merging. Similarly, it can also be applied to the process of controlling real vehicles to change lanes at the merging intersection in the actual scenario. Figure 1 It is a schematic diagram of a merging road shown according to an exemplary embodiment. Among them, this merging road can be displayed in the simulation result display window, or it can be an actual road scenario.

[0082] The confluent road includes at least three lanes, and the three lanes include at least two first lanes 11 and one second lane 12. Vehicle A and vehicle B are respectively driving on at least two first lanes 11, and vehicle C is driving on the second lane 12. Vehicle A and vehicle B driving on at least two first lanes 11 are driving in the direction of the second lane 12, and finally merge into the second lane 12.

[0083] Among them, the vehicle located on the first lane 11 needs to determine the vehicle order to pass through the intersection area in sequence according to a certain logical algorithm in the intersection area of the first lane 11 and the second lane 12, so that the vehicles on each first lane 11 can safely and orderly enter the second lane 12.

[0084] Figure 2 It is a schematic diagram of a vehicle control method shown according to an exemplary embodiment. The vehicle control method can be executed by a computer device. Among them, the computer device can be a terminal or a server. As Figure 2 shown, the steps included in the vehicle control method are as follows:

[0085] In step 201, control the target vehicle to drive on the target lane towards the second lane. The target lane is one of at least two first lanes, and at least two first lanes merge into the second lane at the same intersection point.

[0086] In the embodiment of the present application, the computer device controls the target vehicle to drive on the target lane towards the second lane. The driving directions of the vehicles on at least two first lanes including the target lane can all be the direction towards the intersection point where they merge into the second lane.

[0087] In step 202, in response to the target vehicle entering the pre-merging area, determine the arrangement position of the target vehicle in the first queue; the first queue is used to indicate the order in which each first vehicle merges into the second lane in sequence; the first vehicle includes the vehicle driving towards the second lane through the pre-merging area; the pre-merging area includes a section of area corresponding to each of at least two first lanes before the intersection point.

[0088] In a possible implementation manner, the target vehicle determines the corresponding pre-merging area of the target vehicle on the target lane based on the driving speed on the target lane and the deceleration parameter corresponding to the target vehicle. That is to say, different vehicles can correspond to their respective pre-merging areas, and even different vehicles in the same lane can have different corresponding pre-merging areas.

[0089] Among them, the pre-merging area corresponding to each vehicle can ensure that when each vehicle enters its corresponding pre-merging area, it immediately decelerates at the deceleration parameter corresponding to the vehicle itself and can stop stably before reaching the virtual stop line corresponding to the lane where each vehicle is located.

[0090] For example, the deceleration parameter corresponding to the vehicle can be a personalized parameter determined based on the vehicle performance and the tolerance of the passengers in the vehicle to the deceleration process.

[0091] Exemplarily, the deceleration parameter corresponding to each vehicle may be related to the performance attributes of the corresponding vehicle. The setting principle of the deceleration parameter is that during the deceleration process of the vehicle at the corresponding deceleration parameter, the passengers in the vehicle will not feel discomfort.

[0092] In a possible implementation manner, when the target vehicle enters the merging area, obtain the current first queue, and add the target vehicle to the first queue, and at the same time update the arrangement positions corresponding to the vehicles in the first queue. That is to say, step 202 in the embodiments of the present application can be executed when the target vehicle enters the merging area.

[0093] In step 203, based on the arrangement position of the target vehicle in the first queue, control the driving state of the target vehicle during the process of merging into the second lane.

[0094] In the embodiments of the present application, the computer device controls the driving state of the target vehicle from entering the pre-merging area to successfully merging into the second lane based on the arrangement positions corresponding to the vehicles in the first queue.

[0095] Optionally, the driving state includes at least one of the position where the vehicle travels, the acceleration state, the deceleration state, and the stopped waiting state.

[0096] In summary, in the solution shown in the embodiments of the present application, when the target vehicle enters the corresponding pre-merging area, based on the driving states of the vehicles that have already entered the pre-merging area, determine the arrangement position of the target vehicle in the first queue used to indicate the order in which each vehicle merges into the second lane, and according to this arrangement position, control the driving state of the target vehicle during the process of driving towards the second lane, which can avoid collisions between vehicles when each vehicle passes through the area near the intersection where it merges into the second lane, thereby improving the efficiency of the vehicle safely merging into the second lane.

[0097] Figure 3 It is a schematic flowchart of a vehicle control method shown according to an exemplary embodiment. This vehicle control method can be executed by a computer device. Among them, the computer device can be a terminal or a server. As Figure 3As shown, the steps included in the vehicle control method are as follows:

[0098] In step 301, control the target vehicle to travel on the target lane towards the second lane.

[0099] In the embodiment of the present application, the computer device controls the target vehicle to normally travel on the target lane in the direction of merging into the second lane.

[0100] In a possible implementation, the target vehicle traveling on the first lane travels at a specified driving speed within a safe range and maintains a certain safe distance from the vehicle in front on the first lane during driving.

[0101] Among them, the area controlled by the vehicle control platform includes at least two first lanes and one second lane. At least two first lanes merge into the second lane at the same intersection. And the target lane is one of at least two first lanes. The target lane can be used to indicate the first lane where the target vehicle is located.

[0102] In the embodiment of the present application, at least two first lanes can be divided into priority lanes and non-priority lanes, or at least two first lanes can also not be divided according to priorities.

[0103] Among them, the priority lane can include the first lane whose included angle with the second lane is within a specified included angle threshold range. The specified included angle threshold range can be an angle range with an error not exceeding a specified value up and down from 180 degrees. The priority lane can also include the first lane with a relatively high vehicle passing priority set in advance.

[0104] Optionally, the priority lane has a relatively high vehicle passing priority compared to the non-priority lane.

[0105] Among them, the non-priority lane can include the other first lanes except the priority lane among at least two first lanes.

[0106] Exemplarily, the confluence intersection where two lanes merge into one lane mostly occurs at the ramp confluence or the intersection of two-lane sections. So at the ramp confluence, one of the two first lanes directly enters the main lane of the second lane, and the other first lane is the ramp merging into the second lane. The vehicle passing priorities corresponding to them are different. Among them, the main lane directly entering the second lane can be used as the priority lane, and the ramp is used as the non-priority lane.

[0107] In the case of the intersection of two-lane sections in another situation, the vehicle passing priorities corresponding to the two first lanes to be merged into the second lane are the same.

[0108] That is to say, among at least two first lanes included in the area controlled by the vehicle control platform, there may be a priority lane and non-priority lanes, or there is no priority lane among at least two first lanes.

[0109] For example, Figure 4 is a schematic diagram of a confluence intersection with vehicle passing priority differentiation according to an embodiment of the present application. As Figure 4 shown, when the target lane 41 and the first lane 42 merge into the second lane 43, where the road directions (i.e., the slopes of the reference lines corresponding to the two lanes) of the target lane 41 and the second lane 43 are basically the same, or it can be said that the included angle between the target lane 41 and the second lane 43 is approximately 180 degrees. Therefore, the target lane 41 has the passing priority over the first lane 42. That is, if there are vehicles on the target lane 41 and the first lane 42 that need to enter the confluence intersection and drive towards the second lane 43 at the same time, the vehicles on the first lane 42 need to wait for the vehicles on the target lane 41 to pass through the confluence intersection where the three lanes meet before they can continue to pass.

