Vehicle merging method, device, electronic device and medium

Abstract

The present invention relates to a vehicle merging method, device, electronic device and medium. The vehicle merging method includes the following steps: determining a plurality of planned paths of the merging vehicle according to the driving path of the vehicle to be merged, and there are intersection nodes between the plurality of planned paths and the driving path; determining a merging point and a merging path according to the driving path, the planned path and the intersection node. This method can save the time of the vehicle to be merged and the merging vehicle. The two vehicles can drive at a normal speed. The vehicle to be merged does not need to stop or wait for the merging vehicle at a very low speed, and the merging vehicle does not need to overtake the vehicle to be merged at a high speed, which can avoid violations and greatly improve driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and more particularly, to a vehicle merging method, apparatus, electronic device, and medium. Background Art

[0002] In daily life, there are often situations where two or more vehicles need to merge and then travel together. The general handling methods are as follows: making an appointment to merge at a fixed location, in which case the vehicle that arrives first has to stop and wait, wasting time, and in some places where it is not convenient to park, the driver will take the risk of being fined; if not making an appointment to merge at a fixed location, there are two handling methods. One is for the leading vehicle to move forward slowly while waiting, and the other is for the leading vehicle to drive normally and let the following vehicle overtake at high speed, but both of these handling methods will bring driving risks.

[0003] In view of this, the present invention is specifically proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a vehicle merging method, apparatus, electronic device, and medium to achieve the effects of saving time, eliminating the need for the leading vehicle to stop and wait or move forward slowly, and ensuring safe driving.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a vehicle merging method, including the following steps:

[0007] According to the driving paths of the vehicles to be merged, determine multiple planned paths for the merging vehicle, and multiple said planned paths all have intersection nodes with the driving path;

[0008] According to the driving path, the planned path, and the intersection node, determine the merging point and the merging path.

[0009] As a further preferred technical solution, the step of determining the merging point and the merging path of the merging vehicle according to the driving path, the planned path, and the intersection node includes:

[0010] Calculate the time for the vehicle to be merged and the merging vehicle to reach each intersection node respectively;

[0011] According to the time, determine the merging point and the merging path.

[0012] As a further preferred technical solution, the step of determining the merging point and the merging path according to the time includes:

[0013] According to the time T for the vehicle to be merged to reach each intersection node 1i , and the time T for the merging vehicle to reach each intersection node 2i , calculate T 1i and T2i Difference ΔT i ;

[0014] Based on ΔT i , determine the convergence point and the convergence path.

[0015] As a further preferred technical solution, said based on ΔT i , determine the convergence point and the convergence path, including:

[0016] Sort the absolute values of ΔT i from large to small to form a sequence, and send at least two values at the end of the sequence to the client;

[0017] Obtain the numerical selection result, and based on the numerical selection result, determine the convergence point and the convergence path.

[0018] As a further preferred technical solution, the intersection node is the intersection through which the vehicle to be converged passes.

[0019] As a further preferred technical solution, after determining the convergence point and the convergence path, it further includes: monitoring the traffic conditions of the driving path and the convergence path, and based on the traffic conditions, maintaining the current convergence point and the convergence path, or re-determining the convergence point and the convergence path.

[0020] In a second aspect, the present invention provides a vehicle convergence device, including:

[0021] A planned path determination module, configured to determine multiple planned paths of the converging vehicle according to the driving path of the vehicle to be converged, and multiple said planned paths all have intersection nodes with the driving path;

[0022] A convergence point and convergence path determination module, configured to determine the convergence point and the convergence path according to the driving path, the planned path, and the intersection node.

[0023] As a further preferred technical solution, the device further includes a traffic condition monitoring module, configured to monitor the traffic conditions of the driving path and the convergence path, and based on the traffic conditions, maintain the current convergence point and the convergence path, or re-determine the convergence point and the convergence path.

[0024] In a third aspect, the present invention provides an electronic device, including:

[0025] At least one processor; and

[0026] A memory communicatively connected to the at least one processor; wherein,

[0027] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned method.

