Method, device, storage medium and electronic device for selecting entry point

Abstract

The present invention discloses a method, device, storage medium and electronic device for selecting an entry point. The method includes: obtaining first position information, second position information and third position information; in response to a first vehicle entering a target area, obtaining first attribute information of a second vehicle and second attribute information of a third vehicle; determining first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determining second distance information between the first vehicle and the third vehicle using the first position information and the third position information; obtaining entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information; and controlling the first vehicle to execute an operation of exiting the current road using the entry point information. The present invention solves the technical problem that the entry point selection of the related art cannot guarantee optimality.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method, device, storage medium and electronic device for selecting an entry point. Background Art

[0002] Autonomous driving technology is an important means to alleviate traffic congestion and improve traffic safety in the future. In an autonomous driving system, vehicle lane changing is a very typical operating condition, such as a vehicle entering a main road from a ramp. During the lane changing process, the vehicle needs to reach the specified speed and enter the entry point within the specified time to successfully complete the lane change. Therefore, the selection of the entry point is very important and needs to take into account both safety and user comfort.

[0003] Under the premise of connected cars, the optimal entry point can be selected by coordinating the control of the vehicle and the vehicles in the target lane, but it is currently impossible to achieve that all vehicles on the road are connected cars. Under the premise of single-vehicle intelligence, multiple entry points are simulated and calculated through traversal or sliding window methods to select the entry point, but this method is complex in calculation, time-consuming, and the selected entry point cannot guarantee optimality. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, storage medium and electronic device for selecting an entry point, so as to at least solve the technical problem that the entry point selection in the related art cannot ensure optimality.

[0005] According to one embodiment of the present invention, a method for selecting an entry point is provided, comprising:

[0006] Acquire first position information, second position information and third position information, wherein the first position information is position information of the first vehicle, the second position information is position information of the second vehicle, the third position information is position information of the third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in the target lane; in response to the first vehicle entering the target area, acquire first attribute information of the second vehicle and second attribute information of the third vehicle, wherein the target area includes a first area and a second area, the first area is a non-changeable lane area, and the second area is a changeable lane area; determine first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determine second distance information between the first vehicle and the third vehicle using the first position information and the third position information; acquire entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, wherein the entry point information is used to determine the target position of the first vehicle to exit the current road; use the entry point information to control the first vehicle to execute the operation of exiting the current road.

[0007] Optionally, the method further includes: based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, when the entry point information is not obtained, re-searching for a new second vehicle and a new third vehicle.

[0008] Optionally, obtaining the first position information, the second position information and the third position information includes: obtaining the first positioning information and the first posture information of the first vehicle, obtaining the second positioning information and the second posture information of the second vehicle, and obtaining the third positioning information and the third posture information of the third vehicle; fusing the first positioning information and the first posture information to obtain the first position information, fusing the second positioning information and the second posture information to obtain the second position information, and fusing the third positioning information and the third posture information to obtain the third position information.

[0009] Optionally, in response to the first vehicle entering the target area, obtaining first attribute information of the second vehicle and second attribute information of the third vehicle includes: in response to determining that the first vehicle enters the target area according to the first position information, obtaining the first attribute information and the second attribute information.

[0010] Optionally, based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, obtaining the entry point information includes: using a target model to analyze the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information to obtain the entry point information, wherein the entry point information includes the acceleration and time of the first vehicle arriving at the entry point, and the target model includes an objective function and constraints, the objective function is used to control the acceleration and time to meet preset conditions, and the constraints are used to constrain the acceleration and time to be within a preset value range.

[0011] Optionally, the objective function is determined by a first weight, a second weight, acceleration and time, wherein the first weight is the weight of acceleration, the second weight is the weight of time, and the first weight and the second weight are used to control acceleration and time to meet preset conditions.

[0012] Optionally, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and the constraint condition is used to constrain the acceleration and time to be within a preset value range according to the speed limit of the current road.