[0110] In addition, Figure 5 is a schematic diagram of a confluence intersection without passing priority according to an embodiment of the present application. As Figure 5 shown, when the target lane 51 and the first lane 52 merge into the second lane 53, there is no obvious consistency in the road directions (i.e., the slopes of the reference lines corresponding to the two lanes) between the target lane 51 and the first lane 52 and the second lane 53 respectively. Or it can be said that the included angle between the target lane 51 and the second lane 53, and the included angle between the first lane 52 and the second lane 53 are not 180 degrees, and the two included angles are not much different. In this case, the target lane 51 and the first lane 52 have the same passing priority, that is, when vehicles come from the target lane 51 and the first lane 52 at the same time, they can alternately pass through the confluence intersection and drive into the second lane 53 in a zipper-like passing manner.

[0111] In step 302, the lane area between the virtual reaction line corresponding to the target vehicle and the virtual stop line corresponding to the target lane is determined as the pre-confluence area corresponding to the target vehicle.

[0112] In the embodiment of the present application, the computer device can obtain the virtual reaction line and the virtual stop line corresponding to the target vehicle, and determine the pre-confluence area corresponding to the target vehicle.

[0113] In a possible implementation manner, based on the driving speed of the target vehicle and the virtual stop line corresponding to the target lane, the virtual reaction line corresponding to the target vehicle is determined, and the lane area between the virtual reaction line corresponding to the target vehicle and the virtual stop line corresponding to the target lane is determined as the pre-confluence area corresponding to the target vehicle.

[0114] Among them, the computer device obtains the driving speed of the target vehicle, determines the virtual stop lines corresponding to at least two first lanes, and then, based on the driving speed of the target vehicle, determines the virtual reaction line corresponding to the target vehicle, and determines the lane area between the virtual reaction line and the virtual stop line as the pre-merging area corresponding to the target vehicle.

[0115] Among them, the virtual reaction line is used to indicate the position where the corresponding vehicle starts to decelerate when decelerating at a specified acceleration and stopping at the virtual stop line on the corresponding lane.

[0116] Optionally, the virtual stop line is used to indicate the demarcation line where the first lane starts to enter the merging area.

[0117] In a possible implementation of the embodiment of the present application, at most one vehicle is allowed to exist in the merging area.

[0118] Among them, the virtual stop line can be set based on the included angle between the first lanes. The setting rule of the virtual stop line is that when the vehicles on at least two first lanes stop on the section before this virtual stop line, even at the closest distance, the distance between the vehicles can still be kept above the closest distance, that is, when the two vehicles in adjacent lanes stop at the virtual stop line at the same time, the closest distance between the two vehicles is greater than or equal to a specified distance value, and this specified distance value can be the lateral safety distance between the vehicles set based on the prevention of lateral rubbing and collision between the vehicles.

[0119] That is to say, when the vehicles on at least two first lanes stop at the virtual stop line at the same time, there will be no lateral rubbing and collision between the vehicles.

[0120] Exemplarily, the reference line corresponding to the lane can be the center line of the lane. The reference lines corresponding to at least two first lanes and the reference line corresponding to the second lane intersect at an intersection point. By tracing back from the position corresponding to this intersection point to the position of the virtual stop lines corresponding to at least two first lanes, the merging areas corresponding to the at least two first lanes can be obtained. Similarly, by tracing back from the position of the virtual stop line to the virtual reaction line corresponding to the target vehicle, the pre-merging area corresponding to the target vehicle can be obtained.

[0121] Since at most one vehicle is supported in the merging area, if the second lane is a congested section at the current moment, when the tail vehicle of the vehicles queuing in the second lane is near the junction, or if the vehicle entering the merging area in the order of the first queue straddles the junction, that is, the front of the vehicle enters the second lane while the rear of the vehicle remains in the first lane, it is necessary to control the vehicle in the first lane about to enter the merging area to stop and wait near the virtual stop line. Therefore, it is necessary to determine a merging area with a specified length in the second lane, and the specified length can be the sum of the vehicle length and the minimum following safety distance.

[0122] That is to say, the position where the sum of the vehicle length and the minimum following safety distance is taken from the junction towards the second lane is used as the termination line of the merging area.

[0123] In a possible implementation, the area between the virtual stop line and the termination line of the merging area is determined as the merging area. When a vehicle enters the merging area, at this time, other vehicles cannot be controlled to enter the merging area. When the vehicle completely exits the merging area, the next vehicle is controlled to enter the merging area based on the order.

[0124] Exemplarily, Figure 6 is a schematic diagram of lane area division involved in an embodiment of the present application. As Figure 6 shown, lane 1 includes a pre-merging area D1 corresponding to vehicle A, and the distance between the virtual stop line 61 corresponding to lane 1 and the junction P can be the merging area C1 on lane 1. Lane 2 includes a pre-merging area D2 corresponding to vehicle B, and the distance between the virtual stop line 62 corresponding to lane 2 and the junction P can be the merging area C2 on lane 2. The distance between the junction P and the termination line 63 of the merging area on lane 3 can be the merging area C3 on lane 3.

[0125] In step 303, in response to the target vehicle entering the pre-merging area and there being a first merging vehicle, based on the lane where the first merging vehicle is located, determine the arrangement position of the target vehicle in the first queue.

[0126] In the embodiment of the present application, when the target vehicle enters the pre-merging area corresponding to the target vehicle, start to determine the arrangement position of the target vehicle in the first queue.

[0127] Among them, the first queue is used to indicate the order in which the first vehicles merge into the second lane in sequence; the first vehicles can include the vehicles traveling towards the second lane through the pre-merging area; the first vehicles include the target vehicle; the pre-merging area can include an area that supports determining the arrangement position of the corresponding vehicle based on the driving state of the first vehicle. The first merging vehicle is used to indicate other first vehicles except the target vehicle in the pre-merging area.

[0128] In a possible implementation, in response to the first merging vehicle and the target vehicle being in different first lanes, determine the target time interval between the target vehicle and the virtual stop line and the first time interval between the first merging vehicle and the virtual stop line; based on the target time interval and the first time interval, determine the corresponding arrangement position of the target vehicle in the first queue.

[0129] Wherein, the virtual stop line is used to indicate the demarcation line between the pre-merging area and the merging area; the merging area may include the area entered by the first vehicle after passing through the pre-merging area, and the merging area may also include the area extending from the intersection point to the at least two first lanes and the second lane for merging respectively. The time interval can be used to indicate the time length consumed by the vehicle to travel to the corresponding virtual stop line at the current moment.

[0130] Exemplarily, in response to at least two first lanes including lane 1 and lane 2, the target vehicle is vehicle A traveling on lane A and just entering the pre-merging area, and there is a vehicle B in lane 2 that has entered the pre-merging area and is traveling in the pre-merging area. Since vehicle A and vehicle B are in different lanes, it is necessary to calculate the target time interval, i.e., time interval a, for vehicle A to reach the virtual stop line corresponding to lane 1, and the first time interval, i.e., time interval b, for vehicle B to reach the virtual stop line corresponding to lane 2, and determine whether the arrangement position of vehicle A in the first queue is before or after the arrangement position of vehicle B based on time interval a and time interval b.

