A method, controller, and vehicle for determining key roads for autonomous driving

Abstract

The present invention provides a method, a controller and a vehicle for determining key roads for autonomous driving, including: dividing a target path into at least one road area; taking the current road area as the first road area and determining a first road set corresponding to the first road area; if it is determined that a second road area exists, determining a second road set corresponding to the second road area; when the first intersection of the first road set and the second road set is empty, determining a first connected road set in the second road area that can be connected to the second road set; if it is determined that the second intersection of the first road set and the first connected road set is not empty, determining the key road according to the second intersection, the second road set and the first connected road set; thus, by simply dividing the target path into at least one road area and determining the maximum extension distance road set and the connected road set of each road area, the key road can be accurately determined; the algorithm is relatively simple, improving the determination efficiency of the key road.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a method, a controller, and a vehicle for determining key roads for autonomous driving. Background Art

[0002] During the autonomous driving process, the vehicle needs to autonomously select the road to travel on and finally reach the set destination; road decision-making needs to fully consider the complexity of urban roads and needs to be stable, reliable, simple, and efficient.

[0003] Generally speaking, it is to ensure that the vehicle always travels along the key road until it reaches the destination by determining the key road. However, in the related art, the algorithm for determining the key road is complex, and the accuracy cannot be ensured either.

[0004] Based on this, there is an urgent need for a safe and efficient method for determining key roads to improve the safety and efficiency of determining key roads during the autonomous driving process. Summary of the Invention

[0005] In view of the problems existing in the prior art, embodiments of the present invention provide a method, a controller, and a vehicle for determining key roads for autonomous driving to solve or partially solve the technical problems that the determination accuracy and efficiency cannot be ensured when determining key roads in the prior art.

[0006] In a first aspect of the present invention, there is provided a method for determining a key road for autonomous driving, the method including:

[0007] Dividing a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle;

[0008] Taking the current road area where the vehicle is located as the first road area, and determining a first road set corresponding to the first road area; the first road set is the road set with the maximum extension distance in the first road area;

[0009] If it is determined that a second road area exists, determining a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area;

[0010] If the first intersection of the first road set and the second road set is empty, determining a first connected road set that can be connected to the second road set in the second road area;

[0011] If it is determined that the second intersection of the first road set and the first connected road set is not empty, determining the key road according to the second intersection, the second road set, and the first connected road set.

[0012] In the above solution, the method further includes:

[0013] If it is determined that the second road area does not exist, then the roads in the first road set are determined as key roads, and the determination logic of the key roads is terminated.

[0014] In the above solution, the method further includes:

[0015] If it is determined that the first intersection is not empty, then update the first road set based on the first intersection; and update the second road area to the current road area.

[0016] In the above solution, if it is determined that the second intersection is empty, the method further includes:

[0017] Determine the third road set corresponding to the third road area; the third road set is the road set with the maximum extension distance in the third road area;

[0018] Then determine the second connected road set that can be connected to the third road set in the third road area;

[0019] If it is determined that the third intersection of the first road set and the second connected road set is not empty, then determine the key roads according to the third intersection, the third road set and the second connected road set.

[0020] In the above solution, the determining the key roads according to the second intersection, the second road set and the first connected road set includes:

[0021] For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, then add the first target road to the preset main road set;

[0022] If it is determined that any second target road in the second intersection can be directly switched to the third target road in the main road set, then determine the second target road and the third target road as the key roads.

[0023] In the second aspect of the present invention, there is provided a controller for determining key roads for autonomous driving, the controller includes:

[0024] A dividing unit, configured to divide a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle;

[0025] A first determination unit, configured to use the current road area where the vehicle is located as a first road area, and determine a first road set corresponding to the first road area; the first road set is a road set with the maximum extension distance in the first road area; if it is determined that a second road area exists, determine a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is a road set with the maximum extension distance in the second road area; if the first intersection of the first road set and the second road set is empty, determine a first connected road set in the second road area that can be connected to the second road set.

[0026] A second determination unit, configured to, if it is determined that the second intersection of the first road set and the first connected road set is not empty, determine a key road according to the second intersection, the second road set, and the first connected road set.

