Ramp passing method, device, vehicle and storage medium for vehicle

Abstract

The present application relates to a ramp passage method, device, vehicle and storage medium, wherein the method includes: identifying vehicle information and lane information of at least one target vehicle in the ramp area; determining whether the vehicle meets the preset conditions for safe merging into the ramp or the preset conditions for safe merging out of the ramp; if the vehicle does not meet the preset conditions for safe merging into the ramp or the preset conditions for safe merging out of the ramp, then calculating the timing of the vehicle's selection of acceleration, deceleration or delay of lane change based on the vehicle information and / or lane information, and controlling the vehicle to pass the ramp based on the timing. The present application can select the timing of acceleration, deceleration or delay of lane change based on the vehicle information and / or lane information when the conditions for safe merging into or out of the ramp cannot be met at present, so as to improve the passage efficiency and lane change success rate.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a ramp passage method, device, vehicle and storage medium for a vehicle. Background Art

[0002] With the development of intelligent connected vehicles, the capabilities of intelligent driving are becoming stronger and stronger. In recent years, many vehicles have been equipped with highway navigation assisted driving functions. Based on navigation and high-precision positioning, functions such as automatic lane changing and automatic on- and off-ramps on highways can be realized. However, in the current automatic merging and exiting of ramps, there will be problems with low lane changing efficiency and success rate when there are interfering vehicles in the target lane.

[0003] In related technologies, the status of main road traffic can be obtained in real time based on vehicle networking, high-precision maps and other means, and then before the vehicle merges in or out, the merging and unmerging of vehicles can be sorted with the main road traffic. Based on the sorting, it can be determined whether the vehicle can be controlled to achieve automatic merging and unmerging. When the main road traffic volume is large, risk reminders can be issued to facilitate users to take over the vehicle and improve the success rate of vehicle merging and unmerging.

[0004] However, the relevant technology ignores the variability of the main road traffic flow, which makes the merging and unmerging strategies possibly not applicable to the changed main road traffic flow status, resulting in merging and unmerging failures. There are major safety hazards, and the intelligence level is low, requiring takeover and conversion, which reduces the efficiency of going up and down the ramps, and needs to be improved. Summary of the invention

[0005] The present application provides a ramp passage method, device, vehicle and storage medium for a vehicle, so as to solve the technical problems in the related technology of converting the ramp merging problem into a vehicle sorting problem, resulting in a low success rate of merging and unmerging, great safety hazards and low intelligence level.

[0006] A first aspect of the present application provides a ramp passage method for a vehicle, comprising the following steps: identifying vehicle information and lane information of at least one target vehicle in a ramp area; determining whether the vehicle satisfies a preset condition for safely merging into the ramp or a preset condition for safely merging out of the ramp; and if the vehicle does not meet the preset condition for safely merging into the ramp or the preset condition for safely merging out of the ramp, calculating the timing for the vehicle to select acceleration, deceleration or delay lane change based on the vehicle information and / or lane information, and controlling the vehicle to pass the ramp based on the timing.

[0007] According to the above technical means, the embodiment of the present application can choose the timing of acceleration, deceleration or delay of lane change according to vehicle information and / or lane information when the conditions for safely merging into or out of the ramp cannot be met at present, so as to improve traffic efficiency and lane change success rate.

[0008] Optionally, in one embodiment of the present application, the preset condition for safely merging into the ramp or the preset condition for safely merging out of the ramp includes at least one of the following: the vehicle's automatic driving system is activated, the vehicle has navigation turned on and has a destination set, the vehicle is within an electronic fence, the vehicle is navigating ahead to enter a ramp or merge into the main road from the ramp, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

[0009] According to the above-mentioned technical means, the embodiments of the present application can preset safe merging and exiting ramp conditions so that the current vehicle can achieve automatic driving when the preset conditions are met, thereby reducing the user's driving burden.

[0010] Optionally, in one embodiment of the present application, before calculating the timing of the vehicle's selected acceleration, selected deceleration, or delayed lane change, it also includes: detecting the actual category of the at least one target vehicle, wherein the actual category includes a moving category and a stationary category; and matching the calculation strategy for calculating the timing according to the actual category.