[0013] According to one embodiment of the present invention, there is also provided a device for selecting an entry point, comprising:

[0014] A sensor input module is used to obtain first position information, second position information and third position information, wherein the first position information is the position information of the first vehicle, the second position information is the position information of the second vehicle, the third position information is the position information of the third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in the target lane; a state judgment module is used to obtain first attribute information of the second vehicle and second attribute information of the third vehicle in response to the first vehicle entering the target area, wherein the target area includes a first area and a second area, the first area is a non-changeable lane area, and the second area is a changeable lane area; the state judgment module is also used to determine the first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determine the second distance information between the first vehicle and the third vehicle using the first position information and the third position information; an optimal solution module is used to obtain entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, wherein the entry point information is used to determine the target position of the first vehicle to exit the current road; a path planning module is used to control the first vehicle to execute the operation of exiting the current road using the entry point information.

[0015] Optionally, the optimal solution module is also used to re-search for a new second vehicle and a new third vehicle based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information when the entry point information is not obtained.

[0016] Optionally, the sensor input module is also used to obtain the first positioning information and the first posture information of the first vehicle, the second positioning information and the second posture information of the second vehicle, and the third positioning information and the third posture information of the third vehicle; to fuse the first positioning information and the first posture information to obtain the first position information, to fuse the second positioning information and the second posture information to obtain the second position information, and to fuse the third positioning information and the third posture information to obtain the third position information.

[0017] Optionally, the state judgment module is further used to obtain the first attribute information and the second attribute information in response to determining that the first vehicle enters the target area according to the first position information.

[0018] Optionally, the optimal solution module is also used to use a target model to analyze the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information to obtain entry point information, wherein the entry point information includes the acceleration and time of the first vehicle reaching the entry point, and the target model includes an objective function and constraints, the objective function is used to control the acceleration and time to meet preset conditions, and the constraints are used to constrain the acceleration and time to be within a preset value range.

[0019] Optionally, the objective function is determined by a first weight, a second weight, acceleration and time, wherein the first weight is the weight of acceleration, the second weight is the weight of time, and the first weight and the second weight are used to control acceleration and time to meet preset conditions.

[0020] Optionally, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and the constraint condition is used to constrain the acceleration and time to be within a preset value range according to the speed limit of the current road.

[0021] According to one embodiment of the present invention, a non-volatile storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute any of the aforementioned entry point selection methods when running.

[0022] According to one embodiment of the present invention, there is further provided an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any of the aforementioned entry point selection methods.

[0023] In an embodiment of the present invention, by acquiring first position information, second position information and third position information, in response to the first vehicle entering the target area, first attribute information of the second vehicle and second attribute information of the third vehicle are acquired, the first distance information between the first vehicle and the second vehicle is determined using the first position information and the second position information, and the second distance information between the first vehicle and the third vehicle is determined using the first position information and the third position information, entry point information is acquired based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and the entry point information is used to control the first vehicle to execute an operation of driving out of the current road. When the position of the first vehicle meets the detection condition, according to the position information of the first vehicle, the second vehicle and the third vehicle and the speed and acceleration information of the second vehicle and the third vehicle, a suitable entry point for the first vehicle to change lanes to between the second vehicle and the third vehicle can be accurately selected, thereby reducing the time cost and ensuring the optimality of the entry point selection, thereby solving the technical problem that the entry point selection of the related technology cannot ensure the optimality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 is a flow chart of a method for selecting an entry point according to one embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a vehicle changing lanes according to one optional embodiment of the present invention;

[0027] Figure 3 is a structural block diagram of a device for selecting an entry point according to one embodiment of the present invention;

[0028] Figure 4 is a flow chart of a method for selecting an entry point according to one optional embodiment of the present invention;

[0029] Figure 5 is a flow chart of a method for selecting an entry point according to one optional embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] According to one embodiment of the present invention, an embodiment of a method for selecting an entry point is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] The method embodiment can be executed in an electronic device including a memory and a processor in a vehicle, a similar control device, or an automatic driving system. Taking the operation on the electronic device of the vehicle as an example, the electronic device of the vehicle may include one or more processors and a memory for storing data. Optionally, the electronic device of the above-mentioned vehicle may also include a communication device and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only illustrative and does not limit the structure of the electronic device of the above-mentioned vehicle. For example, the electronic device of the vehicle may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0034] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0035] The memory can be used to store computer programs, such as storing a computer program corresponding to the method for selecting an entry point in an embodiment of the present invention. The processor implements the method for selecting an entry point by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0036] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0037] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0038] In this embodiment, a method for selecting an entry point of an electronic device running on the above vehicle is provided. Figure 1 is a flow chart of a method for selecting an entry point according to one embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0039] Step S101, obtaining first location information, second location information and third location information.