[0131] In a possible implementation, after the target vehicle enters the pre-merging area, determine the numbered identifier indicating the identity of the target vehicle, which is the target identifier. After determining the corresponding arrangement position of the target vehicle in the first queue based on the target time interval and the first time interval, add the numbered identifier corresponding to the target vehicle to this arrangement position in the first queue.

[0132] Wherein, the first queue can be a queue structure of First Input First Output (FIFO). The numbered identifiers stored in this queue structure control the vehicles corresponding to the numbered identifiers in the arrangement order.

[0133] Exemplarily, a numbered "token" will be assigned to the vehicle driving into the pre-merging area. This numbered "token" can be the above-mentioned numbered identifier. The driving priority of the vehicle passing through the merging area after reaching the merging area is determined by the numbered "token", and the "tokens" are stored in a queue structure of First Input First Output (FIFO), that is, the first queue, in the determined order. The vehicle corresponding to the "token" at the front (head) in the first queue has a higher driving priority.

[0134] In a possible implementation, the method for determining the corresponding arrangement position of the target vehicle in the first queue based on the target time interval and the first time interval is related to whether there is a priority lane in at least two first lanes and whether the target lane where the target vehicle is located is a priority lane.

[0135] (1) In response to there being a priority lane in at least two first lanes and the target lane being a priority lane.

[0136] In a possible implementation, in response to the target time interval being greater than or equal to the first time interval multiplied by a first specified value, in the first queue, arrange the target vehicle behind the first merging vehicle; in response to the target time interval being less than the first time interval multiplied by the first specified value, in the first queue, arrange the target vehicle in front of the first merging vehicle.

[0137] That is to say, in response to the target time interval being greater than or equal to the first time interval multiplied by the first specified value, the target identifier can be arranged behind the first identifier corresponding to the first merging vehicle. In response to the target time interval being less than the first time interval multiplied by the first specified value, the target identifier can be arranged in front of the first identifier.

[0138] Wherein, the target identifier is used to indicate the identity of the target vehicle; the first identifier is used to indicate the identity of the first merging vehicle. The first specified value can be a value greater than 1.

[0139] Exemplarily, in response to target vehicle A being in lane 1, lane 1 being a priority lane, and after detection, it is determined that there is already vehicle B driving in the pre-merging area of lane 2, lane 2 being a non-priority lane. Among them, detecting and determining whether there is a first merging vehicle can be performed in the order from near to far from the intersection point. Based on the instantaneous speeds of vehicle A and vehicle B respectively, calculate the time intervals for the two vehicles to reach the virtual stop lines corresponding to their respective lanes ahead, that is, the target time interval T A corresponding to vehicle A and the first time interval T B .

[0140] Wherein, the first time interval T k corresponding to vehicle k is calculated according to the following formula:

[0141] T k = D / V k

[0142] Wherein, D is the distance between the current position of vehicle k and the virtual stop line corresponding to the lane where it is located. V k is the current instantaneous speed of vehicle k.

[0143] The target time interval T A corresponding to vehicle A obtained through the above calculation, and the first time interval T B .

[0144] If T A > a * T B , it can be used to indicate that vehicle B should reach the merging area first at the current instantaneous speed and cannot yield to vehicle A by decelerating. Therefore, the target vehicle, that is, the target identifier corresponding to vehicle A, namely the "token", is added behind the first identifier corresponding to vehicle B in the first queue. If vehicle B is the only first merging vehicle in the pre-merging area, the target identifier is directly added to the end of the first queue.

[0145] If T A < a * T B , it can be used to indicate that vehicle A should reach the merging area first at the current instantaneous speed, or vehicle B can yield to vehicle A by decelerating. Therefore, the target vehicle, that is, the target identifier corresponding to vehicle A, namely the "token", is inserted in front of the first identifier corresponding to vehicle B in the first queue.

[0146] Where a is a first specified value and a > 1.

[0147] In a possible implementation, in response to there being multiple first merging vehicles in the pre-merging area in a lane different from the target vehicle, the target vehicle, that is, vehicle A, is compared with the time intervals of the multiple first merging vehicles in the order from near to far from the intersection according to the above conditions, and the "token" corresponding to vehicle A is inserted in front of the "token" corresponding to the first merging vehicle that satisfies the condition of T A < a * T B in the first queue.

[0148] For example, Figure 7 is a schematic diagram of the driving positions of vehicles involved in an embodiment of the present application. As Figure 7 shown, vehicle A is the target vehicle, lane 1 where vehicle A is located is the priority lane. After vehicle A enters the pre-merging area, it is detected and determined that there are vehicle B and vehicle C already driving in their respective pre-merging areas on the non-priority lane, that is, lane 2. By calculating the time intervals corresponding to each vehicle, if it is calculated that a * T C > T A ≥ a * T B , then in the first queue, the identifier corresponding to vehicle A can be added between the identifiers corresponding to vehicle B and vehicle C.

[0149] (2) In response to there being a priority lane among at least two first lanes and the target lane being a non-priority lane.

[0150] In a possible implementation, in response to the target time interval being greater than or equal to the first time interval multiplied by a second specified value, in the first queue, the target vehicle is arranged behind the first merging vehicle; in response to the target time interval being less than the first time interval multiplied by the second specified value, in the first queue, the target vehicle is arranged in front of the first merging vehicle.

[0151] That is to say, in response to the target time interval being greater than or equal to the first time interval multiplied by the second specified value, the target identifier can be arranged behind the first identifier corresponding to the first merging vehicle. In response to the target time interval being less than the first time interval multiplied by the second specified value, the target identifier can be arranged in front of the first identifier.

[0152] Among them, the second specified value can be a value less than 1. The non-priority lane can include other first lanes except the priority lane.

[0153] Exemplarily, in response to the target vehicle A being in lane 1, lane 1 is a non-priority lane, and after detection, it is determined that there is already a vehicle B driving in the pre-merging area of lane 2, and lane 2 is a priority lane. Among them, detecting whether there is a first merging vehicle can be searched in the order from near to the intersection point to far. Based on the instantaneous speeds of vehicle A and vehicle B respectively, calculate the time intervals for the two vehicles to reach the virtual stop lines corresponding to their respective lanes ahead, that is, the target time interval T A corresponding to vehicle A and the first time interval T B .

[0154] If T A >b*T B is satisfied, the target vehicle, that is, the target identifier corresponding to vehicle A, that is, the "token", is added behind the first identifier corresponding to vehicle B in the first queue. If the only first merging vehicle in the pre-merging area is vehicle B, the target identifier is directly added to the end of the first queue.

[0155] If T A <b*T B is satisfied, the target vehicle, that is, the target identifier corresponding to vehicle A, that is, the "token", can be inserted in front of the first identifier corresponding to vehicle B in the first queue.

[0156] Among them, b is the second specified value, and b is less than 1.