[0011] According to the above technical means, the embodiment of the present application can perform corresponding strategy calculations according to the actual status of vehicles near the ramp, thereby improving the success rate of vehicles merging into and out of the ramp.

[0012] Optionally, in one embodiment of the present application, calculating the timing of selecting acceleration, deceleration or delayed lane change of the vehicle based on the vehicle information and / or lane information includes: calculating the actual distance from the current position to the ramp based on the vehicle information and / or lane information; combining the motion state of the target vehicle and the relative speed between the target vehicle and the vehicle, predicting the execution result of acceleration, deceleration or lane change based on the actual distance, and determining the timing.

[0013] According to the above technical means, the embodiment of the present application can predict the motion information of the target vehicle, and then determine the timing of lane change, achieve safe merging into and out of the ramp, and improve the success rate of merging into and out of the ramp.

[0014] A second aspect of the present application provides a ramp passage device for a vehicle, comprising: an identification module for identifying vehicle information and lane information of at least one target vehicle in a ramp area; a judgment module for judging whether the vehicle meets a preset condition for safely merging into the ramp or a preset condition for safely merging out of the ramp; and a control module for calculating the timing of selecting acceleration, deceleration or delaying lane change for the vehicle based on the vehicle information and / or lane information when the vehicle does not meet the preset condition for safely merging into the ramp or the preset condition for safely merging out of the ramp, and controlling the vehicle to pass the ramp based on the timing.

[0015] Optionally, in one embodiment of the present application, the preset condition for safely merging into the ramp or the preset condition for safely merging out of the ramp includes at least one of the following: the vehicle's automatic driving system is activated, the vehicle has navigation turned on and has a destination set, the vehicle is within an electronic fence, the vehicle is navigating ahead to enter a ramp or merge into the main road from the ramp, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

[0016] Optionally, in one embodiment of the present application, it also includes: a detection module for detecting the actual category of the at least one target vehicle, wherein the actual category includes a moving category and a stationary category; and a calculation module for matching a calculation strategy for calculating the timing according to the actual category.

[0017] Optionally, in one embodiment of the present application, the control module includes: a calculation unit, used to calculate the actual distance from the current position to the ramp based on the vehicle information and / or lane information; a prediction unit, used to combine the motion state of the target vehicle and the relative speed between the target vehicle and the vehicle, predict the execution result of acceleration, deceleration or lane changing according to the actual distance, and determine the timing.

[0018] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ramp passage method for the vehicle as described in the above embodiment.

[0019] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the ramp passage method of the vehicle as described above.

[0020] Beneficial effects of the embodiments of the present application:

[0021] (1) The embodiments of the present application can preset safe merging and unmerging conditions, and control the vehicle to automatically merge and unmerge on the ramp when the conditions are met, thereby reducing the driving pressure of the user and improving the ramp traffic efficiency of the vehicle;

[0022] (2) The embodiments of the present application can select the timing of acceleration, deceleration or delayed lane change based on vehicle information and / or lane information when the safe merging and exiting conditions are not met, so as to improve traffic efficiency and ramp passing success rate, increase vehicle driving safety, and enhance the user's driving experience.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A flowchart of a ramp passage method for a vehicle provided according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the principle of a ramp passage method for a vehicle according to an embodiment of the present application;

[0027] Figure 3 A schematic diagram of a ramp position of a ramp passage method for a vehicle according to an embodiment of the present application;

[0028] Figure 4 A schematic diagram of a ramp passage method for a vehicle with a single guide lane according to an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a ramp passage method for a vehicle with multiple guide lanes according to an embodiment of the present application;

[0030] Figure 6 A schematic diagram of a non-guided lane for a ramp passage method for a vehicle according to an embodiment of the present application;

[0031] Figure 7 A schematic diagram of the structure of a ramp passage device for a vehicle provided according to an embodiment of the present application;