[0040] The first position information is the position information of the first vehicle, the second position information is the position information of the second vehicle, the third position information is the position information of the third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in the target lane. The position information includes the vehicle's positioning information, speed information, distance information, and posture information, among which the positioning information is information such as the specific position coordinates of the vehicle, the speed information is information such as the acceleration and current speed of the vehicle, the distance information is information such as the relative horizontal and vertical distances between vehicles, and the posture information is information such as the orientation of the vehicle.

[0041] like Figure 2 As shown, Figure 2 : is a schematic diagram of a vehicle lane change according to one of the optional embodiments of the present invention. Taking the case where a vehicle enters the main road (target lane) from a ramp as an example, the vehicle to be changed is the first vehicle. When the first vehicle is driving on the ramp, it will pass through three areas in sequence, namely the ramp initial area, the non-changeable area and the changeable area. Among them, the ramp initial area is far away from the main road, and the first vehicle cannot see the state of the main road when driving in the ramp initial area. The non-changeable area and the changeable area are adjacent to the main road. There is a solid line between the non-changeable area and the main road, so the vehicle cannot change lanes, and there is a dotted line between the changeable area and the main road, so the vehicle can change lanes. After the first vehicle enters the non-changeable area, it can see the state of the main road, and can detect the information of the vehicles within the preset range around it (including the information of the vehicles on the ramp and the main road), that is, the first vehicle can detect the information of the second vehicle and the third vehicle, so it can start to select a suitable entry point. Among them, the second vehicle and the third vehicle are two adjacent vehicles in the main road. After the first vehicle changes lanes to the main road through the entry point, it is located between the second vehicle and the third vehicle.

[0042] Step S102: In response to the first vehicle entering the target area, first attribute information of the second vehicle and second attribute information of the third vehicle are acquired.

[0043] The target area includes a first area and a second area, the first area is a non-changeable lane area, and the second area is a changeable lane area. The first attribute information of the second vehicle includes the speed and acceleration of the second vehicle, and the second attribute information of the third vehicle includes the speed and acceleration of the third vehicle.

[0044] like Figure 2 As shown, the first vehicle will first pass through the first area and then the second area during driving. When the first vehicle enters the first area, the first vehicle can see the state of the main road and detect the information of vehicles within the surrounding preset range, so it can start to select an entry point. If the first vehicle does not find a suitable entry point when driving in the first area, it will continue to search for a suitable entry point when driving in the second area.

[0045] Step S103: Determine first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determine second distance information between the first vehicle and the third vehicle using the first position information and the third position information.

[0046] In response to the first vehicle entering the target area, the steps of acquiring the first attribute information and the second attribute information and determining the first distance information and the second distance information may be performed simultaneously or in sequence, and the specific sequence is not limited by the present invention.

[0047] Step S104: Acquire entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information.

[0048] The entry point information is used to determine the target position of the first vehicle when it exits the current road. The entry point information includes the acceleration a and time t of the first vehicle reaching the entry point. According to the acceleration a and time t, the lateral distance and longitudinal distance between the first vehicle and the entry point can be calculated. The longitudinal distance is calculated by Calculation is performed, where S0 is the current longitudinal position of the first vehicle, v0 is the current speed of the first vehicle, and the lateral distance can be obtained according to the longitudinal distance S and the lane line equation, so as to more accurately determine the position of the entry point.

[0049] Step S105: Using the entry point information, control the first vehicle to execute an operation of driving out of the current road.

[0050] After the first vehicle travels to the cut-in point and changes lanes according to the acceleration and time, it can be located between the second vehicle and the third vehicle.

[0051] Through the above steps, the first position information, the second position information and the third position information are obtained, in response to the first vehicle entering the target area, the first attribute information of the second vehicle and the second attribute information of the third vehicle are obtained, the first distance information between the first vehicle and the second vehicle is determined using the first position information and the second position information, and the second distance information between the first vehicle and the third vehicle is determined using the first position information and the third position information, based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, the entry point information is obtained, and the entry point information is used to control the first vehicle to execute the operation of driving out of the current road. When the position of the first vehicle meets the detection condition, according to the position information of the first vehicle, the second vehicle and the third vehicle and the speed and acceleration information of the second vehicle and the third vehicle, a suitable entry point for the first vehicle to change lanes to between the second vehicle and the third vehicle can be accurately selected, thereby reducing the time cost and ensuring the optimality of the entry point selection, thereby solving the technical problem that the entry point selection of the related technology cannot ensure the optimality.