[0028] In a fourth aspect, the present invention provides a medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the above-mentioned method.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] In the vehicle merging method provided by the present invention, first, according to the driving path of the vehicle to be merged, multiple planned paths of the merging vehicle are determined, and multiple said planned paths all have intersection nodes with the driving path, that is, no matter which planned path the merging vehicle adopts, it will have an intersection point with the driving path of the vehicle to be merged, so as to realize the merging of the merging vehicle and the vehicle to be merged; then, according to the driving path, the planned path and the intersection node, the merging point and the merging path are determined.

[0031] This method can save the time of the vehicle to be merged and the merging vehicle. The two vehicles can drive at normal speeds. The vehicle to be merged does not need to stop or wait for the merging vehicle at a very low speed, and the merging vehicle does not need to chase the vehicle to be merged at an excessive speed, which can avoid violations and greatly improve driving safety. Description of the Drawings

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 is a flowchart of the vehicle merging method provided in Embodiment 1 of the present invention;

[0034] Figure 2 is a flowchart of the vehicle merging method provided in Embodiment 2 of the present invention;

[0035] Figure 3 is a schematic diagram of the driving path of the vehicle to be merged and the planned path of the merging vehicle in Embodiment 2 of the present invention;

[0036] Figure 4 is a flowchart of the vehicle merging method provided in Embodiment 3 of the present invention;

[0037] Figure 5 is a schematic structural diagram of the vehicle merging device provided in Embodiment 4 of the present invention;

[0038] Figure 6 It is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present invention.

[0039] Icons: 501 - Planning path determination module; 502 - Confluence point and confluence path determination module; 601 - Processor; 602 - Memory; 603 - Input device; 604 - Output device. Specific embodiments

[0040] The following describes exemplary embodiments of the present application with reference to the accompanying drawings. Various details of the embodiments of the present application are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted below.

[0041] Embodiment 1

[0042] Figure 1 It is a flowchart of a vehicle confluence method provided in this embodiment. This embodiment is applicable to the confluence between different vehicles. This method can be executed by a vehicle confluence device, which can be composed of software and / or hardware and is generally integrated in an electronic device. The electronic device can be used for vehicle terminals, mobile terminals or cloud platforms.

[0043] As Figure 1 shown in the first vehicle confluence method, it includes the following steps:

[0044] S110. Determine multiple planned paths of the confluence vehicle according to the driving path of the vehicle to be confluenced, and multiple said planned paths all have intersection nodes with the driving path.

[0045] The above-mentioned "vehicle to be confluenced" refers to the vehicle to be confluenced.

[0046] The above-mentioned "confluence vehicle" is a concept set relative to the concept of "vehicle to be confluenced", and refers to the vehicle that actively confluences with the vehicle to be confluenced in a certain way.

[0047] In the present invention, there is one vehicle to be confluenced, and there is one or more confluence vehicles. When actually confluencing three or more vehicles, one of the vehicles is the vehicle to be confluenced, and the other two vehicles are confluence vehicles.

[0048] In the vehicle merging method of this embodiment, firstly, multiple planned paths of the merging vehicle can be determined according to the driving path of the vehicle to be merged. Among them, the driving path of the vehicle to be merged can be obtained from the navigation software of the vehicle to be merged, and the navigation software can be the navigation software of the vehicle to be merged, or it can be the navigation software on the mobile terminal (such as a smart phone, etc.). For the determination method of multiple planned paths, it can be to first determine multiple intersection nodes with the driving path, and then determine multiple planned paths according to each intersection node, wherein each intersection node corresponds to a planned path (the planned path is the shortest path for the merging vehicle to travel to the corresponding intersection node); it can also be to first determine multiple planned paths to ensure that these planned paths all have intersection nodes with the driving path, and these planned paths can be obtained according to the actual road conditions or the daily driving path of the driver. Preferably, in this embodiment, multiple intersection nodes with the driving path are first determined, and then multiple planned paths are determined according to each intersection node.

[0049] The above-mentioned “intersection node” may be an intersection or near typical buildings on both sides of the road, preferably an intersection. When the intersection node is an intersection, the planning path is more flexible.

[0050] S120: Determine a merging point and a merging path according to the driving path, the planned path and the intersection node.