[0027] In the above solution, the first determination unit is further configured to:

[0028] If it is determined that the second road area does not exist, determine the first road set in the first road area as the key road, and terminate the determination logic of the key road.

[0029] In the above solution, the first determination unit is further configured to:

[0030] If it is determined that the first intersection is not empty, update the first road set based on the first intersection; and update the second road area as the current road area.

[0031] In the above solution, the second determination unit is further configured to:

[0032] For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, add the first target road to a preset main road set.

[0033] If it is determined that any second target road in the second intersection can be directly switched to a third target road in the main road set, determine the second target road and the third target road as the key road.

[0034] In a third aspect of the present invention, a vehicle is provided, and the vehicle includes a controller as described in any one of the second aspect.

[0035] The present invention provides a method, a controller, and a vehicle for determining key roads for autonomous driving. The method includes: dividing a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle; taking the current road area where the vehicle is located as the first road area, and determining a first road set corresponding to the first road area; the first road set is the road set with the maximum extension distance in the first road area; if it is determined that a second road area exists, determining a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area; if the first intersection of the first road set and the second road set is empty, determining a first connected road set that can be connected to the second road set in the second road area; if it is determined that the second intersection of the first road set and the first connected road set is not empty, determining the key road according to the second intersection, the second road set, and the first connected road set; thus, only need to divide the target path into at least one road area in advance, and determine the road set with the maximum extension distance and the connected road set for each road area; and the accuracy of the road set with the maximum extension distance and the connected road set can be ensured, so the key road can be accurately determined; and the algorithm structure is relatively simple, and the determination efficiency of the key road can also be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components.

[0037] In the drawings:

[0038] Figure 1 shows a schematic flowchart of a method for determining key roads for autonomous driving according to an embodiment of the present invention;

[0039] Figure 2 shows a schematic structural diagram of dividing a target path into three road areas according to an embodiment of the present invention;

[0040] Figure 3 shows a schematic structural diagram of dividing a target path into two road areas according to an embodiment of the present invention;

[0041] Figure 4 shows a schematic structural diagram of a controller for determining key roads for autonomous driving according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0043] An embodiment of the present invention provides a method for determining a key road for autonomous driving, as Figure 1 shown, the method includes the following steps:

[0044] S110, divide a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle.

[0045] Before the vehicle travels, the driver generally sets path navigation information, and then the target path between the starting position and the destination of the vehicle can be obtained based on the navigation information.

[0046] To improve the accuracy of determining the key road, the target path is divided into at least one road area. For reference Figure 2 , assume the target path is AB, then AB can be divided into three road areas, namely section1, section2 and section3.

[0047] For reference Figure 3 , assume the target path is CD, then CD can be divided into two road areas, namely section1 and section2.

[0048] It should be noted that when dividing the road area, the road segments with the same topological structure are divided into the same road area. The road topological structures in every two adjacent road areas are different.

[0049] For example, taking Figure 2 as an example, section1 contains road segments numbered 1, 2, 3, and 4. Within the section1 area, the road topological structure is always that the four roads 1, 2, 3, and 4 are parallel, and there is no horizontal topological structure change. When switching from section1 to section2, roads 1, 2, and 3 terminate, road 4 continues to extend, and at the same time roads 5 and 6 start to appear. At this time, the road structure changes, and the switch from section1 to section2 is also made based on this structure change. Similarly, when switching from section2 to section3, there is also a road structure change, road 4 terminates, and roads 5 and 6 continue to extend in section3.

[0050] Taking Figure 3For example, roads numbered 1, 2, 3, and 4 run parallel in section1, and there is no jump in the road structure. When switching from section1 to section2, roads 1 and 2 terminate, while roads 3 and 4 continue to extend, resulting in a jump in the road structure. It is necessary to re-divide section2, where roads 3 and 4 run parallel.

[0051] It should be noted that in this embodiment, the road numbers are assigned across road regions. If a certain road has an extended road starting from the starting region, then the number of this road is the same in all road regions.

[0052] Take Figure 2 the road numbered 4 as an example. Since the road numbered 4 in section1 has an extended road, the road numbered 4 in section1 is still numbered 4 in section2.

[0053] S111, use the current road region where the vehicle is located as the first road region, and determine the first road set corresponding to the first road region; the current road region is the road region corresponding to the current position of the vehicle; the first road set is the road set with the maximum extended distance in the first road region.