[0052] Optionally, after step S105, the method further includes:

[0053] Step S106, based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, if the entry point information is not obtained, search again for a new second vehicle and a new third vehicle.

[0054] like Figure 2As shown, taking the second vehicle in step S101-step S105 as vehicle A and the third vehicle as vehicle B as an example, if the entry point information is not obtained according to the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, it can be understood that the first vehicle cannot be located between vehicle A and vehicle B after changing lanes, and the first vehicle cannot change lanes between vehicle A and vehicle B. That is, the entry point selection fails this time, and it is necessary to replace the new second vehicle and the third vehicle to find a new entry point. The new second vehicle can be, for example, vehicle B, and the new third vehicle can be, for example, vehicle C, to ensure that the second vehicle and the third vehicle are vehicles within the preset range around the first vehicle, and are two adjacent vehicles in the target lane. Therefore, in the process of selecting the entry point, when the surrounding vehicles (the second vehicle and the third vehicle) do not meet the lane change requirements, it is possible to reselect suitable surrounding vehicles for calculation and find the entry point, thereby improving the accuracy of the entry point selection, ensuring the optimality of the entry point selection, and effectively reducing the time cost of selecting the entry point.

[0055] Optionally, in step S101, obtaining the first location information, the second location information, and the third location information may include the following execution steps:

[0056] Step S101a, obtaining first positioning information and first posture information of the first vehicle, obtaining second positioning information and second posture information of the second vehicle, and obtaining third positioning information and third posture information of the third vehicle.

[0057] Step S101b, fuse the first positioning information and the first posture information to obtain first position information, fuse the second positioning information and the second posture information to obtain second position information, and fuse the third positioning information and the third posture information to obtain third position information.

[0058] The vehicle's positioning information and posture information can be obtained through devices such as cameras, millimeter-wave radars, 360-degree surround view and high-precision map positioning. By performing sensor fusion on the vehicle's positioning information and posture information obtained through numerous devices, more accurate vehicle location information can be obtained, thereby improving the accuracy of entry point selection.

[0059] Optionally, in step S102, in response to the first vehicle entering the target area, acquiring the first attribute information of the second vehicle and the second attribute information of the third vehicle may include the following execution steps:

[0060] Step S102a: in response to determining that the first vehicle enters the target area according to the first position information, obtaining first attribute information and second attribute information.

[0061] Among them, the position information of the target area can be preset in the memory in advance. When it is determined that the first vehicle is located in the target area based on the first position information of the first vehicle, the first attribute information of the second vehicle and the second attribute information of the third vehicle are obtained, that is, the speed and acceleration of the second vehicle and the speed and acceleration of the third vehicle are obtained.

[0062] Optionally, in step S104, based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, obtaining the entry point information may include the following execution steps:

[0063] Step S104a: using the target model to analyze the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information to obtain entry point information.

[0064] The entry point information includes the acceleration and time of the first vehicle reaching the entry point, and the target model includes an objective function and constraint conditions. The objective function is used to control the acceleration and time to meet preset conditions, and the preset conditions include default conditions and manually set conditions. The constraint conditions are used to constrain the acceleration and time to be within a preset value range.

[0065] Optionally, the objective function is determined by a first weight, a second weight, acceleration and time, wherein the first weight is the weight of acceleration, the second weight is the weight of time, and the first weight and the second weight are used to control acceleration and time to meet preset conditions.

[0066] The objective function is: min{λ1a 2 +λ2t 2}, where a is the acceleration of the first vehicle arriving at the entry point, t is the time for the first vehicle to arrive at the entry point, λ1 is the weight of a, and λ2 is the weight of t. The values ​​of acceleration a and time t are required to be as small as possible by default. The smaller a is, the better the user experience and the higher the comfort during vehicle driving. The smaller t is, the shorter the time during the vehicle lane change process, and the lane change can be completed quickly. By adjusting the values ​​of λ1 and λ2, the values ​​of acceleration a and time t are controlled to be as small as possible to the greatest extent, so as to select the optimal entry point. In addition, if the user pursues more comfort, the values ​​of λ1 and λ2 can be adjusted so that the acceleration a tends to be minimized within a reasonable range, so as to select the optimal entry point. If the user pursues more lane change speed, the values ​​of λ1 and λ2 can be adjusted so that the time t tends to be minimized within a reasonable range, so as to select the optimal entry point.