[0051] The above-mentioned determination of the confluence point and the confluence path based on the driving path, the planned path and the intersection node, for example, includes: sending the driving path, the planned path and the intersection node to the client, obtaining the selection results of the planned path and the intersection node, and determining the confluence point and the confluence path according to the selection results. This method is to send the above driving path, planned path and intersection node to the client, which refers to the vehicle end or mobile terminal (such as a smart phone) of the confluence vehicle, and then obtain the selection results of the planned path and the intersection node (the selection result can be issued by the vehicle end or the mobile terminal), and finally determine the confluence point and the confluence path according to the selection result, that is, the core of this method is to let the client determine the confluence point and the confluence path.

[0052] Example 2

[0053] like Figure 2 As shown, this embodiment provides a second vehicle merging method, comprising the following steps:

[0054] S210: Determine multiple planned paths for the merging vehicle based on the driving path of the vehicle to be merged, wherein the multiple planned paths all have intersection nodes with the driving path. This step is the same as step S110 in embodiment 1.

[0055] Determining a merging point and a merging path according to the driving path, the planned path and the intersection node includes:

[0056] S221. Calculate the time for the vehicle to be merged and the merging vehicle to reach each intersection node respectively. The time for the vehicle to be merged to reach each intersection node can be obtained based on the distance between the vehicle to be merged and each intersection node and the average speed of the vehicle to be merged; the time for the merging vehicle to reach each intersection node can be obtained based on the distance between the merging vehicle and each intersection node along each planned path and the average speed of the merging vehicle.

[0057] S222. Determine the merging point and the merging path according to the time.

[0058] Preferably, the determining the merging point and the merging path according to the time includes:

[0059] According to the time T for the vehicle to be merged to reach each intersection node 1i , and the time T for the merging vehicle to reach each intersection node 2i , calculate the difference ΔT between T 1i and T 2i ; i ;

[0060] Determine the merging point and the merging path according to ΔT i .

[0061] Among them, according to ΔT i , determining the merging point and the merging path can be, for example: taking the intersection node corresponding to the minimum value in the absolute value of ΔT i as the merging point, and the planned path corresponding to this intersection node as the merging path.

[0062] Taking the intersection node corresponding to the minimum value in the absolute value of ΔT i as the merging point may have certain errors or does not conform to the actual driving habits of the driver. Therefore, preferably, sort the absolute values of ΔT i from large to small to form a sequence, send at least two values at the end of the sequence to the client; obtain the numerical selection result, and determine the merging point and the merging path according to the numerical selection result. The core of this preferred method is to send at least two smaller values to the client, and the client determines the merging point and the merging path. The client refers to the vehicle end of the merging vehicle or a mobile terminal (such as a smart phone).

[0063] Optionally, for ΔT iSort the absolute values from smallest to largest to form a sequence, and send at least two values at the beginning of the sequence to the client; obtain the result of value selection, and determine the merging point and merging path according to the result of value selection. The difference between this method and the above preferred method lies in the arrangement method of the sequence. This method is arranged in ascending order of absolute value, and at least two values at the beginning of the sequence are sent. The results of this method and the above preferred method are the same. The difference lies only in the data arrangement method and selection method, and the two do not constitute a substantial difference.

[0064] Optionally, the method further includes: when the merging vehicle is about to drive to the merging point, send a speed adjustment prompt to remind the merging vehicle and the vehicle to be merged that they are about to merge, and the vehicle speed needs to be slightly adjusted. For the vehicle that will arrive at the merging point first, remind it to slow down slightly, and for the vehicle that will arrive at the merging point later, remind it to speed up slightly, so that the merging vehicle and the vehicle to be merged arrive at the merging point basically at the same time.

[0065] In this embodiment, if communication between the merging vehicle and the vehicle to be merged is involved, V2X-DSRC (Vehicle to Everything-Dedicated Short Range Communications), C-V2X (Cellular Vehicle to Everything), 4G, 5G or other wireless networks can be used.

[0066] As Figure 3 shown is a schematic diagram of the driving path of the vehicle to be merged and the planned path of the merging vehicle in this embodiment. It can be seen from the figure that the vehicle to be merged passes through intersections a, b, c, and d in sequence, and there are 4 planned paths for the merging vehicle. The endpoints of the 4 planned paths are intersections a, b, c, and d respectively. Calculate the time T 1a 、T 1b 、T 1c and T 1d when the vehicle to be merged drives to intersections a, b, c, and d respectively, and calculate the time T 2a 、T 2b 、T 2c and T 2d when the merging vehicle drives to intersections a, b, c, and d respectively. Calculate the difference ΔT i , and the results are ΔT a 、ΔT b 、ΔT c 、ΔT d . If ΔT a = 20 minutes, ΔT b = 5 minutes, ΔT c= 10 minutes, ΔT d = 30 minutes, select the two smaller values of ΔT b and ΔT c , send these two values to the client. If the client selects ΔT b , then according to the selected result of the said values, determine the meeting point as intersection b, and the meeting path is the path for the meeting vehicle to drive to intersection b.