[0157] In another possible implementation, in response to the first merging vehicle being in the priority lane, in the first queue, the target vehicle is arranged behind the first merging vehicle.

[0158] That is to say, in response to the first merging vehicle being in the priority lane, the target identifier corresponding to the target vehicle can be arranged behind the first identifier corresponding to the first merging vehicle in the first queue.

[0159] Exemplarily, in response to the target vehicle A being in Lane 1, where Lane 1 is a non-priority lane, and after detection, it is determined that there is already a vehicle B traveling in the pre-merging area of Lane 2, and Lane 2 is a priority lane. At this time, directly arrange the target identifier corresponding to the target vehicle behind the first identifier corresponding to the first merging vehicle in the first queue.

[0160] For example, Figure 8 It is a schematic diagram of the driving position of a vehicle involved in an embodiment of the present application. As Figure 8 shown, vehicle C is the target vehicle. In response to vehicle C driving into the non-priority lane, the pre-merging area of Lane 2, and it is detected that both vehicle A and vehicle B are traveling in the pre-merging area of the priority lane, Lane 1, then insert the identifier corresponding to this vehicle C to the end of the first queue, that is, behind the identifiers corresponding to vehicle 1 and vehicle 2.

[0161] In a possible implementation manner, in response to a vehicle in the non-priority lane waiting at the virtual stop line for more than a specified time, move the identifier corresponding to this vehicle to the head of the first queue, that is, to indicate that the vehicle in the priority lane yields to the vehicle in the non-priority lane.

[0162] Exemplarily, since the target vehicle is in the non-priority lane, if there is a first merging vehicle traveling in the pre-merging area in the priority lane, it is necessary to arrange the target vehicle in the non-priority lane behind each first merging vehicle in the priority lane in the first queue. In this case, there may be multiple first merging vehicles in the priority lane, resulting in the situation that the target vehicle waits at the virtual stop line in the non-priority lane for too long. Therefore, a specified time can be set. When the waiting time of the target vehicle in the non-priority lane at the virtual stop line exceeds the specified time, move this target vehicle to the head of the first queue.

[0163] (III) In response to at least two first lanes having the same priority.

[0164] In a possible implementation manner, during the advancement of the simulation clock, at each simulation step, sort the vehicles that have entered the pre-merging area in the two first lanes in ascending order according to the time distance from the virtual stop line, and update the arrangement positions of the vehicles corresponding to each vehicle in the first queue.

[0165] Among them, the first identifier of the vehicle with the smallest corresponding time distance can be inserted into the head of the first queue, and other vehicles are inserted into the end of the queue in turn according to the increase of the time distance.

[0166] Exemplarily, in response to the target vehicle A being in lane 1 and it being determined through detection that there is already a vehicle B traveling in the pre-merging area of lane 2, where there is no priority lane between lane 1 and lane 2, the time intervals for the two vehicles to reach the corresponding virtual stop lines in their respective lanes ahead are calculated based on the instantaneous speeds of vehicle A and vehicle B respectively, that is, the target time interval T corresponding to vehicle A A and the first time interval T corresponding to vehicle B B .

[0167] If T A >T B , it can be used to indicate that vehicle B reaches the merging area first at the current instantaneous speed and cannot decelerate to yield to vehicle A. Therefore, the target vehicle, that is, the target identifier corresponding to vehicle A, namely the "token", is added behind the first identifier corresponding to vehicle B in the first queue. If vehicle B is the only first merging vehicle in the pre-merging area, the target identifier is directly added to the end of the first queue.

[0168] If T A <T B , it can be used to indicate that vehicle A reaches the merging area first at the current instantaneous speed, or vehicle B can decelerate to yield to vehicle A. Therefore, the target vehicle, that is, the target identifier corresponding to vehicle A, namely the "token", is inserted in front of the first identifier corresponding to vehicle B in the first queue.

[0169] In a possible implementation, in response to a second merging vehicle entering the merging area, where the second merging vehicle and a third merging vehicle are in the same lane, and the second merging vehicle and a fourth merging vehicle are in different lanes, in the first queue, the positions of the third merging vehicle and the fourth merging vehicle are swapped.

[0170] Wherein, the second merging vehicle is the first vehicle in the head position; the third merging vehicle is the first vehicle in the second position; the fourth merging vehicle is the first vehicle in the third position.

[0171] Exemplarily, when the first vehicle at the head of the first queue enters the merging area, it is first necessary to check whether it is necessary to swap the order of the two vehicles in the second and third positions in the first queue. If the vehicle in the second position in the first queue and the vehicle at the head are in different lanes, the order of the identifiers in the first queue remains unchanged. If the vehicle in the second position in the first queue and the vehicle at the head are in the same lane, and the vehicle at the head and the vehicle in the third position in the first queue are in different lanes, the positions of the identifiers corresponding to the vehicle in the second position and the vehicle in the third position in the first queue are swapped to ensure that vehicles in different lanes can enter the merging area alternately.

[0172] In a possible implementation, in response to the target vehicle and the first merging vehicle being in the same lane, the target vehicle is arranged behind the first merging vehicle.

[0173] Among them, it is not necessary to consider whether the lane where the target vehicle and the first merging vehicle are located has the right of way. If the target vehicle and the first merging vehicle are in the same lane, the target identifier corresponding to the target vehicle is arranged behind the first identifier corresponding to the first merging vehicle.

[0174] For example, Figure 9 is a schematic diagram of the driving position of a vehicle involved in an embodiment of the present application. As Figure 9 shown, if the arranged position of vehicle A is at the head of the first queue and vehicle A enters the merging area, and if vehicle C in the first queue is arranged before vehicle B in the first queue, since both vehicle C and vehicle A are vehicles driving on the same lane 1 and vehicle B is a vehicle driving on lane 2, and vehicle B and vehicle A belong to different lanes, the arranged positions of vehicle B and vehicle C in the first queue are exchanged to ensure that after vehicle A passes through the merging area and successfully enters lane 3, vehicle B is controlled to enter the merging area to achieve zipper-style passing.

[0175] In a possible implementation, the sorting update detection of the first queue is performed in units of simulation steps; or, when it is detected that there is a vehicle just entering the merging area, a sorting update check of the first queue is performed once.

[0176] In step 304, in response to the target vehicle entering the pre-merging area and there being no first merging vehicle, the target vehicle is added to the tail of the first queue in sequence.

[0177] In the embodiment of the present application, when the target vehicle enters the pre-merging area corresponding to the target vehicle and it is determined that there is no first merging vehicle, it can be directly determined that the arranged position of the target vehicle in the first queue is the tail of the first queue.

[0178] In a possible implementation, when the target vehicle enters the pre-merging area and there is no first merging vehicle, the vehicle corresponding to the identifier at the head position in the first queue is already in the merging area. It is directly determined that the arranged position of the target vehicle in the first queue is the tail of the first queue, that is, the second position in the first queue.

[0179] In another possible implementation, when the target vehicle enters the pre-merging area and there is no first merging vehicle, there is no identifier corresponding to other vehicles in the first queue. It is directly determined that the arranged position of the target vehicle in the first queue is the tail of the first queue, that is, the head position in the first queue.