[0067] Optionally, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and the constraint condition is used to constrain the acceleration and time to be within a preset value range according to the speed limit of the current road.

[0068] The constraints include: S f -S>(v0+at)g f ,

[0069] SS b >(v0+at)g b ,

[0070]

[0071]

[0072]

[0073]

[0074] a min <a<a max ,

[0075] Where a is the acceleration of the first vehicle reaching the entry point, t is the time when the first vehicle reaches the entry point, S f is the distance between the first vehicle and the preceding vehicle (the second vehicle), S is the longitudinal distance between the first vehicle and the entry point, v0 is the current speed of the first vehicle, g f is the time distance limit between the first vehicle and the preceding vehicle, S b is the distance between the first vehicle and the following vehicle (the third vehicle), g b is the time distance limit between the first vehicle and the following vehicle, v f0 is the current speed of the preceding vehicle, a f is the acceleration of the front vehicle, T f is the time to collision (TTC) limit between the first vehicle and the preceding vehicle, v b0 is the current speed of the following vehicle, T b is the TTC limit between the first vehicle and the following vehicle, Lat is the lateral distance between the first vehicle and the entry point, V L is the lateral speed limit of the vehicle, S min is the shortest longitudinal distance between the first vehicle and the entry point, S max is the maximum longitudinal distance between the first vehicle and the entry point, a min is the minimum acceleration of the first vehicle, a max The above constraint condition can limit the value range of acceleration a and time t according to the speed of surrounding vehicles and the speed limit of the current road, ensuring that acceleration a and time t are within a safe value range, thereby ensuring the safety of the first vehicle when changing lanes.

[0076] By inputting the acquired first position information of the first vehicle, the first attribute information of the second vehicle, the second attribute information of the third vehicle, the first distance information between the first vehicle and the second vehicle, and the second distance information between the first vehicle and the third vehicle into the objective function and constraint conditions for analysis, it is possible to obtain the value ranges of acceleration a and time t that ensure the first vehicle is under safe conditions, and then select the optimal entry point by adjusting λ1 and λ2 in the objective function.

[0077] Among them, under different conditions, S f , S b The calculation method of S is different. f , there are four situations:

[0078] (1), when a f >0, t<t f1 hour, in, S f0 is the current distance between the preceding vehicle and the first vehicle;

[0079] (2), when a f >0, t>t f1 hour,

[0080] (3), when a f <0,t<t f2 hour, in,

[0081] (4), when a f <0,t>t f2 hour,

[0082] For S b , there are five situations:

[0083] (5), when a b >0, t<t b1 hour, in,

[0084] (6), when a b >0,t>t b1 hour,

[0085] (7), when a b <0,t<t b2 hour, in,

[0086] (8), when ab <0,t>t b2 hour,

[0087] (9) When S b >S f When S b =S f +T fb V f +S bv , where V f is the speed of the preceding vehicle, T fb is the time distance between the front and rear vehicles, S bv is the length of the rear vehicle.

[0088] For S, there are four cases:

[0089] (10) When a>0, t<t s1 hour, in, The upper limit of the speed for autonomous driving on the current road;

[0090] (11) When a>0, t>t s1 hour,

[0091] (12) When a<0, t<t s2 hour, in, V Slimit The lower speed limit for autonomous driving on the current road;