[0067] Embodiment 3

[0068] As Figure 4 shown, this embodiment provides a third vehicle meeting method, including the following steps:

[0069] S310. According to the driving path of the vehicle to be met, determine multiple planned paths for the meeting vehicle, and multiple said planned paths all have intersection nodes with the driving path.

[0070] S320. According to the driving path, the planned path and the intersection node, determine the meeting point and the meeting path.

[0071] S330. Monitor the traffic conditions of the driving path and the meeting path, and according to the traffic conditions, maintain the current meeting point and meeting path, or re-determine the meeting point and meeting path.

[0072] In this embodiment, after determining the meeting point and the meeting path, step S330 is also included. By monitoring the traffic conditions of the driving path and the meeting path in real time, if it is found that there are abnormal situations such as traffic jams on the path, the meeting point and the meeting path need to be re-determined (the determination method is the same as steps S310 and S320). If no abnormal situation is found, the current meeting point and meeting path are maintained. This embodiment can realize the real-time dynamic correction of the meeting point and the meeting path.

[0073] The above "traffic conditions" refers to the actual conditions of traffic operation, including unobstructed, slow moving, congested or severely congested, etc.

[0074] In addition, during the vehicle driving process, the vehicle to be met and the meeting vehicle can share the itinerary, so as to know each other's real-time positions and arrival times, so as to adjust the meeting path or meeting point in time.

[0075] It should be noted that the specific methods of steps S310 and S320 not mentioned in this embodiment can adopt any one of Embodiment 1 or Embodiment 2.

[0076] Embodiment 4

[0077] Figure 5FIG. 0 is a schematic structural diagram of a vehicle merging device provided by this embodiment. This device is applicable to the merging between different vehicles. This device is implemented by software and / or hardware and is specifically configured in an electronic device with certain data computing capabilities. This electronic device can be used in vehicle terminals, mobile terminals or the cloud.

[0078] As Figure 5 shown, a vehicle merging device includes:

[0079] A planned path determination module 501, configured to determine multiple planned paths of the merging vehicle according to the driving path of the vehicle to be merged. Multiple said planned paths all have intersection nodes with the said driving path;

[0080] A merging point and merging path determination module 502, configured to determine a merging point and a merging path according to the driving path, the planned path and the intersection node.

[0081] Preferably, the merging point and merging path determination module 502 includes:

[0082] A time determination unit, configured to calculate the time for the vehicle to be merged and the merging vehicle to reach each intersection node respectively;

[0083] A merging point and merging path determination unit, configured to determine a merging point and a merging path according to the said time; preferably, according to the time T 1i for the vehicle to be merged to reach each intersection node, and the time T 2i for the merging vehicle to reach each intersection node, calculate the difference ΔT 1i between T 2i and T i ; sort the absolute values of ΔT i from large to small to form a sequence, send at least two values at the end of the sequence to the client; obtain the numerical selection result, and determine the merging point and the merging path according to the said numerical selection result.

[0084] Preferably, the said device further includes a traffic condition monitoring module, configured to monitor the traffic conditions of the driving path and the merging path, and maintain the current merging point and merging path according to the said traffic conditions, or re-determine the merging point and the merging path.

[0085] The vehicle merging device in this embodiment realizes vehicle merging by adopting modules or units such as a planned path determination module and a merging point and merging path determination module. This device can be used to execute the vehicle merging method in each of the above embodiments, and thus has the corresponding functional modules and beneficial effects of executing the above vehicle merging method.

[0086] Embodiment 5

[0087] As Figure 6As shown, this embodiment provides an electronic device, including:

[0088] At least one processor; and

[0089] A memory communicatively connected to the at least one processor; wherein,

[0090] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned method. At least one processor in this electronic device can execute the above-mentioned method, and thus has at least the same advantages as the above-mentioned method.