[0180] In step 305, based on the arrangement position of the target vehicle in the first queue, control the driving state of the target vehicle during the process of merging into the second lane.

[0181] In an embodiment of the present application, the computer device obtains the arrangement position corresponding to the target vehicle in the first queue, and based on the arrangement position corresponding to the target vehicle, controls the driving state of the target vehicle during the process of merging into the second lane.

[0182] In a possible implementation manner, in response to the arrangement position corresponding to the target vehicle being the head position in the first queue, control the target vehicle to continue driving towards the second lane.

[0183] Among them, since the arrangement position of the target vehicle in the first queue is the head position, there are no other vehicles that need to enter the merging area first. Therefore, control the target vehicle to drive into the merging area at a specified speed and merge into the second lane.

[0184] In a possible implementation manner, in response to the arrangement position corresponding to the target vehicle being a non-head position in the first queue, and there being a first vehicle in the same lane as the target vehicle and in front of the target vehicle, control the target vehicle to maintain a safe distance from the vehicle in front; in response to the first vehicle in the same lane as the target vehicle and in front of the target vehicle driving into the merging area, control the target vehicle to decelerate with the virtual stop line in the target lane as the target.

[0185] Among them, the virtual stop line is used to indicate the demarcation line between the pre-merging area and the merging area; the merging area includes the area extending from the intersection point to the confluence of at least two first lanes and the second lane respectively.

[0186] That is to say, in response to the arrangement position corresponding to the target vehicle being a non-head position in the first queue, and there being a first merging vehicle in the same lane as the target vehicle and in the front position of the target vehicle, obtain the driving speed of the first merging vehicle with the shortest distance; based on the driving speed, control the target vehicle to maintain a safe distance from the first merging vehicle during driving; in response to the vehicle in the position immediately in front of the target vehicle entering the merging area, control the target vehicle to decelerate at a first acceleration until the arrangement position of the target vehicle is updated to the head position in the first queue.

[0187] Among them, controlling the target vehicle to decelerate with the virtual stop line in the target lane as the target can be used to indicate that the corresponding driving speed is reduced to zero before reaching the virtual stop line.

[0188] Exemplarily, each vehicle enters the merging area and passes through the intersection point in the arrangement order corresponding to its identification in the first queue. When the vehicle corresponding to the identification at the head of the first queue drives through the merging area of its own lane, enters the second lane, and drives out of the merging area corresponding to the second lane, its corresponding identification is deleted from the head of the first queue.

[0189] For example, the arrangement position determined when vehicle k first enters the pre-merging area is at the head of the first queue. This situation may indicate that there is only the identification corresponding to this vehicle k in the first queue, and the tail and head of the first queue are the same. Then, it is controlled that vehicle k does not need to decelerate and passes through the intersection point to enter the second lane.

[0190] In a possible implementation manner, the vehicle corresponding to the identification that is not at the head follows the vehicle in front in the same lane according to a certain following vehicle algorithm after entering the pre-merging area. If it is found that the vehicle in front of the vehicle corresponding to the identification that is not at the head is in the merging area and the speed is 0, that is, the vehicle in front stops in the merging area or the vehicle corresponding to the identification that is not at the head comes from a non-priority lane, and this vehicle is in a priority lane, then it is controlled that this vehicle decelerates at a certain deceleration and stops at the virtual stop line in front of the merging area.

[0191] In a possible implementation manner, in response to the deletion of the identification at the head of the first queue, the next identification in the first queue becomes the new head. In response to the vehicle corresponding to the identification that becomes the new head being in a stopped state, it is controlled to start this vehicle to pass through the merging area after the next simulation step.

[0192] For example, Figure 10 is a schematic diagram of the driving position of a vehicle involved in an embodiment of the present application. As Figure 10 shown, vehicle A is arranged at the head of the first queue and enters lane 3 but does not drive out of the merging area on lane 3. If vehicle B stops in the merging area on lane 1 due to some factors, then vehicle C and vehicle D are immediately controlled to decelerate and stop with the virtual stop lines corresponding to their respective lanes as the targets to ensure the driving safety of each vehicle.

[0193] In step 306, in response to controlling the target vehicle to drive out of the merging area and merge into the second lane, the target vehicle is removed from the first queue.

[0194] In the embodiment of the present application, when the rear of the target vehicle completely drives out of the merging area, it may indicate that the target vehicle has successfully merged into the second lane. The target identification corresponding to the target vehicle is removed from the first queue, and the arrangement positions of the identifications in the first queue are updated.

[0195] In summary, in the solution shown in the embodiments of the present application, when the target vehicle enters the corresponding pre-merging area, based on the driving states of the vehicles that have already entered the pre-merging area, the arrangement position of the target vehicle in the first queue for indicating the order of each vehicle to merge into the second lane is determined. By controlling the driving state of the target vehicle during the process of driving into the second lane according to this arrangement position, it is possible to avoid collisions between vehicles when passing through the intersection where vehicles merge into the second lane, thereby improving the efficiency of vehicles merging into the second lane while ensuring traffic safety.

[0196] Figure 11 FIG. 4 is a flowchart of a vehicle merging decision shown according to an exemplary embodiment. In an actual application scenario, in order to ensure that vehicles in multiple lanes can be controlled to safely and quickly merge into the same lane, for different actual situations, the determination of the arrangement position of the vehicle in the first queue for merging includes different decision branches, such as Figure 11 shown, the content included in different decision branches is as follows:

[0197] 1) The first decision

[0198] When it is determined whether there is a priority lane in the lane to be merged (S1101), and the result is that there is a priority lane, it is determined whether the target vehicle, that is, vehicle i, is in the priority lane (S1102). If vehicle i is in the priority lane, it is determined whether there is a first merging vehicle in the two lanes to be merged (S1103). If it is detected that there is a first merging vehicle in the two lanes to be merged, it is determined whether there is a vehicle j in the first merging vehicle that is in a non-priority lane (S1104). If there is, the time headway of vehicle j and the time headway of vehicle i are calculated. If T i >a*T j is satisfied, vehicle i is added behind vehicle j in the first queue (S1107). If T i >a*T j is not satisfied, vehicle i is added in front of vehicle j in the first queue (S1106), and then the update of the first queue is completed (S1109). After step S1107, it is necessary to determine whether there are other first merging vehicles in the non-priority lane (S1108). If there are no other first merging vehicles, the update of the first queue is completed (S1109). If there are other first merging vehicles, that is, vehicle j + 1, continue to calculate the time headway and execute step S1105.

[0199] In the above process, if the judgment result in step S1102 is that vehicle i is in a non-preferred lane, vehicle i is directly added to the end of the first queue (S1110). If the judgment result in step S1103 is that no first merging vehicle is detected in the two lanes to be merged, vehicle i is directly added to the end of the first queue (S1110). If the judgment result in step S1104 is that there is no vehicle j in the non-preferred lane, vehicle i is directly added to the end of the first queue (S1110).