[0032] Figure 8 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0033] Among them, 10 is a ramp passage device for vehicles; 100 is an identification module, 200 is a judgment module, and 300 is a control module. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The ramp passage method, device, vehicle and storage medium of the vehicle in the embodiment of the present application are described below with reference to the accompanying drawings. In view of the technical problems that the ramp merging problem is converted into a vehicle sorting problem in the related technology mentioned in the background technology center, resulting in a low success rate of merging and unmerging, and there are great safety hazards, and the level of intelligence is low, the present application provides a ramp passage method for vehicles, in which the timing of selecting acceleration, deceleration or delaying lane change of the vehicle can be calculated according to the vehicle information and / or lane information when the conditions for safely merging and unmerging ramps cannot be met at present, and the vehicle is controlled to pass the ramp according to the timing, thereby improving the traffic efficiency and the success rate of lane change, reducing the driving burden of users, increasing the driving safety of vehicles, and improving the driving experience of users. As a result, the technical problems that the ramp merging problem is converted into a vehicle sorting problem in the related technology, resulting in a low success rate of merging and unmerging, and there are great safety hazards, and the level of intelligence is low are solved.

[0036] Specifically, Figure 1 A schematic flow chart of a ramp passage method for a vehicle provided in an embodiment of the present application.

[0037] like Figure 1 As shown, the ramp passing method of the vehicle includes the following steps:

[0038] In step S101 , vehicle information and lane information of at least one target vehicle in a ramp area are identified.

[0039] During the actual implementation process, the embodiments of the present application can obtain the accurate positioning of the vehicle based on high-precision maps and positioning systems, obtain the lane and position of the current vehicle, and the relationship between the vehicle and the road. At the same time, the embodiments of the present application can also obtain vehicle information and lane information of at least one target vehicle in the ramp area based on detection equipment, such as the fusion of multiple sensors such as millimeter-wave radars and cameras.

[0040] In step S102, it is determined whether the vehicle meets a preset condition for safely merging into the ramp or a preset condition for safely merging out of the ramp.

[0041] As a possible implementation method, the embodiment of the present application can preset the conditions for safely merging into the ramp or the conditions for safely merging out of the ramp, and when identifying that the current vehicle is in the merging into the ramp or the merging out of the ramp scenario, determine whether the current vehicle meets the preset conditions for safely merging into the ramp or the conditions for safely merging out of the ramp, thereby facilitating the embodiment of the present application to execute different strategies according to different judgment results, thereby controlling the vehicle to automatically merge into or out of the ramp.

[0042] It should be noted that the conditions for presetting a safe merge onto a ramp or the conditions for presetting a safe merge off a ramp will be explained below.

[0043] Optionally, in one embodiment of the present application, the preset conditions for safely merging into a ramp or the preset conditions for safely merging out of a ramp include at least one of the following: the vehicle's autonomous driving system is activated, the vehicle's navigation is turned on and a destination is set, the vehicle is within an electronic fence, the vehicle is navigating ahead to enter a ramp or merge into the main road from a ramp, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

[0044] In some embodiments, the preset safe merging-on ramp conditions or safe merging-off ramp conditions may include:

[0045] The vehicle's autonomous driving system has been activated, so that the embodiment of the present application meets the prerequisites for autonomous driving;

[0046] The vehicle turns on navigation and sets a destination, so that the vehicle's location information, road information and route planning information can be obtained through navigation;

[0047] The vehicle is currently within the electronic fence, making the vehicle detectable;

[0048] The in-vehicle navigation shows that the vehicle is about to enter a ramp or merge into the main road from the ramp, that is, the vehicle is about to merge into the ramp;

[0049] The vehicle is currently in the ramp side lane or in the ramp close to the main road side lane, that is, the vehicle is about to merge into the ramp.

[0050] In step S103, if the vehicle does not meet the preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp, the timing for the vehicle to accelerate, decelerate or delay lane change is calculated based on the vehicle information and / or lane information, and the vehicle is controlled to pass through the ramp based on the timing.

[0051] In other embodiments, when a vehicle does not meet the preset conditions for safely merging into a ramp or safely merging out of a ramp, the embodiments of the present application can calculate the timing for the traffic flow to accelerate, decelerate, or delay lane change based on the acquired vehicle information, such as the vehicle's overall parameters, the vehicle's current speed, etc., and / or lane information, such as the number of lanes, lane traffic status, etc., and control the vehicle to pass through the ramp according to the timing, so as to improve traffic efficiency and lane change success rate.