[0092] (13) When a<0, t>t s2 hour, in,

[0093] In (1)-(13) above, t f1 ,t f2 ,t b1 ,t b2 ,t s1 and t s2 It constrains the time range in which acceleration a can be maintained.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0095] In the present embodiment, a device for selecting an entry point is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0096] Figure 3 is a structural block diagram of a device for selecting an entry point according to one embodiment of the present invention, such as Figure 3 As shown, an entry point selection device 300 is used as an example, and the device includes: a sensor input module 301, which is used to obtain first position information, second position information and third position information, wherein the first position information is the position information of the first vehicle, the second position information is the position information of the second vehicle, and the third position information is the position information of the third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in the target lane; a state judgment module 302, which is used to respond to the first vehicle entering the target area, to obtain the first attribute information of the second vehicle and the second attribute information of the third vehicle, wherein the target area includes the first area and the second area domain, the first area is an invariable lane area, and the second area is a variable lane area; the state judgment module 302 is also used to determine the first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and to determine the second distance information between the first vehicle and the third vehicle using the first position information and the third position information; the optimal solution module 303 is used to obtain the entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, wherein the entry point information is used to determine the target position of the first vehicle to exit the current road; the path planning module 304 is used to use the entry point information to control the first vehicle to execute the operation of exiting the current road.

[0097] Optionally, the optimal solution module 303 is further used to re-search for a new second vehicle and a new third vehicle based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information when the entry point information is not obtained.

[0098] Optionally, the sensor input module 301 is also used to obtain the first positioning information and the first posture information of the first vehicle, the second positioning information and the second posture information of the second vehicle, and the third positioning information and the third posture information of the third vehicle; fuse the first positioning information and the first posture information to obtain the first position information, fuse the second positioning information and the second posture information to obtain the second position information, and fuse the third positioning information and the third posture information to obtain the third position information.

[0099] Optionally, the state determination module 302 is further configured to obtain the first attribute information and the second attribute information in response to determining that the first vehicle enters the target area according to the first position information.

[0100] Optionally, the optimal solution module 303 is also used to use a target model to analyze the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information to obtain entry point information, wherein the entry point information includes the acceleration and time of the first vehicle arriving at the entry point, and the target model includes an objective function and constraints, the objective function is used to control the acceleration and time to meet preset conditions, and the constraints are used to constrain the acceleration and time to be within a preset value range.

[0101] Optionally, the objective function is determined by a first weight, a second weight, acceleration and time, wherein the first weight is the weight of acceleration, the second weight is the weight of time, and the first weight and the second weight are used to control acceleration and time to meet preset conditions.

[0102] Optionally, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and the constraint condition is used to constrain the acceleration and time to be within a preset value range according to the speed limit of the current road.

[0103] Optionally, in Figure 3 In the entry point selection device 300 shown, the state judgment module 302 specifically includes a position judgment unit 3021 , a solution judgment unit 3022 and a gap selection unit 3023 .

[0104] The position determination unit 3021 is used to receive the position information of the own vehicle and the position information of the surrounding vehicles sent by the sensor input module 301, wherein the position information of the own vehicle and the position information of the surrounding vehicles include the first position information, the second position information and the third position information. The position determination unit 3021 determines the position of the first vehicle according to the first position information of the first vehicle, and after determining that the first vehicle enters the target area, sends the position information of the own vehicle and the position information of the surrounding vehicles to the solution determination unit 3022.

[0105] The solution determination unit 3022 is used to receive the position information of the own vehicle and the position information of the surrounding vehicles sent by the position determination unit 3021, and the solution determination unit 3022 determines whether the optimal solution module 303 obtains the entry point information. If the solution determination unit 3022 determines that the optimal solution module 303 obtains the entry point information, the lateral distance and longitudinal distance between the first vehicle and the entry point are calculated according to the acceleration and time in the entry point information, and the acceleration, time, lateral distance and longitudinal distance are output to the path planning module 304; if the solution determination unit 3022 determines that the optimal solution module 303 does not obtain the entry point information, the solution determination unit 3022 sends the position information of the own vehicle and the position information of the surrounding vehicles to the gap selection unit 3023. Among them, when the solution determination unit 3022 makes a judgment for the first time, it is assumed that the optimal solution module 303 has not obtained the entry point information.

[0106] The gap selection unit 3023 is used to receive the position information of the own vehicle and the position information of the surrounding vehicles sent by the solution judgment unit 3022. The gap selection unit 3023 selects the second vehicle and the third vehicle for calculation according to the first position information of the first vehicle. According to the first position information of the first vehicle, the second position information of the second vehicle and the third position information of the third vehicle, the first attribute information of the second vehicle, the second attribute information of the third vehicle, the first distance information between the first vehicle and the second vehicle, and the second distance information between the first vehicle and the third vehicle are obtained, and the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information are sent to the optimal solution module 303.