[0054] After each road region is determined, use the current road region where the vehicle is located as the first road region, and the current road region is the road region corresponding to the current position of the vehicle. In the initial state, the current road region current_section is the starting road region start_section; that is, current_section = start_section; at this time, the first road region is start_section. Take Figure 2 or Figure 3 as an example, start_section is section1.

[0055] Then determine the first road set critical_lanes corresponding to the first road region. The first road set is the road set with the maximum extended road in the first road region.

[0056] Take Figure 3 as an example. The first road region is section1, and the extended lengths of roads numbered 1 and 2 are less than those of roads numbered 3 and 4. Therefore, the first road set includes roads numbered 3 and 4.

[0057] S112. If it is determined that the second road area exists, determine the second road set corresponding to the second road area. The second road area is the next road area of the first road area. The second road set is the road set with the maximum extension distance in the second road area.

[0058] Then, obtain the next road area of the first road area. In this embodiment, the second road area is the next road area of the first road area. That is, it is necessary to determine whether the second road area exists. If it is determined that the second road area does not exist, the roads in the first road set are determined as key roads, and the determination logic of key roads is terminated.

[0059] If the second road area exists, determine the second road set max_extend_lanes_of_next_section corresponding to the second road area. The second road set is the road set with the maximum extension distance in the second road area. It can be understood that the roads with the maximum extension distance mentioned in this embodiment can be extended in the straight direction, turning direction, etc.

[0060] For Figure 2 example, the second road area is section2. The road numbered 4 does not have the maximum extension distance, and the roads numbered 5 and 6 have the maximum extension distance. Therefore, the second road set includes the roads numbered 5 and 6.

[0061] S113. If the first intersection of the first road set and the second road set is empty, determine the first connected road set in the second road area that can be connected to the second road set.

[0062] Judge whether the first intersection intersect_lanes of the first road set and the second road set is empty. If it is determined that the first intersection intersect_lanes is not empty, return to the above step S112 to process the next section.

[0063] That is, when the first intersection intersect_lanes is not empty, update the first road set based on the first intersection (let critical_lanes = intersect_lanes); and update the second road area as the current road area (current_section = next_section), and continue to perform the logical judgment of the subsequent key roads.

[0064] That is, when the first intersection intersect_lanes is not empty, use the second road area as the current road area and continue to execute the determination steps of key roads. For Figure 3For example, when the first intersection intersect_lanes is not empty, the first road area is updated to section2 at this time, and it will continue to determine whether the next road area (section3) of section2 exists. If it exists, it will continue to execute according to the corresponding method of step S112. In this way, the key roads will be continuously judged until the destination is reached.

[0065] In one implementation, if it is determined that the first intersection is empty, then determine the first connected road set in the second road area that can be connected to the second road set. For the roads in the first connected road set, the vehicle can selectively change lanes in the first connected road set.

[0066] Take Figure 2 as an example for illustration. The first road set is the road numbered 4, and the second road set includes: the roads numbered 5 and 6. Therefore, the first intersection of the first road set and the second road set is empty. Since the second road area includes: the roads numbered 4, 5, and 6, and since the roads numbered 4, 5, and 6 can all be connected to the roads numbered 5 and 6 in the second road set, the first connected road set includes: the roads numbered 4, 5, and 6.

[0067] S114, if it is determined that the second intersection of the first road set and the first connected road set is not empty, then determine the key road according to the second intersection, the second road set, and the first connected road set.

[0068] After the first connected road set is determined, judge whether the second intersection ramp_lanes of the first connected road set and the first road set is empty. If the second intersection ramp_lanes is not empty, then determine the key road according to the second intersection, the second road set, and the first connected road set.

[0069] In one implementation, determining the key road according to the second intersection, the second road set, and the first connected road set includes:

[0070] For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, then add the first target road to the preset main road set;

[0071] If it is determined that any second target road in the second intersection can be directly switched to the third target road in the main road set, then determine the second target road and the third target road as the key roads.

[0072] Continuing the above example, the first connected road set includes: the roads numbered 4, 5, and 6; the first road set includes: the road numbered 4; therefore, the second intersection is the road numbered 4 and is not empty.