[0052] Optionally, in one embodiment of the present application, before calculating the timing of the vehicle's selected acceleration, selected deceleration, or delayed lane change, it also includes: detecting the actual category of at least one target vehicle, wherein the actual category includes a moving category and a stationary category; and matching the calculation strategy for calculating the timing according to the actual category.

[0053] It is understandable that in actual scenarios, there may be stationary vehicles at the ramp entrance due to factors such as vehicles queuing to pass through the toll station or vehicles parked illegally. Therefore, the embodiment of the present application can detect the actual category of the target vehicle, determine whether the target vehicle is a moving vehicle or a stationary vehicle, and then generate a corresponding calculation strategy.

[0054] Optionally, in one embodiment of the present application, the timing for the vehicle to select acceleration, deceleration or delayed lane change is calculated based on vehicle information and / or lane information, including: calculating the actual distance from the current position to the ramp based on the vehicle information and / or lane information; combining the motion state of the target vehicle and the relative speed between the vehicles, predicting the execution result of acceleration, deceleration or lane change based on the actual distance, and determining the timing.

[0055] During the actual implementation process, the embodiments of the present application can calculate the actual distance from the current position of the vehicle to the ramp based on vehicle information, such as vehicle information, vehicle speed, acceleration, etc., and lane information, such as lane width, length, whether there is a guide lane, etc., and then combine the motion state of the target vehicle, such as whether the target vehicle is a moving vehicle or the target vehicle is a stationary vehicle, and the relative speed between vehicles to generate a corresponding strategy, and then predict the scenario of the vehicle merging into or out of the ramp based on the actual distance from the current position of the vehicle to the ramp, and then choose the time to accelerate, decelerate or delay lane change to improve traffic efficiency and lane change success rate.

[0056] Combination Figures 2 to 6 As shown, the working principle of the ramp passage method for vehicles in the embodiment of the present application is described in detail with an embodiment.

[0057] like Figure 2 As shown, the embodiment of the present application can be divided into two calculation strategies according to the motion state of the target vehicle.

[0058] Scenario 1: When the target vehicle is a moving vehicle

[0059] Step a: The embodiment of the present application can be combined with the current vehicle, that is, the time t1 from the start to the completion of the lane change of the vehicle, and the lane change distance s1 = v0×t1 to the cut-off point m can be preset.

[0060] Step b: In the embodiment of the present application, a preset time t2 may be used. When the distance to the lane-changing cut-off point m is less than s2 = v0 × t2, accelerated lane changing is prohibited to ensure safety.

[0061] Step c: In the embodiment of the present application, a minimum safety distance s0 may be preset, and when the distance is less than the minimum safety distance s0, the user needs to be prompted to take over immediately.

[0062] Step d: The embodiment of the present application may preset a maximum time t3 for determining the driving speed at the current speed.

[0063] Step e: In the embodiment of the present application, the maximum acceleration a1 and the maximum acceleration duration t4 for lane change can be preset.

[0064] Step f: In the embodiment of the present application, the maximum deceleration a2 for deceleration and lane change and the maximum deceleration t5 for the actual vehicle can be preset.

[0065] Step e: The embodiment of the present application can be controlled according to the following strategy:

[0066] When the current distance is greater than s2, and the safe lane change condition can be met within t3s by continuing to drive at the current speed, the vehicle continues to drive at the current speed and changes lanes when the lane change condition is met;

[0067] When the current distance is greater than s2, the safe lane change condition cannot be met within t3s if the vehicle continues to drive at the current speed. When the vehicle speed minus the target speed ≥-5km / h, priority is given to accelerating the lane change. If the lane change condition can be met within t4s by accelerating at a1, the vehicle accelerates at a1 and changes lanes after the lane change condition is met.

[0068] When the current distance is greater than s2, the safe lane change condition cannot be met within t3s if the vehicle continues to drive at the current speed. When the vehicle speed minus the target speed is ≥-5km / h, if the lane change condition cannot be met within t4s if the vehicle accelerates at a1, the vehicle is judged to drive at a decelerated speed. If the lane change condition can be met within t5s if the vehicle decelerates at a2, the vehicle is decelerated at a2 and the lane change is performed after the lane change condition is met.