[0200] 2) The second decision

[0201] When it is judged whether there is a preferred lane in the lanes to be merged (S1101), and the result is that there is no preferred lane, the vehicles entering the pre-merging area of the two lanes are sorted in ascending order according to the time distance from the virtual stop line. The vehicle with the smallest time distance is inserted into the head of the queue, and the rest are inserted into the end of the queue in turn (S1111). Then, it is judged whether the second vehicle in the first queue is in a different lane from the head vehicle (S1112). If they are in the same lane, it is continued to judge whether the third vehicle is in a different lane from the head vehicle (S1113). If they are in different lanes, the arrangement positions of the second and third vehicles in the first queue are exchanged (S1114), and the update of the first queue is completed (S1109).

[0202] In the above process, if the judgment result in step S1112 is that the second vehicle is in a different lane from the head vehicle, the update of the first queue is directly completed (S1109). If the judgment result in step S1113 is that the third vehicle is also in the same lane as the head vehicle, no arrangement position exchange is performed, and the update of the first queue is completed (S1109).

[0203] Figure 12 It is a flowchart of a decision for controlling the driving state of a vehicle involved in an embodiment of the present application. For different actual situations, the vehicle controls the corresponding driving state according to the first queue, including different decision branches, such as Figure 12 shown, and the contents included in different decision branches are as follows:

[0204] When it is determined whether there is a priority lane in the lane to be merged (S1201), and the result is that there is a priority lane, it is determined whether vehicle k is at the head of the first queue (S1202). If it is determined that it is at the head of the first queue, it is determined whether vehicle k needs to stop and wait in the merging area (S1203). If the determination result is that it needs to stop and wait in the merging area, vehicle k is controlled to stop and wait in the merging area, the other vehicles in the first queue are controlled to decelerate, and stop outside the virtual stop line corresponding to their respective lanes (S1206). If the determination result is that it does not need to stop and wait in the merging area, after vehicle k exits the merging area, vehicle k is deleted from the first queue (S1204), and then the second vehicle k+1 in the first queue is controlled to start, enter the merging area, and be at the head of the first queue (S1205).

[0205] If in the above step S1202, the determination result is that vehicle k is not at the head of the first queue, it is determined whether the leading vehicle stops and waits in the merging area (S1207). If the determination result is that the leading vehicle does not stop and wait in the merging area, it is determined whether vehicle k is in a non-priority lane (S1208). If vehicle k is in a priority lane, it travels following the leading vehicle on the lane based on the car-following algorithm (S1210). If vehicle k is in a non-priority lane, it is determined whether vehicle k is the closest to the intersection point on that lane (S1209). If the determination result is that it is the closest to the intersection point, vehicle k is controlled to decelerate and stop outside the virtual stop line (S1211). If the determination result is that it is not the closest to the intersection point, continue with step S1210.

[0206] If in the above step S1201, the determination result is that there is no priority lane, continue to execute the content of steps S1202 to S1204, and then check whether it is necessary to exchange the arrangement positions of the second and third vehicles in the first queue. The second vehicle k+1 in the determined first queue is started, enters the merging area, and becomes the head of the first queue (S1212).

[0207] If in the case of the determination result that there is no priority lane, the determination result of the above step S1202 is that vehicle k is not at the head of the first queue, it is necessary to determine whether vehicle k and the leading vehicle in the first queue are from the same lane (S1213). If they are from the same lane, continue to determine whether the leading vehicle in the first queue stops in the merging area (S1214). If it does not stop in the merging area, execute step S1210. If it stops in the merging area, execute step S1211. If the determination result of the above step S1213 is that they are from different lanes, directly execute step S1211.

[0208] In summary, in the solution shown in the embodiments of the present application, when the target vehicle enters the corresponding pre-merging area, based on the driving states of the vehicles that have entered the pre-merging area, the arrangement position of the target vehicle in the first queue used to indicate the order in which each vehicle merges into the second lane is determined. By controlling the driving state of the target vehicle during the process of driving towards the second lane according to this arrangement position, it is possible to avoid collisions between vehicles when each vehicle passes through the intersection where it merges into the second lane, thereby improving the efficiency of vehicle merging into the second lane while ensuring traffic safety.

[0209] The above embodiments can be used in the autonomous driving scenario or the autonomous driving simulation scenario. When applied to the autonomous driving simulation scenario, the algorithms involved in the above embodiments can be embedded in the simulation software. The target vehicle and the first vehicle involved in the algorithms can be simulated virtual vehicles, and the simulated virtual vehicles can be set with their respective corresponding attributes including length, width, speed, etc.; the target lane, the first lane, and the second lane can be simulation lanes, and the center line or reference line of the simulation lane can be used to represent the direction of the simulation lane in the simulation software. During the simulation process, the sorting step of the first queue can be based on the simulation step size, or the first queue can be sorted once whenever it is detected that the simulated virtual vehicle reaches the virtual reaction line, or the first queue can be sorted once whenever it is detected that the simulated virtual vehicle reaches the virtual stop line.

[0210] Figure 13 is a block diagram of a vehicle control device shown according to an exemplary embodiment, as Figure 13 shown. The vehicle control device can be implemented as all or part of a computer device in a hardware or software-hardware combination manner to execute Figure 2 or Figure 3 all or part of the steps of the method shown in the corresponding embodiment. The vehicle control device can include:

[0211] A vehicle control module 1310, configured to control the target vehicle to drive from the target lane towards the second lane. The target lane is one of at least two first lanes, and at least two of the first lanes merge into the second lane at the same intersection.

[0212] A position determination module 1320, configured to determine the arrangement position of the target vehicle in the first queue in response to the target vehicle entering the pre-merging area; the first queue is used to indicate the order in which each first vehicle merges into the second lane; the first vehicle includes vehicles driving towards the second lane through the pre-merging area; the pre-merging area includes a section of area corresponding to each of at least two of the first lanes before the intersection.

[0213] A status control module 1330, configured to control a driving status of the target vehicle during a process of merging into the second lane based on an arrangement position of the target vehicle in the first queue.

[0214] In a possible implementation manner, the position determination module 1320 includes:

[0215] A first determination sub-module, configured to, in response to the target vehicle entering the pre-merging area and there being a first merging vehicle, determine the arrangement position of the target vehicle in the first queue based on a lane where the first merging vehicle is located; the first merging vehicle is used to indicate other first vehicles in the pre-merging area except the target vehicle.

[0216] In a possible implementation manner, the first determination sub-module includes:

[0217] A time interval determination unit, configured to, in response to the first merging vehicle and the target vehicle being in different first lanes, determine a target time interval of the target vehicle from a virtual stop line and a first time interval of the first merging vehicle from the virtual stop line; the virtual stop line is used to indicate a demarcation line between the pre-merging area and the merging area; the merging area includes areas starting from the intersection point and merging into at least two first lanes and extending to the second lane respectively;

[0218] A position determination unit, configured to determine the arrangement position of the target vehicle in the first queue based on the target time interval and the first time interval.