[0107] like Figure 4 As shown, Figure 3 The flow chart of the entry point selection method performed by the entry point selection device 300 shown in FIG. 1 includes the following steps (see FIG. 1 ). Figure 5 ):

[0108] Step a: the sensor input module 301 obtains the position information of the own vehicle and the position information of the surrounding vehicles, and sends the position information of the own vehicle and the position information of the surrounding vehicles to the position judgment unit 3021.

[0109] Step a can be understood as the sensor input module 301 obtaining the first position information of the first vehicle, the second position information of the second vehicle and the third position information of the third vehicle, and sending the first position information, the second position information and the third position information to the position judgment unit 3021.

[0110] Step b: After the position determination unit 3021 determines that the own vehicle has entered the target area based on the position information of the own vehicle, it sends the position information of the own vehicle and the position information of surrounding vehicles to the solution determination unit 3022.

[0111] Step b can be understood as the position judgment unit 3021 sending the first position information, the second position information and the third position information to the solution judgment unit 3022 after determining that the first vehicle enters the target area based on the first position information of the first vehicle.

[0112] Step c: the solution determination unit 3022 determines whether the optimal solution module 303 obtains the entry point information.

[0113] Among them, when the solution judgment unit 3022 makes a judgment for the first time, it is assumed that the optimal solution module 303 has not obtained the entry point information. It can be understood that when step c is executed for the first time, it is assumed that the optimal solution module 303 has not obtained the entry point information.

[0114] If the solution determination unit 3022 determines in step c that the optimal solution module 303 has not obtained the entry point information, then steps d to f are executed.

[0115] Step d: When the solution determination unit 3022 determines that the optimal solution module 303 has not obtained the entry point information, it sends the position information of the own vehicle and the position information of the surrounding vehicles to the gap selection unit 3023.

[0116] Step d can be understood as the solution determination unit 3022 sending the first position information, the second position information and the third position information to the gap selection unit 3023 when determining that the optimal solution module 303 has not obtained the entry point information.

[0117] Step e, the gap selection unit 3023 selects the second vehicle and the third vehicle for calculation according to the first position information of the first vehicle, obtains the first attribute information of the second vehicle, the second attribute information of the third vehicle, the first distance information between the first vehicle and the second vehicle, and the second distance information between the first vehicle and the third vehicle according to the first position information of the first vehicle, the second position information of the second vehicle, and the third position information of the third vehicle, and sends the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information to the optimal solution module 303.

[0118] Step f: the optimal solution module 303 obtains the entry point information according to the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information, and sends the entry point information to the solution judgment unit 3022.

[0119] After step f, continue to repeat steps c to f until the solution determination unit 3022 determines in step c that the optimal solution module 303 has obtained the entry point information, and then execute steps g to h.

[0120] The second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in the target lane. In step e, the gap selection unit 3023 reselects a new second vehicle and a new third vehicle in each repeated cycle, so that the optimal solution module 303 searches for the optimal entry point within the preset range around the first vehicle.

[0121] If the solution determination unit 3022 determines in step c that the optimal solution module 303 has obtained the entry point information, then steps g to h are executed.

[0122] Step g: the solution determination unit 3022 calculates the lateral distance and longitudinal distance between the first vehicle and the entry point according to the entry point information, and sends the entry point information (acceleration and time), the lateral distance and the longitudinal distance to the path planning module 304.

[0123] Step h: The path planning module 304 uses the entry point information to control the vehicle to drive out of the current road.

[0124] Step h can be understood as the path planning module 304 controlling the first vehicle to drive out of the current road according to the entry point information (acceleration and time), the lateral distance and the longitudinal distance.

[0125] So far, the above steps have achieved the operation of selecting the optimal entry point and controlling the vehicle to exit the current road through the optimal entry point, completing the vehicle lane change, while ensuring the comfort and safety of the user and reducing the time cost of selecting the entry point.

[0126] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0127] An embodiment of the present invention further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0128] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0129] Step S1, obtaining first location information, second location information and third location information;

[0130] Step S2, in response to the first vehicle entering the target area, obtaining first attribute information of the second vehicle and second attribute information of the third vehicle;

[0131] Step S3, determining first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determining second distance information between the first vehicle and the third vehicle using the first position information and the third position information;

[0132] Step S4, acquiring entry point information based on the first position information, the first attribute information, the second attribute information, the first distance information and the second distance information;

[0133] Step S5, using the entry point information to control the first vehicle to execute an operation of driving out of the current road.