[0069] When the current distance is greater than s2, if the safe lane change condition cannot be met within t3s by continuing to drive at the current speed, and if the vehicle speed minus the target speed ≥ -5km / h, if the lane change condition cannot be met within t4s by accelerating at a1, and cannot be met within t5s by decelerating at a2, then maintain the current speed and continue driving to wait for the opportunity to change lanes;

[0070] When the current distance is greater than s2, the safe lane change condition cannot be met within t3s if the vehicle speed is continued to drive at the current speed. When the vehicle speed minus the target speed is less than -5km / h, if the lane change condition can be met within t5s if the vehicle decelerates at a2, the vehicle decelerates at a2 and changes lanes after the lane change condition is met.

[0071] When the current distance is greater than s2, the safe lane change condition cannot be met within t3s if the vehicle speed is continued to drive at the current speed. If the vehicle speed minus the target speed is less than -5km / h, if the lane change condition cannot be met within t5s if the vehicle decelerates at a2, the vehicle maintains the current speed and continues to drive to wait for the opportunity to change lanes.

[0072] When the current distance is less than s2, if the vehicle continues to drive at the current speed and the safe lane change condition is met when the distance is greater than s1, the vehicle will continue to drive at the current speed and change lanes when the condition is met;

[0073] When the current distance is less than s2, if continuing to drive at the current speed cannot meet the safe lane changing conditions when the distance is greater than s1, the vehicle will slow down at a2 and change lanes after the lane changing conditions are met. If the lane changing is still impossible, the driver will be prompted to take over when the distance is less than s0.

[0074] Scenario 2: When the target vehicle is stationary

[0075] Step a: The embodiment of the present application can combine the lane changing time and preset the distance s3 that can be used for lane changing after overtaking a stationary vehicle.

[0076] Step b: The embodiment of the present application can combine the lane changing time and preset the time t6 for two consecutive lane changes.

[0077] Step c: The embodiment of the present application can be controlled according to the following strategy:

[0078] If there is a guide lane in the target lane, when the number of stationary vehicles in the guide lane is greater than 1, the stationary vehicle is taken as the target, and the lane is changed to follow the vehicle and stop;

[0079] If there is a guide lane in the target lane, such as Figure 3 As shown, when the number of stationary vehicles in the guide lane = 1, if the number of guide lanes = 1, and the distance from the stationary vehicle to the lane change cut-off point is greater than s3, the vehicle continues to drive at the current speed and changes lanes after passing the stationary vehicle;

[0080] If there is a guide lane in the target lane, such as Figure 4 As shown, when the number of stationary vehicles in the guide lane = 1, if the number of guide lanes = 1, and the distance from the stationary vehicle to the lane changeable cutoff point is less than s3, the stationary target is taken as the target, and the lane is changed to follow the vehicle and stop;

[0081] If there is a guide lane in the target lane, such as Figure 5 As shown, when the number of stationary vehicles in the guide lane = 1, if the number of guide lanes ≥ 2, if the TTC (Time to Collision) from the vehicle to the stationary target is greater than t6, then change lanes to the target lane first and then continue changing lanes;

[0082] If there is a guide lane in the target lane, such as Figure 5 As shown, when the number of stationary vehicles in the guide lane = 1, if the number of guide lanes ≥ 2, if the TTC from the vehicle to the stationary target is less than t6, and the distance from the stationary vehicle to the lane change cutoff point is greater than s3, then continue to drive at the current speed and change lanes after passing the stationary vehicle;

[0083] If there is a guide lane in the target lane, such as Figure 5As shown, when the number of stationary vehicles in the guide lane = 1, if the number of guide lanes ≥ 2, if the TTC from the vehicle to the stationary target is less than t6 and the distance from the stationary vehicle to the lane changeable cutoff point is less than s3, the stationary target is taken as the target, and the lane is changed to follow the vehicle and stop;

[0084] If there is no guide lane in the target lane, such as Figure 6 As shown in the figure, if there is a stationary vehicle on each ramp, the stationary target is selected as the target, and the lane is changed to follow the vehicle and stop;

[0085] If there is no guide lane in the target lane, such as Figure 6 As shown, when not every ramp has stationary vehicles, choose a lane without stationary vehicles to merge into.