[0219] In a possible implementation manner, in response to there being a priority lane among at least two first lanes;

[0220] The position determination unit is configured to,

[0221] In response to the target lane being the priority lane and the target time interval being greater than or equal to the first time interval multiplied by a first specified value, arrange the target vehicle behind the first merging vehicle in the first queue;

[0222] In response to the target lane being the priority lane and the target time interval being less than the first time interval multiplied by the first specified value, arrange the target vehicle in front of the first merging vehicle in the first queue;

[0223] In response to the target lane being a non-priority lane and the target time interval being greater than or equal to the first time interval multiplied by a second specified value, arrange the target vehicle behind the first merging vehicle in the first queue; the non-priority lane includes the first lanes except the priority lane;

[0224] In response to the target lane being the non - priority lane and the target time headway being less than the first time headway multiplied by the second specified value, in the first queue, arrange the target vehicle in front of the first merging vehicle.

[0225] In a possible implementation manner, in response to there being a priority lane among at least two of the first lanes and the target lane being a non - priority lane; the non - priority lanes include the first lanes excluding the priority lane;

[0226] The first determination sub - module includes:

[0227] A first determination unit, configured to, in response to the first merging vehicle being in the priority lane, arrange the target vehicle behind the first merging vehicle in the first queue.

[0228] In a possible implementation manner, in response to at least two of the first lanes having the same priority;

[0229] The device further includes:

[0230] An interchange unit, configured to, in response to a second merging vehicle entering the merging area, the second merging vehicle and a third merging vehicle being in the same lane, and the second merging vehicle and a fourth merging vehicle being in different lanes, interchange the positions of the third merging vehicle and the fourth merging vehicle in the first queue;

[0231] Wherein, the second merging vehicle is the first vehicle with the arrangement position at the head; the third merging vehicle is the first vehicle with the arrangement position at the second place; the fourth merging vehicle is the first vehicle with the arrangement position at the third place.

[0232] In a possible implementation manner, the device further includes:

[0233] A reaction line determination module, configured to, in response to the target vehicle entering the pre - merging area, before determining the arrangement position of the target vehicle in the first queue, based on the traveling speed of the target vehicle and the virtual stop line corresponding to the target lane, determine the virtual reaction line corresponding to the target vehicle; the virtual reaction line is used to indicate the position where the corresponding vehicle starts to decelerate when decelerating at a specified acceleration and stopping at the virtual stop line on the corresponding lane.

[0234] An area determination module, configured to determine the lane area between the virtual reaction line corresponding to the target vehicle and the virtual stop line corresponding to the target lane as the pre - merging area corresponding to the target vehicle.

[0235] In a possible implementation, the first determination sub-module includes:

[0236] A second determination unit, configured to, in response to the target vehicle and the first merging vehicle being in the same lane, arrange the target vehicle behind the first merging vehicle.

[0237] In a possible implementation, the position determination module 1320 includes:

[0238] A second determination sub-module, configured to, in response to the target vehicle entering the pre-merging area and there being no first merging vehicle, add the target vehicle to the end of the first queue in sequence.

[0239] In a possible implementation, the device further includes:

[0240] A removal module, configured to, in response to controlling the target vehicle to drive out of the merging area and merge into the second lane, remove the target vehicle from the first queue.

[0241] In a possible implementation, the state control module 1330 includes:

[0242] A first state control sub-module, configured to, in response to the arranged position corresponding to the target vehicle being the head position in the first queue, control the target vehicle to continue driving towards the second lane.

[0243] In a possible implementation, the state control module 1330 includes:

[0244] A second state control sub-module, configured to, in response to the arranged position corresponding to the target vehicle being a non-head position in the first queue and there being a first vehicle in the same lane as the target vehicle and in front of the target vehicle, control the target vehicle to maintain a safe distance from the vehicle in front;

[0245] A third state control sub-module, configured to, in response to the first vehicle in the same lane as the target vehicle and in front of the target vehicle driving into the merging area, control the target vehicle to decelerate with the virtual stop line in the target lane as the target; the virtual stop line is used to indicate the demarcation line between the pre-merging area and the merging area; the merging area includes an area extending from the intersection point to the confluence of at least two of the first lanes and the second lane respectively.

[0246] In summary, in the solution shown in the embodiment of the present application, when the target vehicle enters the corresponding pre-merging area, based on the driving states of the vehicles that have already entered the pre-merging area, the arrangement position of the target vehicle in the first queue used to indicate the order of each vehicle merging into the second lane is determined. By controlling the driving state of the target vehicle during the process of driving into the second lane according to this arrangement position, it is possible to avoid collisions between vehicles when passing through the intersection of merging into the second lane, thereby improving the efficiency of vehicle merging into the second lane while ensuring traffic safety.

[0247] Figure 14 It is a schematic structural diagram of a computer device shown according to an exemplary embodiment. The computer device 1400 includes a central processing unit (CPU) 1401, a system memory 1404 including a random access memory (RAM) 1402 and a read-only memory (ROM) 1403, and a system bus 1405 connecting the system memory 1404 and the central processing unit 1401. The computer device 1400 further includes a basic input / output system (Input / Output, I / O system) 1406 for facilitating information transmission between various components within the computer device, and a mass storage device 1407 for storing an operating system 1413, application programs 1414, and other program modules 1415.

[0248] The basic input / output system 1406 includes a display 1408 for displaying information and input devices 1409 such as a mouse and a keyboard for user input of information. Among them, both the display 1408 and the input devices 1409 are connected to the central processing unit 1401 through an input / output controller 1410 connected to the system bus 1405. The basic input / output system 1406 may further include an input / output controller 1410 for receiving and processing inputs from multiple other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 1410 also provides outputs to a display screen, a printer, or other types of output devices.

[0249] The mass storage device 1407 is connected to the central processing unit 1401 through a mass storage controller (not shown) connected to the system bus 1405. The mass storage device 1407 and its associated computer-readable media provide non-volatile storage for the computer device 1400. That is to say, the mass storage device 1407 may include computer-readable media (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0250] Without loss of generality, the computer-readable media may include computer storage media and communication media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, digital video disc (DVD), or other optical storage, magnetic tape cartridges, tapes, disk storage, or other magnetic storage devices. Of course, those skilled in the art will know that the computer storage media is not limited to the above several types. The above-mentioned system memory 1404 and mass storage device 1407 may be collectively referred to as memory.

[0251] According to various embodiments of the present disclosure, the computer device 1400 may also run by connecting to a remote computer device on a network such as the Internet. That is, the computer device 1400 may be connected to the network 1412 through a network interface unit 1411 connected to the system bus 1405. Or rather, the network interface unit 1411 may also be used to connect to other types of networks or remote computer device systems (not shown).

[0252] The memory further includes one or more programs, and the one or more programs are stored in the memory. The central processing unit 1401 implements Figure 2 or Figure 3 all or part of the steps of the method shown.

[0253] Those skilled in the art should be able to realize that in one or more of the above examples, the functions described in the embodiments of the present disclosure can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium of a computer device or transmitted as one or more instructions or codes on a computer-readable medium of a computer device. The computer-readable medium of a computer device includes a storage medium of a computer device and a communication medium, where the communication medium includes any medium facilitating the transmission of a computer program of a computer device from one place to another. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer device.

[0254] According to one aspect of the present application, there is provided a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle simulation control method provided in various alternative implementations of the above aspect.