[0134] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0135] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0136] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0139] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0141] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for selecting an entry point, characterized in that: The method comprises: Acquire first position information, second position information, and third position information, wherein the first position information is position information of a first vehicle, the second position information is position information of a second vehicle, and the third position information is position information of a third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in front and behind in a target lane; In response to the first vehicle entering a target area, first attribute information of the second vehicle and second attribute information of the third vehicle are acquired, wherein the target area includes a first area and a second area, the first area is a non-lane-changeable area, and the second area is a lane-changeable area; Determine first distance information between the first vehicle and the second vehicle using the first position information and the second position information, and determine second distance information between the first vehicle and the third vehicle using the first position information and the third position information; Using a target model to analyze the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information to obtain the entry point information, wherein the entry point information is used to determine a target position for the first vehicle to exit a current road, the target model includes an objective function and a constraint condition, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information, the first attribute information includes a speed and an acceleration of the second vehicle, and the second attribute information includes a speed and an acceleration of the third vehicle; The entry point information is used to control the first vehicle to execute an operation of driving out of the current road.

2. The method according to claim 1, characterized in that The method further comprises: When the entry point information is not obtained based on the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information, a new second vehicle and a new third vehicle are searched again.

3. The method according to claim 1, characterized in that The obtaining of the first location information, the second location information and the third location information comprises: Acquire first positioning information and first posture information of the first vehicle, acquire second positioning information and second posture information of the second vehicle, and acquire third positioning information and third posture information of the third vehicle; The first positioning information and the first posture information are fused to obtain the first position information, the second positioning information and the second posture information are fused to obtain the second position information, and the third positioning information and the third posture information are fused to obtain the third position information.

4. The method according to claim 1, characterized in that: In response to the first vehicle entering the target area, acquiring the first attribute information of the second vehicle and the second attribute information of the third vehicle includes: In response to determining, based on the first position information, that the first vehicle enters the target area, the first attribute information and the second attribute information are acquired.

5. The method according to claim 1, characterized in that in, The entry point information includes the acceleration and time of the first vehicle reaching the entry point, the objective function is used to control the acceleration and the time to meet preset conditions, and the constraint condition is used to constrain the acceleration and the time to be within a preset value range.

6. The method according to claim 5, characterized in that The objective function is determined by a first weight, a second weight, the acceleration and the time, wherein the first weight is the weight of the acceleration, the second weight is the weight of the time, and the first weight and the second weight are used to control the acceleration and the time to meet preset conditions.

7. The method according to claim 5 or 6, characterized in that: The constraint condition is used to constrain the acceleration and the time to be within a preset value range according to the speed limit of the current road.

8. A device for selecting an entry point, characterized in that: The device comprises: a sensor input module, used to obtain first position information, second position information and third position information, wherein the first position information is position information of a first vehicle, the second position information is position information of a second vehicle, and the third position information is position information of a third vehicle, the second vehicle and the third vehicle are vehicles within a preset range around the first vehicle, and the second vehicle and the third vehicle are two adjacent vehicles in a target lane; a state determination module, configured to obtain first attribute information of the second vehicle and second attribute information of the third vehicle in response to the first vehicle entering a target area, wherein the target area includes a first area and a second area, the first area is a non-lane-changeable area, and the second area is a lane-changeable area; The state judgment module is further used to determine the first distance information between the first vehicle and the second vehicle by using the first position information and the second position information, and to determine the second distance information between the first vehicle and the third vehicle by using the first position information and the third position information; an optimal solution module, configured to analyze the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information using a target model to obtain the entry point information, wherein the entry point information is used to determine a target position for the first vehicle to exit a current road, the target model includes an objective function and a constraint condition, the constraint condition is determined by the first position information, the first attribute information, the second attribute information, the first distance information, and the second distance information, the first attribute information includes a speed and an acceleration of the second vehicle, and the second attribute information includes a speed and an acceleration of the third vehicle; A path planning module is used to use the entry point information to control the first vehicle to execute an operation of driving out of the current road.

9. A non-volatile storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method for selecting an entry point described in any one of claims 1 to 7 when running.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for selecting an entry point as described in any one of claims 1 to 7.

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