[0086] According to the ramp passage method of the vehicle proposed in the embodiment of the present application, when the conditions for safely merging into or out of the ramp cannot be met at present, the timing of the vehicle's selection of acceleration, deceleration or delayed lane change can be calculated based on the vehicle information and / or lane information, and the vehicle can be controlled to pass the ramp according to the timing, thereby improving the passage efficiency and lane change success rate, reducing the user's driving burden, increasing the vehicle's driving safety, and improving the user's driving experience. As a result, the technical problem of converting the ramp merging problem into a vehicle sorting problem in the related technology, resulting in a low merging success rate, a large safety hazard, and a low level of intelligence, is solved.

[0087] Next, the ramp passage device for vehicles proposed in accordance with the embodiments of the present application will be described with reference to the accompanying drawings.

[0088] Figure 7 It is a block diagram of a ramp passage device for a vehicle according to an embodiment of the present application.

[0089] like Figure 7 As shown, the ramp passage device 10 of the vehicle includes: an identification module 100 , a judgment module 200 and a control module 300 .

[0090] Specifically, the identification module 100 is used to identify vehicle information and lane information of at least one target vehicle in the ramp area.

[0091] The determination module 200 is used to determine whether the vehicle meets the preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp.

[0092] The control module 300 is used to calculate the timing of accelerating, decelerating or delaying lane changing of the vehicle according to the vehicle information and / or lane information when the vehicle does not meet the preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp, and control the vehicle to pass through the ramp according to the timing.

[0093] Optionally, in one embodiment of the present application, the preset conditions for safely merging into a ramp or the preset conditions for safely merging out of a ramp include at least one of the following: the vehicle's autonomous driving system is activated, the vehicle's navigation is turned on and a destination is set, the vehicle is within an electronic fence, the vehicle is navigating ahead to enter a ramp or merge into the main road from a ramp, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

[0094] Optionally, in one embodiment of the present application, the ramp passage device 10 for a vehicle further includes: a detection module and a calculation module.

[0095] The detection module is used to detect the actual category of at least one target vehicle, wherein the actual category includes a moving category and a stationary category.

[0096] The calculation module is used to match the calculation strategy for the calculation opportunity according to the actual category.

[0097] Optionally, in one embodiment of the present application, the control module 300 includes: a calculation unit and a prediction unit.

[0098] The calculation unit is used to calculate the actual distance from the current position to the ramp according to the vehicle information and / or lane information.

[0099] The prediction unit is used to combine the motion state of the target vehicle and the relative speed between the target vehicle and the target vehicle, predict the execution result of acceleration, deceleration or lane change according to the actual distance, and determine the timing.

[0100] It should be noted that the above explanation of the embodiment of the ramp passage method for a vehicle is also applicable to the ramp passage device for a vehicle in this embodiment, and will not be repeated here.

[0101] According to the ramp passage device of the vehicle proposed in the embodiment of the present application, when the conditions for safely merging into or out of the ramp cannot be met at present, the timing of the vehicle's selection of acceleration, deceleration or delayed lane change can be calculated based on vehicle information and / or lane information, and the vehicle can be controlled to pass through the ramp according to the timing, thereby improving the passage efficiency and lane change success rate, reducing the user's driving burden, increasing the vehicle's driving safety, and improving the user's driving experience. Thus, the technical problem of converting the ramp merging problem into a vehicle sorting problem in the related technology, resulting in a low merging success rate, a large safety hazard, and a low level of intelligence, is solved.

[0102] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0103] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0104] When the processor 802 executes the program, the ramp passing method for the vehicle provided in the above embodiment is implemented.

[0105] Furthermore, the vehicle also includes:

[0106] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0107] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0108] The memory 801 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0109] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0110] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0111] The processor 802 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0112] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ramp passage method for a vehicle as described above.