[0073] For example, taking the road numbered 5 as the first target road, at this time, the first target road does not belong to the second intersection but belongs to the second road set, and at this time, the road numbered 5 will be added to the main road set.

[0074] For any third target road in the main road set, such as the road numbered 5; the road numbered 4 in the second intersection can directly change lanes (switch) to the road numbered 5, so at this time, the road numbered 4 will be set as the key road, and at the same time, the road numbered 5 will be set as the key road.

[0075] As Figure 3 shown, the key road is the road with an arrow set, and the ordinary road is the road with a square box set.

[0076] In addition, in an implementation manner, if it is determined that the second intersection is empty, return to step S113 to process the next section. That is, process the third road area in this embodiment, specifically including:

[0077] Determine the third road set corresponding to the third road area; the third road set is the road set with the maximum extension distance in the third road area;

[0078] Determine the second connected road set that can be connected to the third road set in the third road area;

[0079] If it is determined that the third intersection of the first road set and the second connected road set is not empty, determine the key road according to the third intersection, the third road set and the second connected road set.

[0080] Among them, the specific method for determining the key road can be seen in the above description, so it will not be elaborated here.

[0081] In this way, only need to divide the target path into at least one road area in advance, and determine the extended road set and connected road set of each road area; and the accuracy of the extended road set and connected road set can be ensured, so the key road can be accurately determined; and the algorithm structure is relatively simple, and the determination efficiency of the key road can also be ensured. It is especially suitable for complex road structures and can efficiently and accurately plan the driving path of the vehicle.

[0082] Based on the same inventive concept as the foregoing embodiment, this embodiment also provides a controller for determining the key road of an autonomous vehicle. The controller can be a vehicle controller or a separately provided controller, such as Figure 4 shown, the controller includes:

[0083] A division unit 41, configured to divide the target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle;

[0084] A first determination unit 42 is configured to use the current road area where the vehicle is located as the first road area, and determine a first road set corresponding to the first road area; the current road area is the road area corresponding to the current position of the vehicle; the first road set is the road set with the maximum extension distance in the first road area; if it is determined that a second road area exists, determine a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area; if the first intersection of the first road set and the second road set is empty, determine a first connected road set that can be connected to the second road set in the second road area;

[0085] A second determination unit 43 is configured to, if it is determined that the second intersection of the first road set and the first connected road set is not empty, determine a key road according to the second intersection, the second road set, and the first connected road set.

[0086] In one implementation, the first determination unit 41 is further configured to:

[0087] If it is determined that the second road area does not exist, determine the roads in the first road area as key roads, and terminate the determination logic of the key roads.

[0088] The first determination unit 41 is further configured to:

[0089] If it is determined that the first intersection is not empty, update the first road set based on the first intersection; and update the second road area as the current road area; the third road area is the next road area of the second road area.

[0090] The second determination unit 43 is further configured to:

[0091] For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, add the first target road to a preset main road set;

[0092] If it is determined that any second target road in the second intersection can be directly switched to a third target road in the main road set, determine the second target road and the third target road as the key roads.

[0093] Since the controller introduced in the embodiments of the present invention is the controller adopted for implementing the method for determining the key roads for autonomous driving in the embodiments of the present invention, based on the method introduced in the embodiments of the present invention, those skilled in the art can understand the specific structure and variations of the controller, so it will not be elaborated herein. Any controller adopted by the method of the embodiments of the present invention falls within the scope of protection of the present invention.

[0094] Based on the same inventive concept as the foregoing embodiments, this embodiment further provides a vehicle, including the controller mentioned above. The specific structure and execution logic of the controller can be referred to the above description, so it will not be elaborated herein.

[0095] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0096] The embodiments of the present invention provide a method, a controller and a vehicle for determining key roads for autonomous driving. The method includes: dividing a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle; taking the current road area where the vehicle is located as the first road area, and determining a first road set corresponding to the first road area; the current road area is the road area corresponding to the current position of the vehicle; the first road set is the road set with the maximum extension distance in the first road area; if it is determined that a second road area exists, determining a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area; if the first intersection of the first road set and the second road set is empty, determining a first connected road set in the second road area that can be connected to the second road set; if it is determined that the second intersection of the first road set and the first connected road set is not empty, determining the key road according to the second intersection, the second road set and the first connected road set; in this way, it is only necessary to divide the target path into at least one road area in advance, and determine the road set with the maximum extension distance and the connected road set of each road area; and the accuracy of the road set with the maximum extension distance and the connected road set can be ensured, so the key road can be accurately determined; and the algorithm structure is relatively simple, and the determination efficiency of the key road can also be ensured.