[0091] Optionally, the electronic device further includes interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component is interconnected using different buses and can be mounted on a common motherboard or otherwise mounted as required. The processor can process instructions executed within the electronic device, including instructions for graphical information stored in the memory or on the memory to be displayed on an external input / output device (such as a display device coupled to the interface) as a GUI (Graphical User Interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 6 Take a processor 601 as an example.

[0092] The memory 602, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the vehicle merging method in the embodiments of the present invention (for example, the planning path determination module 501 and the merging point and merging path determination module 502 in the vehicle merging device). The processor 601 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 602, that is, implements the above-mentioned vehicle merging method.

[0093] The memory 602 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 602 may include high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 602 may further include a memory remotely provided with respect to the processor 601, and these remote memories may be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0094] The electronic device may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603, and the output device 604 may be connected through a bus or other means. Figure 6 Taking the connection through the bus as an example.

[0095] The input device 603 may receive input digital or character information, and the output device 604 may include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor), etc. The display device may include but is not limited to a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0096] Embodiment 7

[0097] This embodiment provides a medium on which computer instructions are stored, and the computer instructions are used to cause the computer to execute the above method. The computer instructions on this medium are used to cause the computer to execute the above method, and thus at least have the same advantages as the above method.

[0098] The medium in the present invention may adopt any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the medium may be any tangible medium that contains or stores a program, and this program may be used by or in combination with an instruction execution system, apparatus, or device.

[0099] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0100] The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

[0101] The computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0102] It should be understood that various forms of the flow shown above may be used, with steps reordered, added, or deleted. For example, the steps recited in this application may be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this application can be achieved. No limitation is imposed herein.

[0103] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A vehicle merging method, characterized in that, It includes the following steps: According to the driving paths of the vehicles to be merged, determine multiple planned paths for each merging vehicle among the multiple merging vehicles. Multiple said planned paths all have intersection nodes with the driving paths, and the planned paths are the shortest paths for each said merging vehicle to drive to the intersection nodes; According to the time T when the vehicle to be merged arrives at each of the intersection nodes 1i , the time T when each merging vehicle arrives at each of the intersection nodes 2i , calculate T 1i and T 2i to obtain the difference ΔT i ; Send at least two smaller values in the absolute value of ΔT to the client; i ​ Obtain the numerical selection result. According to the numerical selection result, determine the convergence point and the convergence path. The convergence point is the intersection node corresponding to the absolute value of ΔT selected by the numerical selection result, and the convergence path is the planned path corresponding to the convergence point. i ​ 2. The vehicle merging method according to claim 1, characterized in that, The intersection nodes are the intersections passed by the vehicles to be merged.

3. The vehicle merging method according to claim 1 or 2, characterized in that, After determining the merging point and the merging path, it further includes: monitoring the traffic conditions of the driving path and the merging path, and according to the traffic conditions, maintaining the current merging point and the merging path, or re-determining the merging point and the merging path.

4. A vehicle merging device, characterized in that, It includes: A planned path determination module, configured to determine multiple planned paths for each merging vehicle among the multiple merging vehicles according to the driving paths of the vehicles to be merged. Multiple said planned paths all have intersection nodes with the driving paths, and the planned paths are the shortest paths for each said merging vehicle to drive to the intersection nodes; A convergence point and convergence path determination module, which is used to calculate, according to the time T when the vehicle to be converged arrives at each of the intersection nodes 1i , and the time T when each of the converging vehicles arrives at each of the intersection nodes 2i , the difference ΔT between T 1i and T 2i ; and send at least two smaller values among the absolute values of ΔT i to the client i ; Obtain the numerical selection result, and determine the convergence point and the convergence path according to the numerical selection result. The convergence point is the cross node corresponding to the absolute value of ΔT selected by the numerical selection result, and the convergence path is the planned path corresponding to the convergence point. i ​ 5. The vehicle merging device according to claim 4, characterized in that, The device further includes a traffic condition monitoring module, configured to monitor the traffic conditions of the driving path and the merging path, and according to the traffic conditions, maintain the current merging point and the merging path, or re-determine the merging point and the merging path.

6. An electronic device, characterized in that, It includes: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-3.

7. A medium, characterized in that, Computer instructions are stored on the medium, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1-3.

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