[0113] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0114] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0115] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0116] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0117] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0118] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0119] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0120] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A ramp passage method for a vehicle, characterized in that: The following steps are involved: identifying vehicle information and lane information of at least one target vehicle in the ramp area; Determining whether the vehicle meets a preset safe merging-in ramp condition or a preset safe merging-out ramp condition; as well as If the vehicle does not meet the preset safe merging-in ramp condition or the preset safe merging-out ramp condition, calculating the timing of selecting acceleration, selecting deceleration or delaying lane change for the vehicle according to the vehicle information and / or lane information, and controlling the vehicle to pass the ramp according to the timing; Before calculating the timing of selecting acceleration, selecting deceleration or delaying lane change of the vehicle, the method further includes: Detecting an actual category of the at least one target vehicle, wherein the actual category includes a moving category and a stationary category; matching a calculation strategy for calculating the opportunity according to the actual category; When the target vehicle is a moving vehicle: Step a: The target vehicle takes t1 from the start to the completion of lane change, and the lane change distance s1 is preset to the cut-off point m; Step b: When the distance from the lane change cut-off point m to the preset time t2 is less than s2, accelerating lane change is prohibited to ensure safety; Step c: preset a minimum safety distance s0, and when the distance is less than the minimum safety distance, prompt the user to take over immediately; Step d: preset the maximum driving determination time t3 at the current speed; Step e: preset the maximum acceleration a1 and the maximum acceleration duration t4; Step f: presetting the maximum deceleration a2 for lane change and the maximum deceleration duration t5; Step g: Control according to the above steps; When the target vehicle is a stationary vehicle: Step a: Based on the lane changing time, a distance s3 that can be used to change lanes after overtaking a stationary vehicle is preset; Step b: Based on the lane changing time, a time t6 during which two consecutive lane changes can be performed is preset; Step c: Control according to the above steps.

2. The method according to claim 1, characterized in that The preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp include at least one of the following: the vehicle's automatic driving system is activated, the vehicle has navigation turned on and has a destination set, the vehicle is within an electronic fence, the vehicle is entering a ramp or merging into the main road from the ramp ahead, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

3. The method according to claim 1, characterized in that The calculating the timing of selecting acceleration, selecting deceleration or delaying lane change of the vehicle according to the vehicle information and / or lane information includes: Calculate the actual distance from the current position to the ramp according to the vehicle information and / or lane information; The timing is determined by combining the motion state of the target vehicle and the relative speed between the target vehicle and the vehicle and predicting the execution result of acceleration, deceleration or lane change according to the actual distance.

4. A ramp passing device for a vehicle, used for executing a ramp passing method for a vehicle in claims 1-3, characterized in that: include: an identification module, used to identify vehicle information and lane information of at least one target vehicle in the ramp area; A determination module, used to determine whether the vehicle meets a preset condition for safely merging into the ramp or a preset condition for safely merging out of the ramp; as well as A control module is used to calculate the timing of accelerating, decelerating or delaying lane changing of the vehicle according to the vehicle information and / or lane information when the vehicle does not meet the preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp, and control the vehicle to pass the ramp according to the timing.

5. The device according to claim 4, characterized in that The preset conditions for safely merging into the ramp or the preset conditions for safely merging out of the ramp include at least one of the following: the vehicle's automatic driving system is activated, the vehicle has navigation turned on and has a destination set, the vehicle is within an electronic fence, the vehicle is entering a ramp or merging into the main road from the ramp ahead, and the vehicle is currently in a ramp side lane or a ramp close to the main road side lane.

6. The device according to claim 4, characterized in that Also includes: A detection module, configured to detect an actual category of the at least one target vehicle, wherein the actual category includes a moving category and a stationary category; A calculation module is used to match a calculation strategy for calculating the opportunity according to the actual category.

7. The device according to claim 4, characterized in that The control module comprises: a calculation unit, configured to calculate an actual distance from a current position to a ramp according to the vehicle information and / or lane information; The prediction unit is used to combine the motion state of the target vehicle and the relative speed between the target vehicle and the vehicle, predict the execution result of acceleration, deceleration or lane change according to the actual distance, and determine the timing.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ramp passage method for a vehicle as described in any one of claims 1 to 3.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the ramp passage method for a vehicle as described in any one of claims 1 to 3.

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