[0097] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. A variety of general-purpose systems can also be used in conjunction with the teachings provided herein. The structure required to construct such systems will be apparent from the above description. Additionally, the present invention is not directed to any particular programming language. It should be understood that the teachings of the present invention described herein can be implemented in a variety of programming languages, and the description of specific languages above is for the purpose of disclosing the best mode of the present invention.

[0098] In the specification provided herein, numerous specific details are set forth. However, it can be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0099] Similarly, it should be understood that, in order to streamline this disclosure and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all of the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0100] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from those of the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0101] In addition, those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0102] Each component embodiment of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components of the gateway, proxy server, and system according to the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (such as a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0103] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0104] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0105] As described above, it is only the preferred embodiments of the present invention, and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining key roads for autonomous driving, characterized in that, The method includes: Dividing a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle; Taking the current road area where the vehicle is located as the first road area, and determining a first road set corresponding to the first road area; the first road set is the road set with the maximum extension distance in the first road area; If it is determined that a second road area exists, determining a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area; If the first intersection of the first road set and the second road set is empty, determining a first connected road set that can be connected to the second road set in the second road area; If it is determined that the second intersection of the first road set and the first connected road set is not empty, determining a key road according to the second intersection, the second road set and the first connected road set; wherein, The determining the key road according to the second intersection, the second road set and the first connected road set includes: For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, adding the first target road to a preset main road set; If it is determined that any second target road in the second intersection can be directly switched to a third target road in the main road set, determining the second target road and the third target road as the key road.

2. The method according to claim 1, wherein, The method further includes: If it is determined that the second road area does not exist, determining the roads in the first road set as the key roads and terminating the determination logic of the key roads.

3. The method according to claim 1, wherein The method further includes: If it is determined that the first intersection is not empty, updating the first road set based on the first intersection; and updating the second road area to the current road area.

4. The method according to claim 1, wherein If it is determined that the second intersection is empty, the method further includes: Determining a third road set corresponding to a third road area; the third road set is the road set with the maximum extension distance in the third road area; Determining a second connected road set that can be connected to the third road set in the third road area; If it is determined that the third intersection of the first road set and the second connected road set is not empty, determining a key road according to the third intersection, the third road set and the second connected road set.

5. A controller for determining key roads for autonomous driving, characterized in that, The controller includes: A dividing unit for dividing a target path into at least one road area; the target path is the path between the starting position and the destination of the vehicle; A first determination unit, configured to use the current road area where the vehicle is located as the first road area, and determine a first road set corresponding to the first road area; the first road set is the road set with the maximum extension distance in the first road area; if it is determined that a second road area exists, determine a second road set corresponding to the second road area; the second road area is the next road area of the first road area; the second road set is the road set with the maximum extension distance in the second road area; if the first intersection of the first road set and the second road set is empty, determine a first connected road set in the second road area that can be connected to the second road set. A second determination unit, configured to if it is determined that the second intersection of the first road set and the first connected road set is not empty, determine a key road according to the second intersection, the second road set and the first connected road set; wherein, The second determination unit is further configured to: For any first target road in the first connected road set, if it is determined that the first target road belongs to the second road set but does not belong to the second intersection, add the first target road to a preset main road set. If it is determined that any second target road in the second intersection can be directly switched to a third target road in the main road set, determine the second target road and the third target road as the key road.

6. The controller according to claim 5, characterized in that The first determination unit is further configured to: If it is determined that the second road area does not exist, determine the roads in the first road area as key roads and terminate the determination logic of the key roads.

7. The controller according to claim 5, wherein The first determination unit is further configured to: If it is determined that the first intersection is not empty, update the first road set based on the first intersection; and update the second road area to the current road area.

8. A vehicle, characterized in that, The vehicle includes a controller according to any one of claims 5 to 7.

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