[0255] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0256] It should be understood that the present application is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Controlling a target vehicle to travel on a target lane towards a second lane, where the target lane is one of at least two first lanes, and the at least two first lanes merge into the second lane at the same confluence point; In response to the target vehicle entering a pre-merging area, determining the arrangement position of the target vehicle in a first queue; the first queue is used to indicate the order in which each first vehicle merges into the second lane in sequence; the first vehicle includes a vehicle traveling towards the second lane through the pre-merging area; the pre-merging area includes a section of area corresponding to each of the at least two first lanes before the confluence point, and the target lane includes a virtual reaction line and a virtual stop line; the virtual reaction line is used to indicate the position where the target vehicle starts to decelerate when decelerating and stopping at the virtual stop line; the virtual stop line is used to indicate the demarcation line between the pre-merging area corresponding to the target vehicle and the merging area; the lane area between the virtual reaction line and the virtual stop line is the pre-merging area corresponding to the target vehicle, and the merging area includes areas extending from the confluence point towards the at least two first lanes and the second lane respectively, and there is at most one vehicle in the merging area; Based on the arrangement position of the target vehicle in the first queue, controlling the driving state of the target vehicle during the process of entering the pre-merging area and merging into the second lane.

2. The method according to claim 1, wherein The step of, in response to the target vehicle entering the pre-merging area, determining the arrangement position of the target vehicle in the first queue includes: In response to the target vehicle entering the pre-merging area and there being a first merging vehicle, determining the arrangement position of the target vehicle in the first queue based on the lane where the first merging vehicle is located; the first merging vehicle is used to indicate other first vehicles in the pre-merging area except the target vehicle.

3. The method according to claim 2, wherein The step of determining the arrangement position of the target vehicle in the first queue based on the lane where the first merging vehicle is located includes: In response to the first merging vehicle and the target vehicle being in different first lanes, determining the target time-to-distance of the target vehicle from the virtual stop line and the first time-to-distance of the first merging vehicle from the virtual stop line; Based on the target time-to-distance and the first time-to-distance, determining the arrangement position of the target vehicle in the first queue.

4. The method according to claim 3, wherein There are a priority lane and a non-priority lane among the at least two first lanes; The step of determining the arrangement position of the target vehicle in the first queue based on the target time-to-distance and the first time-to-distance includes: In response to the target lane being the priority lane and the target time-to-distance being greater than or equal to the first time-to-distance multiplied by a first specified value, arranging the target vehicle behind the first merging vehicle in the first queue; In response to the target lane being the priority lane and the target time headway being less than the first time headway multiplied by the first specified value, arrange the target vehicle in front of the first merging vehicle in the first queue; In response to the target lane being the non - priority lane and the target time headway being greater than or equal to the first time headway multiplied by the second specified value, arrange the target vehicle behind the first merging vehicle in the first queue; In response to the target lane being the non - priority lane and the target time headway being less than the first time headway multiplied by the second specified value, arrange the target vehicle in front of the first merging vehicle in the first queue.

5. The method according to claim 2, wherein Among the at least two first lanes, there are a priority lane and a non - priority lane, and the target lane is the non - priority lane; Determining the arrangement position of the target vehicle in the first queue based on the lane where the first merging vehicle is located includes: In response to the first merging vehicle being in the priority lane, arrange the target vehicle behind the first merging vehicle in the first queue.

6. The method according to claim 2, characterized in that, Determining the arrangement position of the target vehicle in the first queue based on the lane where the first merging vehicle is located includes: In response to the target vehicle and the first merging vehicle being in the same lane, arrange the target vehicle behind the first merging vehicle.

7. According to the method described in any one of claims 1 to 6, characterized in that, The priorities of the at least two first lanes are the same; The method further includes: In response to a second merging vehicle entering the merging area, the second merging vehicle and the third merging vehicle being in the same lane, and the second merging vehicle and the fourth merging vehicle being in different lanes, swap the positions of the third merging vehicle and the fourth merging vehicle in the first queue; Wherein, the second merging vehicle is the first vehicle with the head arrangement position; the third merging vehicle is the first vehicle with the second arrangement position; the fourth merging vehicle is the first vehicle with the third arrangement position.

8. The method according to any one of claims 1 to 6, characterized in that, Before determining the arrangement position of the target vehicle in the first queue in response to the target vehicle entering the pre - merging area, it further includes: Based on the driving speed of the target vehicle and the virtual stop line, determine the virtual reaction line; Determine the lane area between the virtual reaction line and the virtual stop line as the pre - merging area corresponding to the target vehicle.

9. The method according to any one of claims 1 to 6, characterized in that, Determining the arrangement position of the target vehicle in the first queue in response to the target vehicle entering the pre - merging area includes: In response to the target vehicle entering the pre - merging area and there being no first merging vehicle, add the target vehicle to the tail of the first queue in sequence.

10. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In response to controlling the target vehicle to drive out of the merging area and merge into the second lane, remove the target vehicle from the first queue.

11. According to the method as claimed in any one of claims 1 to 6, characterized in that, Controlling the driving state of the target vehicle during the process of driving into the pre - merging area and merging into the second lane based on the arrangement position of the target vehicle in the first queue includes: In response to the arrangement position of the target vehicle in the first queue being the head position, control the target vehicle to drive into the pre-merging area and continue to drive towards the second lane.

12. The method according to any one of claims 1 to 6, characterized in that The driving state during the process of controlling the target vehicle to drive into the pre-merging area and merge into the second lane based on the arrangement position of the target vehicle in the first queue includes: In response to the arrangement position of the target vehicle being a non-head position in the first queue and there being a first vehicle in the same lane as the target vehicle and in front of the target vehicle, control the target vehicle to maintain a safe distance from the vehicle in front. In response to the first vehicle in the same lane as the target vehicle and in front of the target vehicle driving into the merging area, control the target vehicle to decelerate with the virtual stop line as the target.

13. A vehicle control device, characterized in that, The device includes: A vehicle control module, configured to control a target vehicle to drive towards a second lane on a target lane, where the target lane is one of at least two first lanes, and the at least two first lanes merge into the second lane at the same intersection. A position determination module, configured to, in response to the target vehicle entering the pre-merging area, determine the arrangement position of the target vehicle in the first queue; the first queue is used to indicate the order in which each first vehicle merges into the second lane in sequence; the first vehicle includes a vehicle driving towards the second lane through the pre-merging area; the pre-merging area includes a section of area corresponding to each of the at least two first lanes before the intersection, and the target lane includes a virtual reaction line and a virtual stop line; the virtual reaction line is used to indicate the position where the target vehicle starts to decelerate when decelerating and stopping at the virtual stop line; the virtual stop line is used to indicate the boundary between the pre-merging area corresponding to the target vehicle and the merging area; the lane area between the virtual reaction line and the virtual stop line is the pre-merging area corresponding to the target vehicle, and the merging area includes areas extending from the intersection towards the at least two first lanes and the second lane respectively, and there is at most one vehicle in the merging area. A state control module, configured to control the driving state of the target vehicle during the process of driving the target vehicle into the pre-merging area and merging into the second lane based on the arrangement position of the target vehicle in the first queue.

14. A computer device, characterized in that, The computer device includes a processor and a memory, and at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor to implement the vehicle control method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor to implement the vehicle control method according to any one of claims 1 to 12.

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